diff --git a/.clang-tidy b/.clang-tidy
deleted file mode 100644
index cc55fefd25..0000000000
--- a/.clang-tidy
+++ /dev/null
@@ -1,19 +0,0 @@
----
-Checks: '
-bugprone-*,
--bugprone-integer-division,
--bugprone-narrowing-conversions,
-performance-*,
-clang-analyzer-*,
-misc-*,
--misc-unused-parameters,
-modernize-*,
--modernize-avoid-c-arrays,
--modernize-deprecated-headers,
--modernize-use-auto,
--modernize-use-using,
--modernize-use-nullptr,
--modernize-use-trailing-return-type,
-'
-CheckOptions:
-...
diff --git a/.codespellignore b/.codespellignore
index c7beb6f04f..ab63c0cd29 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -2,3 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
+FOF
+NoO
diff --git a/.dockerignore b/.dockerignore
index cfc34e5848..631ea04840 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -13,27 +13,6 @@
 *.o-*
 *.os
 *.os-*
-*.so
-*.a
 
 venv/
 .venv/
-
-notebooks
-phone
-massivemap
-neos
-installer
-chffr/app2
-chffr/backend/env
-selfdrive/nav
-selfdrive/baseui
-selfdrive/test/simulator2
-**/cache_data
-xx/plus
-xx/community
-xx/projects
-!xx/projects/eon_testing_master
-!xx/projects/map3d
-xx/ops
-xx/junk
diff --git a/.editorconfig b/.editorconfig
index 879e6eebca..d506433ece 100644
--- a/.editorconfig
+++ b/.editorconfig
@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true
 
-[{*.py, *.pyx, *.pxd}]
+[*.{py,pyx,pxd}]
 charset = utf-8
 indent_style = space
 indent_size = 2
diff --git a/.gitattributes b/.gitattributes
index cc1605a132..41a7367d84 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -7,10 +7,12 @@
 *.png filter=lfs diff=lfs merge=lfs -text
 *.gif filter=lfs diff=lfs merge=lfs -text
 *.ttf filter=lfs diff=lfs merge=lfs -text
+*.otf filter=lfs diff=lfs merge=lfs -text
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_weston filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater_magic filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 65d2f5588e..e8f1b7eb8b 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,3 +1,11 @@
 *       @sunnypilot/dev-internal
 /.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
\ No newline at end of file
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve
\ No newline at end of file
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index e91764bb37..711f4597bd 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,6 +1,6 @@
 ci:
   - changed-files:
-    - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
+    - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
 
 chore:
   - changed-files:
@@ -16,7 +16,7 @@ simulation:
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
+    - any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
 
 tools:
   - changed-files:
diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
deleted file mode 100644
index 377b1eedcd..0000000000
--- a/.github/workflows/auto-cache/action.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-name: 'automatically cache based on current runner'
-
-inputs:
-  path:
-    description: 'path to cache'
-    required: true
-  key:
-    description: 'key'
-    required: true
-  restore-keys:
-    description: 'restore-keys'
-    required: true
-  save:
-    description: 'whether to save the cache'
-    default: 'true'
-    required: false
-outputs:
-  cache-hit:
-    description: 'cache hit occurred'
-    value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
-               (!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: setup namespace cache
-      id: ns-cache
-      if: ${{ contains(runner.name, 'nsc') }}
-      uses: namespacelabs/nscloud-cache-action@v1
-      with:
-        path: ${{ inputs.path }}
-
-    - name: setup github cache
-      id: gha-cache
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    - name: setup github cache
-      id: gha-cache-ro
-      if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
-      with:
-        path: ${{ inputs.path }}
-        key: ${{ inputs.key }}
-        restore-keys: ${{ inputs.restore-keys }}
-
-    # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
-    - id: scons-cache-setup
-      shell: bash
-      run: |
-        mkdir -p ${{ inputs.path }}
-        sudo chmod -R 777 ${{ inputs.path }}
-        sudo chown -R $USER ${{ inputs.path }}
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index d3cfa60d92..edb058d7d1 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -1,7 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
-    types: [opened, reopened, synchronize, edited]
+    types: [ opened, reopened, synchronize, edited ]
 
 jobs:
   labeler:
@@ -12,12 +12,12 @@ jobs:
       issues: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: false
 
     # Label PRs
-    - uses: actions/labeler@v5.0.0
+    - uses: actions/labeler@v6
       with:
         dot: true
         configuration-path: .github/labeler.yaml
@@ -29,21 +29,21 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master-new$).*/
+        target: /^(?!master$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master-new` branch"
+        already-exists-comment: "Your PR should be made against the `master` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env: 
-      PR_LABEL: 'dev-c3'
+    env:
+      PR_LABEL: 'dev'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev-c3 label
+      - name: Check if PR has dev label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -55,33 +55,33 @@ jobs:
               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-dev', 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'
+        if: steps.check-labels.outputs.has-dev == '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,
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 505148beac..d170a96368 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -5,9 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}
 
 jobs:
   badges:
@@ -17,13 +15,13 @@ jobs:
     permissions:
       contents: write
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
+    - run: ./tools/op.sh setup
     - name: Push badges
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
+        python3 selfdrive/ui/translations/create_badges.py
 
         rm .gitattributes
 
diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
new file mode 100644
index 0000000000..e901baee0c
--- /dev/null
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -0,0 +1,304 @@
+name: Build and push all tinygrad models
+
+on:
+  workflow_dispatch:
+    inputs:
+      set_min_version:
+        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
+        required: true
+        type: string
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+    outputs:
+      json_version: ${{ steps.get-json.outputs.json_version }}
+      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+      json_file: ${{ steps.get-json.outputs.json_file }}
+      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
+      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
+    steps:
+      - name: Checkout sunnypilot repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          path: sunnypilot
+          submodules: recursive
+
+      - name: Get tinygrad_repo ref
+        id: get-tinygrad-ref
+        run: |
+          cd sunnypilot
+          export PYTHONPATH=$(pwd)
+          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
+          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
+          echo "tinygrad_ref is $ref"
+
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Get next JSON version to use (from GitHub docs repo)
+        id: get-json
+        run: |
+          cd docs/docs
+          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
+          next=$((latest+1))
+          json_file="driving_models_v${next}.json"
+          cp "driving_models_v${latest}.json" "$json_file"
+          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
+          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
+
+      - name: Extract tinygrad models
+        id: set-matrix
+        working-directory: docs/docs
+        run: |
+          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
+          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo and create new recompiled dir
+        id: create-recompiled-dir
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          git sparse-checkout set --no-cone models/
+          cd models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="${next_dir}"
+          mkdir -p "recompiled${recompiled_dir}"
+          touch "recompiled${recompiled_dir}/.gitkeep"
+          cd ../..
+          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
+
+      - name: Push empty recompiled dir to GitLab
+        run: |
+          cd gitlab_docs
+          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
+          git push origin main
+
+      - name: Push new JSON to GitHub docs repo
+        run: |
+          cd docs
+          git pull origin gh-pages
+          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
+          git push origin gh-pages
+
+  get_and_build:
+    needs: [setup]
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+    secrets: inherit
+
+  retry_failed_models:
+    needs: [setup, get_and_build]
+    runs-on: ubuntu-latest
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
+    outputs:
+      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: model-*
+          path: output
+
+      - id: set-retry-matrix
+        run: |
+          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            find output -maxdepth 1 -name 'model-*' -printf "%f\n" | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          )
+          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
+            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
+          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
+
+  retry_get_and_build:
+    needs: [setup, get_and_build, retry_failed_models]
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+      artifact_suffix: -retry
+    secrets: inherit
+
+  publish_models:
+    name: Publish models sequentially
+    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
+    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      max-parallel: 1
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+    env:
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
+        run: |
+          find output -type f -name '*.onnx' -delete
+          find output -type f -name 'big_*.pkl' -delete
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+
+      - name: Copy model artifacts to gitlab
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
+          git push origin main
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: update json
+        run: |
+          ARGS=""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          ARGS="$ARGS --sort-by-date"
+          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS
+
+      - name: Push updated json to GitHub
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
diff --git a/.github/workflows/build-single-tinygrad-model.yaml b/.github/workflows/build-single-tinygrad-model.yaml
new file mode 100644
index 0000000000..fae9d6aa01
--- /dev/null
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -0,0 +1,228 @@
+name: Build Single Tinygrad Model and Push
+
+on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: string
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: string
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
+        required: false
+        default: true
+        type: boolean
+  workflow_dispatch:
+    inputs:
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: string
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: string
+      model_folder:
+        description: 'Model folder'
+        type: choice
+        default: 'None'
+        options:
+          - None
+          - Simple Plan Models
+          - Space Lab Models
+          - TR Models
+          - DTR Models
+          - Custom Merge Models
+          - FOF series models
+          - Other
+      custom_model_folder:
+        description: 'Custom model folder name (if "Other" selected)'
+        required: false
+        type: string
+      generation:
+        description: 'Model generation'
+        required: false
+        type: string
+      version:
+        description: 'Minimum selector version'
+        required: false
+        type: string
+env:
+  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
+
+jobs:
+  build_model:
+    uses: ./.github/workflows/sunnypilot-build-model.yaml
+    with:
+      upstream_branch: ${{ inputs.upstream_branch }}
+      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
+      is_20hz: true
+      artifact_suffix: ${{ inputs.artifact_suffix }}
+    secrets: inherit
+
+  publish_model:
+    if: ${{ !inputs.bypass_push && !cancelled() }}
+    concurrency:
+      group: gitlab-push-${{ inputs.recompiled_dir }}
+      cancel-in-progress: false
+    needs: build_model
+    runs-on: ubuntu-latest
+    steps:
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+
+      - name: Add GitLab.com SSH key to known_hosts
+        run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
+
+      - name: Clone GitLab docs repo
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          echo "Cloning GitLab"
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
+          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
+          git checkout main
+          cd ..
+
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
+
+      - name: Validate recompiled dir and JSON version
+        run: |
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
+            exit 1
+          fi
+
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
+        run: |
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
+
+      - name: Download and extract model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove unwanted files
+        run: |
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+          find output -type f -name 'dmonitoring_model.onnx' -delete
+
+      - name: Copy model artifact(s) to GitLab recompiled dir
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done
+
+      - name: Push recompiled dir to GitLab
+        env:
+          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+        run: |
+          cd gitlab_docs
+          git checkout main
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git push origin main
+
+      - run: |
+          cd docs
+          git pull origin gh-pages
+
+      - name: Run json_parser.py to update JSON
+        run: |
+          FOLDER="${{ inputs.model_folder }}"
+          if [ "$FOLDER" = "Other" ]; then
+            FOLDER="${{ inputs.custom_model_folder }}"
+          fi
+          ARGS=""
+          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
+            ARGS="$ARGS --model-folder \"$FOLDER\""
+          fi
+          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
+          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
+          eval python3 docs/json_parser.py \
+            --json-path "$JSON_FILE" \
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --sort-by-date \
+            $ARGS
+
+      - name: Push updated JSON to GitHub docs repo
+        run: |
+          cd docs
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git checkout gh-pages
+          git add docs/"$(basename $JSON_FILE)"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
+          git push origin gh-pages
diff --git a/.github/workflows/cereal_validation.yaml b/.github/workflows/cereal_validation.yaml
index 5d75b6bc13..3a864ebefb 100644
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request:
     paths:
       - 'cereal/**'
@@ -17,31 +16,27 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  CI: 1
 
 jobs:
   generate_cereal_artifact:
     name: Generate cereal validation artifacts
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: true
-      - uses: ./.github/workflows/setup-with-retry
+      - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+        run: scons -j$(nproc) cereal
       - name: Generate the log file
         run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
+          export PYTHONPATH=${{ github.workspace }}
+          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin
       - name: 'Prepare artifact'
         run: |
           mkdir -p "cereal/messaging/tests/cereal_validations"
@@ -58,20 +53,26 @@ jobs:
     runs-on: ubuntu-24.04
     needs: generate_cereal_artifact
     steps:
-      - uses: actions/checkout@v4
+      - name: Checkout sunnypilot
+        uses: actions/checkout@v6
+      - name: Checkout upstream openpilot
+        uses: actions/checkout@v6
         with:
           repository: 'commaai/openpilot'
+          path: openpilot
           submodules: true
           ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
+      - run: ./tools/op.sh setup
       - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
+        working-directory: openpilot
+        run: scons -j$(nproc) cereal
       - name: Download build artifacts
         uses: actions/download-artifact@v4
         with:
           name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
+          path: openpilot/cereal/messaging/tests/cereal_validations
       - name: 'Run the validation'
         run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"
+          export PYTHONPATH=${{ github.workspace }}/openpilot
+          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
+          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema_instances.bin
diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
deleted file mode 100644
index b96a5a56a8..0000000000
--- a/.github/workflows/ci_weekly_report.yaml
+++ /dev/null
@@ -1,101 +0,0 @@
-name: weekly CI test report
-on:
-  schedule:
-    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
-  workflow_dispatch:
-    inputs:
-      ci_runs:
-        description: 'The amount of runs to trigger in CI test report'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
-
-jobs:
-  setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
-    runs-on: ubuntu-latest
-    outputs:
-      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
-    steps:
-      - id: ci_runs_setup
-        name: CI_RUNS=${{ env.CI_RUNS }}
-        run: |
-          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
-          echo "matrix=$matrix" >> $GITHUB_OUTPUT
-
-  ci_matrix_run:
-    needs: [ setup ]
-    strategy:
-      fail-fast: false
-      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
-    with:
-      run_number: ${{ matrix.run_number }}
-
-  report:
-    needs: [ci_matrix_run]
-    runs-on: ubuntu-latest
-    if: always()
-    steps:
-      - name: Get job results
-        uses: actions/github-script@v7
-        id: get-job-results
-        with:
-          script: |
-            const jobs = await github
-              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
-                owner: "commaai",
-                repo: "${{ github.event.repository.name }}",
-                run_id: "${{ github.run_id }}",
-                attempt: "${{ github.run_attempt }}",
-              })
-            var report = {}
-            jobs.slice(1, jobs.length-1).forEach(job => {
-              if (job.conclusion === "skipped") return;
-              const jobName = job.name.split(" / ")[2];
-              const runRegex = /\((.*?)\)/;
-              const run = job.name.match(runRegex)[1];
-              report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
-              switch (job.conclusion) {
-                case "success":
-                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
-                case "failure":
-                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
-                case "canceled":
-                  report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
-              }
-            });
-            return JSON.stringify({"jobs": report});
-
-      - name: Add job results to summary
-        env:
-          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
-        run: |
-          cat <<EOF >> template.html
-          <table>
-            <thead>
-              <tr>
-                <th></th>
-                <th>Job</th>
-                <th>✅ Passing</th>
-                <th>❌ Failure Details</th>
-              </tr>
-            </thead>
-            <tbody>
-              {% for key in jobs.keys() %}<tr>
-                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
-                <td>{{ key }}</td>
-                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
-                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
-                </td>
-              </tr>{% endfor %}
-          </table>
-          EOF
-
-          pip install jinja2-cli
-          echo $JOB_RESULTS | jinja2 template.html > report.html
-          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
-          cat report.html >> $GITHUB_STEP_SUMMARY
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
deleted file mode 100644
index a2a8ab31a2..0000000000
--- a/.github/workflows/ci_weekly_run.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: weekly CI test run
-on:
-  workflow_call:
-    inputs:
-      run_number:
-        required: true
-        type: string
-
-concurrency:
-  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
-    with:
-      run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml
deleted file mode 100644
index 87590b41cb..0000000000
--- a/.github/workflows/compile-openpilot/action.yaml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: 'compile openpilot'
-
-runs:
-  using: "composite"
-  steps:
-    - shell: bash
-      name: Build openpilot with all flags
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - shell: bash
-      name: Cleanup scons cache and rebuild
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index ce225034d9..27d36f9a4e 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -22,7 +22,7 @@ jobs:
     steps:
     - uses: commaai/timeout@v1
 
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
 
@@ -34,7 +34,7 @@ jobs:
         mkdocs build
 
     # Push to docs.comma.ai
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
index db1d524018..fdd26253fa 100644
--- a/.github/workflows/jenkins-pr-trigger.yaml
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -5,14 +5,54 @@ on:
     types: [created, edited]
 
 jobs:
-  # TODO: gc old branches in a separate job in this workflow
+  cleanup-branches:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Delete stale Jenkins branches
+        uses: actions/github-script@v8
+        with:
+          script: |
+            const cutoff = Date.now() - 24 * 60 * 60 * 1000;
+            const prefixes = ['tmp-jenkins', '__jenkins'];
+
+            for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              per_page: 100,
+            })) {
+              for (const branch of response.data) {
+                if (!prefixes.some(p => branch.name.startsWith(p))) continue;
+
+                const { data: commit } = await github.rest.repos.getCommit({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  ref: branch.commit.sha,
+                });
+
+                const commitDate = new Date(commit.commit.committer.date).getTime();
+                if (commitDate < cutoff) {
+                  console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
+                  await github.rest.git.deleteRef({
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    ref: `heads/${branch.name}`,
+                  });
+                }
+              }
+            }
+
   scan-comments:
     runs-on: ubuntu-latest
     if: ${{ github.event.issue.pull_request }}
+    permissions:
+      contents: write
+      issues: write
     steps:
     - name: Check for trigger phrase
       id: check_comment
-      uses: actions/github-script@v7
+      uses: actions/github-script@v8
       with:
         script: |
           const triggerPhrase = "trigger-jenkins";
@@ -32,7 +72,7 @@ jobs:
 
     - name: Checkout repository
       if: steps.check_comment.outputs.result == 'true'
-      uses: actions/checkout@v4
+      uses: actions/checkout@v6
       with:
         ref: refs/pull/${{ github.event.issue.number }}/head
 
@@ -43,3 +83,14 @@ jobs:
         git config --global user.email "github-actions[bot]@users.noreply.github.com"
         git checkout -b tmp-jenkins-${{ github.event.issue.number }}
         GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
+
+    - name: Delete trigger comment
+      if: steps.check_comment.outputs.result == 'true' && always()
+      uses: actions/github-script@v8
+      with:
+        script: |
+          await github.rest.issues.deleteComment({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            comment_id: context.payload.comment.id,
+          });
diff --git a/.github/workflows/lfs-maintenance.yaml b/.github/workflows/lfs-maintenance.yaml
index 954dc9128d..8780abfbb3 100644
--- a/.github/workflows/lfs-maintenance.yaml
+++ b/.github/workflows/lfs-maintenance.yaml
@@ -9,11 +9,11 @@ on:
     - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
   push:
     branches:
-      - 'master-new'
+      - 'master'
   pull_request:
     branches:
-      - 'master-new'
-  workflow_dispatch:  # enables manual triggering
+      - 'master'
+  workflow_dispatch: # enables manual triggering
     inputs:
       upstream_branch:
         default: 'master'
@@ -30,7 +30,7 @@ jobs:
         with:
           repository: 'commaai/openpilot'
           ref: ${{ inputs.upstream_branch }}
-      
+
       - name: LFS Fetch
         run: |
           git lfs fetch
@@ -48,7 +48,7 @@ jobs:
       - name: Add GitLab public keys
         run: |
           ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-      
+
       - name: Ensure branch
         run: |
           if git symbolic-ref -q HEAD >/dev/null; then
diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
index 0e1825864c..2775dbc574 100644
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -16,23 +16,23 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
+        with:
+          submodules: true
       - name: Checkout master
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: master
           path: base
       - run: git lfs pull
       - run: cd base && git lfs pull
 
-      - run: pip install onnx
-
       - name: scripts/reporter.py
         id: report
         run: |
           echo "content<<EOF" >> $GITHUB_OUTPUT
           echo "## Model Review" >> $GITHUB_OUTPUT
-          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
           echo "EOF" >> $GITHUB_OUTPUT
 
       - name: Post model report comment
diff --git a/.github/workflows/post-to-discourse/action.yml b/.github/workflows/post-to-discourse/action.yml
new file mode 100644
index 0000000000..55232ce0e1
--- /dev/null
+++ b/.github/workflows/post-to-discourse/action.yml
@@ -0,0 +1,105 @@
+name: 'Post to Discourse'
+description: 'Posts a message to a Discourse topic (existing or new)'
+
+inputs:
+  discourse-url:
+    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
+    required: true
+  api-key:
+    description: 'Discourse API key'
+    required: true
+  api-username:
+    description: 'Discourse API username'
+    required: true
+  topic-id:
+    description: 'Discourse topic ID to post to (use this OR category-id + title)'
+    required: false
+  category-id:
+    description: 'Category ID for new topic (required if topic-id not provided)'
+    required: false
+  title:
+    description: 'Title for new topic (required if topic-id not provided)'
+    required: false
+  message:
+    description: 'Message content (markdown supported)'
+    required: true
+
+outputs:
+  post-number:
+    description: 'The post number in the topic'
+    value: ${{ steps.post.outputs.post_number }}
+  post-url:
+    description: 'Direct URL to the post'
+    value: ${{ steps.post.outputs.post_url }}
+  topic-id:
+    description: 'The topic ID (useful when creating a new topic)'
+    value: ${{ steps.post.outputs.topic_id }}
+
+runs:
+  using: "composite"
+  steps:
+    - name: Post to Discourse
+      id: post
+      shell: bash
+      run: |
+        # Validate inputs
+        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
+          echo "❌ Error: Must provide either topic-id OR both category-id and title"
+          exit 1
+        fi
+        
+        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
+          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
+        fi
+        
+        # Determine if creating new topic or posting to existing
+        if [ -n "${{ inputs.topic-id }}" ]; then
+          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
+        
+          # Create JSON payload for posting to existing topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg topic_id "${{ inputs.topic-id }}" \
+            '{topic_id: $topic_id, raw: $content}')
+        else
+          echo "✨ Creating new topic: ${{ inputs.title }}"
+        
+          # Create JSON payload for new topic
+          PAYLOAD=$(jq -n \
+            --arg content '${{ inputs.message }}' \
+            --arg title "${{ inputs.title }}" \
+            --arg category "${{ inputs.category-id }}" \
+            '{title: $title, category: ($category | tonumber), raw: $content}')
+        fi
+        
+        # Post to Discourse
+        RESPONSE=$(curl -s -w "\n%{http_code}" \
+          -X POST "${{ inputs.discourse-url }}/posts.json" \
+          -H "Content-Type: application/json" \
+          -H "Api-Key: ${{ inputs.api-key }}" \
+          -H "Api-Username: ${{ inputs.api-username }}" \
+          -d "$PAYLOAD")
+        
+        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
+        BODY=$(echo "$RESPONSE" | sed '$d')
+        
+        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
+          echo "✅ Successfully posted to Discourse!"
+        
+          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
+          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
+          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
+        
+          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
+          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
+          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
+        
+          echo "Topic ID: ${TOPIC_ID}"
+          echo "Post number: ${POST_NUMBER}"
+          echo "URL: ${POST_URL}"
+        else
+          echo "❌ Failed to post to Discourse"
+          echo "HTTP Code: ${HTTP_CODE}"
+          echo "Response: ${BODY}"
+          exit 1
+        fi
\ No newline at end of file
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 61e3f3bc4f..aeb0f11d84 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -6,7 +6,7 @@ on:
 
 env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh prebuilt
+  BUILD: release/ci/docker_build_sp.sh
 
 jobs:
   build_prebuilt:
@@ -28,8 +28,8 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v4
+        check-regexp: ^((?!.*(build master-ci|create badges).*).)*$
+    - uses: actions/checkout@v6
       with:
         submodules: true
     - run: git lfs pull
diff --git a/.github/workflows/release-drafter.yml b/.github/workflows/release-drafter.yml
index 62712a770c..c072e98e24 100644
--- a/.github/workflows/release-drafter.yml
+++ b/.github/workflows/release-drafter.yml
@@ -3,7 +3,6 @@ name: Release Drafter
 on:
   push:
     branches:
-      - master-new
       - master
     tags:
       - 'v*'
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 99d42c36e3..6ae5336557 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -5,50 +5,27 @@ on:
   workflow_dispatch:
 
 jobs:
-  build_masterci:
-    name: build master-ci
-    env:
-      TARGET_DIR: /tmp/openpilot
-      ImageOS: ubuntu20
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
+  build___nightly:
+    name: build __nightly
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
       checks: read
       contents: write
     steps:
-    - name: Install wait-on-check-action dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
+      if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
         wait-interval: 30
-        running-workflow-name: 'build master-ci'
+        running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build prebuilt).*).)*$
+        check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
     - uses: actions/checkout@v4
       with:
         submodules: true
         fetch-depth: 0
-    - name: Pull LFS
-      run: |
-        git config --global --add safe.directory '*'
-        git lfs pull
-    - name: Build master-ci
-      run: |
-        release/build_devel.sh
-    - name: Run tests
-      run: |
-        export PYTHONPATH=$TARGET_DIR
-        cd $TARGET_DIR
-        scons -j$(nproc)
-        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
-    - name: Push master-ci
-      run: |
-        unset TARGET_DIR
-        BRANCH=__nightly release/build_devel.sh
+    - run: ./tools/op.sh setup
+    - name: Push __nightly
+      run: BRANCH=__nightly release/build_stripped.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 95f8320d62..e7933dc470 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -6,24 +6,23 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  PYTHONPATH: ${{ github.workspace }}
 
 jobs:
   update_translations:
     runs-on: ubuntu-latest
-    if: github.repository == 'commaai/openpilot'
+    if: github.repository == 'sunnypilot/sunnypilot'
     steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Update translations
-        run: |
-          ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
-      - name: Create Pull Request
-        uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      - uses: actions/checkout@v6
         with:
-          author: Vehicle Researcher <user@comma.ai>
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Update translations
+        run: python3 selfdrive/ui/update_translations.py --vanish
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
+        with:
+          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
           commit-message: "Update translations"
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
@@ -35,37 +34,67 @@ jobs:
   package_updates:
     name: package_updates
     runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/commaai/openpilot-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         submodules: true
+    - run: ./tools/op.sh setup
     - name: uv lock
+      run: uv lock --upgrade
+    - name: uv pip tree
+      id: pip_tree
       run: |
-        python3 -m ensurepip --upgrade
-        pip3 install uv
-        uv lock --upgrade
+        echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
+        uv pip tree >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
+    - name: venv size
+      id: venv_size
+      run: |
+        echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
+        echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
+        echo "" >> $GITHUB_OUTPUT
+        echo "Top 10 by size:" >> $GITHUB_OUTPUT
+        du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
+          | grep -v '\.dist-info' \
+          | grep -v '__pycache__' \
+          | sort -rh \
+          | head -10 \
+          | while IFS=$'\t' read size path; do echo "$size  ${path##*/}"; done >> $GITHUB_OUTPUT
+        echo 'EOF' >> $GITHUB_OUTPUT
     - name: bump submodules
       run: |
-        git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
+        git config submodule.msgq.update none
+        git config submodule.rednose_repo.update none
+        git config submodule.teleoprtc_repo.update none
+        git config submodule.tinygrad.update none
+        git submodule update --remote
         git add .
     - name: update car docs
       run: |
         scons -j$(nproc) --minimal opendbc_repo
-        PYTHONPATH=. python selfdrive/car/docs.py
+        python selfdrive/car/docs.py
         git add docs/CARS.md
     - name: Create Pull Request
-      uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
+      uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
       with:
-        author: Vehicle Researcher <user@comma.ai>
-        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
         base: master
         delete-branch: true
-        body: 'Automatic PR from repo-maintenance -> package_updates'
+        body: |
+          Automatic PR from repo-maintenance -> package_updates
+
+          ```
+          $ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
+          ${{ steps.venv_size.outputs.VENV_SIZE }}
+          ```
+
+          ```
+          $ uv pip tree
+          ${{ steps.pip_tree.outputs.PIP_TREE }}
+          ```
         labels: bot
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
deleted file mode 100644
index f8897258c6..0000000000
--- a/.github/workflows/selfdrive_tests.yaml
+++ /dev/null
@@ -1,366 +0,0 @@
-name: selfdrive
-
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request:
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
-
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
-
-jobs:
-  build_release:
-    if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
-    name: build release
-    runs-on:
-      - 'ubuntu-24.04'
-    env:
-      STRIPPED_DIR: /tmp/releasepilot
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Getting LFS files
-      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
-      with:
-        timeout_minutes: 2
-        max_attempts: 3
-        command: git lfs pull
-    - name: Build devel
-      timeout-minutes: 1
-      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot and run checks
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "python3 system/manager/build.py"
-    - name: Run tests
-      timeout-minutes: 1
-      run: |
-        cd $STRIPPED_DIR
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
-
-  build:
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup-with-retry
-    - uses: ./.github/workflows/compile-openpilot
-      timeout-minutes: 30
-
-  build_mac:
-    name: build macOS
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - name: Homebrew cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          brew-macos-${{ env.CACHE_COMMIT_DATE }}
-          brew-macos
-    - name: Install dependencies
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-    - run: git lfs pull
-    - name: Getting scons cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}-macos
-    - name: Building openpilot
-      run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new')
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-
-  static_analysis:
-    name: static analysis
-    runs-on:
-      - 'ubuntu-latest'
-    env:
-      PYTHONWARNINGS: default
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Static analysis
-      timeout-minutes: 1
-      run: ${{ env.RUN }} "scripts/lint/lint.sh"
-
-  unit_tests:
-    name: unit tests
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
-      run: |
-        ${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
-                        MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
-                        ./selfdrive/ui/tests/create_test_translations.sh && \
-                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  process_replay:
-    name: process replay
-    if: github.repository == 'commaai/openpilot'  # disable process_replay for forks
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
-      run: |
-        ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        chmod -R 777 /tmp/comma_download_cache && \
-                        coverage combine && \
-                        coverage xml"
-    - name: Print diff
-      id: print-diff
-      if: always()
-      run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v4
-      if: always()
-      continue-on-error: true
-      with:
-        name: process_replay_diff.txt
-        path: selfdrive/test/process_replay/diff.txt
-    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: Run regen
-      if: false
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  test_cars:
-    name: cars
-    runs-on:
-      - 'ubuntu-24.04'
-    strategy:
-      fail-fast: false
-      matrix:
-        job: [0, 1, 2, 3]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Cache test routes
-      id: routes-cache
-      uses: actions/cache@v4
-      with:
-        path: .ci_cache/comma_download_cache
-        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
-    - name: Build openpilot
-      run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test car models
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }}
-      run: |
-        ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
-                        chmod -R 777 /tmp/comma_download_cache"
-      env:
-        NUM_JOBS: 4
-        JOB_ID: ${{ matrix.job }}
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v4
-      with:
-        name: ${{ github.job }}-${{ matrix.job }}
-      env:
-        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
-
-  car_docs_diff:
-    name: PR comments
-    runs-on: ubuntu-latest
-    #if: github.event_name == 'pull_request'
-    if: false  # TODO: run this in opendbc?
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          ref: ${{ github.event.pull_request.base.ref }}
-      - run: git lfs pull
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Get base car info
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-          path: current
-      - run: cd current && git lfs pull
-      - name: Save car docs diff
-        id: save_diff
-        run: |
-          cd current
-          ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
-          output="${output//$'\n'/'%0A'}"
-          echo "::set-output name=diff::$output"
-      - name: Find comment
-        if: ${{ env.AZURE_TOKEN != '' }}
-        uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
-        id: fc
-        with:
-          issue-number: ${{ github.event.pull_request.number }}
-          body-includes: This PR makes changes to
-      - name: Update comment
-        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
-        uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
-        with:
-          comment-id: ${{ steps.fc.outputs.comment-id }}
-          issue-number: ${{ github.event.pull_request.number }}
-          body: "${{ steps.save_diff.outputs.diff }}"
-          edit-mode: replace
-      - name: Delete comment
-        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
-        uses: actions/github-script@v7
-        with:
-          script: |
-            github.rest.issues.deleteComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              comment_id: ${{ steps.fc.outputs.comment-id }}
-            })
-
-  simulator_driving:
-    name: simulator driving
-    runs-on:
-      - 'ubuntu-24.04'
-    if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Driving test
-      timeout-minutes: 1
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
-
-  create_ui_report:
-    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
-    name: Create UI Report
-    runs-on:
-      - 'ubuntu-24.04'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: caching frames
-        id: frames-cache
-        uses: actions/cache@v4
-        with:
-          path: .ci_cache/comma_download_cache
-          key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Create Test Report
-        timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
-        run: >
-            ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
-                            source selfdrive/test/setup_xvfb.sh &&
-                            CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
-                            chmod -R 777 /tmp/comma_download_cache"
-      - name: Upload Test Report
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ env.REPORT_NAME }}
-          path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml
deleted file mode 100644
index ad297403cf..0000000000
--- a/.github/workflows/setup-with-retry/action.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-name: 'openpilot env setup, with retry on failure'
-
-inputs:
-  docker_hub_pat:
-    description: 'Auth token for Docker Hub, required for BuildJet jobs'
-    required: false
-    default: ''
-  sleep_time:
-    description: 'Time to sleep between retries'
-    required: false
-    default: 30
-
-runs:
-  using: "composite"
-  steps:
-    - id: setup1
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup1.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup2
-      if: steps.setup1.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      continue-on-error: true
-      with:
-        is_retried: true
-    - if: steps.setup2.outcome == 'failure'
-      shell: bash
-      run: sleep ${{ inputs.sleep_time }}
-    - id: setup3
-      if: steps.setup2.outcome == 'failure'
-      uses: ./.github/workflows/setup
-      with:
-        is_retried: true
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
deleted file mode 100644
index 70177885a7..0000000000
--- a/.github/workflows/setup/action.yaml
+++ /dev/null
@@ -1,56 +0,0 @@
-name: 'openpilot env setup'
-
-inputs:
-  is_retried:
-    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
-    required: false
-    default: 'false'
-
-runs:
-  using: "composite"
-  steps:
-    # assert that this action is retried using the setup-with-retry
-    - shell: bash
-      if: ${{ inputs.is_retried == 'false' }}
-      run: |
-        echo "You should not run this action directly. Use setup-with-retry instead"
-        exit 1
-
-    - shell: bash
-      name: No retries!
-      run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
-          echo -e "\033[0;31m##################################################"
-          echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
-          echo -e "\033[0;31m##################################################\033[0m"
-          exit 1
-        fi
-
-    # do this after checkout to ensure our custom LFS config is used to pull from GitLab
-    - shell: bash
-      run: git lfs pull
-
-    # build cache
-    - id: date
-      shell: bash
-      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
-    - shell: bash
-      run: echo "$CACHE_COMMIT_DATE"
-    - id: scons-cache
-      uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
-        restore-keys: |
-          scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
-          scons-${{ runner.arch }}
-    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
-    - id: normalize-file-permissions
-      shell: bash
-      name: Normalize file permissions to ensure a consistent docker build cache
-      run: |
-        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
-        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index cc29813952..dab61bf3b4 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -5,14 +5,15 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 24
+  DAYS_BEFORE_PR_STALE_DRAFT: 30
 
 jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v9
+      - uses: actions/stale@v10
         with:
           exempt-all-milestones: true
 
@@ -24,6 +25,28 @@ jobs:
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: false
+
+          # issue config
+          days-before-issue-stale: -1 # ignore issues for now
+
+  # same as above, but give draft PRs more time
+  stale_drafts:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v10
+        with:
+          exempt-all-milestones: true
+
+          # pull request config
+          stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
+          close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
+          stale-pr-label: stale
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
+          days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
+          days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
+          exempt-draft-pr: true
 
           # issue config
           days-before-issue-stale: -1 # ignore issues for now
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index e845d80c66..ff09489b92 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -5,8 +5,31 @@ env:
   OUTPUT_DIR: ${{ github.workspace }}/output
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
+  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
+  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
 
 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -15,41 +38,80 @@ on:
         default: 'master'
         type: string
       custom_name:
-        description: 'Custom name for the model'
-        required: false
-        type: string
-      file_name:
-        description: 'File name prefix for the model files'
+        description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
       is_20hz:
         description: 'Is this a 20Hz model'
         required: false
         type: boolean
-        default: false
+        default: true
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
-  build_model:
-    runs-on: self-hosted
+  get_model:
+    runs-on: ubuntu-latest
+    env:
+      REF: ${{ inputs.upstream_branch }}
+    outputs:
+      model_date: ${{ steps.commit-date.outputs.model_date }}
+    steps:
+      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
+      # and fallback to sunnypilot if the ref checkout fails.
+      - name: Checkout commaai/openpilot
+        id: checkout_upstream
+        continue-on-error: true
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/openpilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
 
+      - name: Fallback to sunnypilot/sunnypilot
+        if: steps.checkout_upstream.outcome == 'failure'
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
+      - name: Get commit date
+        id: commit-date
+        run: |
+          cd ${{ github.workspace }}/openpilot
+          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
+          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+      - run: |
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
+          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
+
+  build_model:
+    runs-on: [self-hosted, tici]
+    needs: get_model
+    env:
+      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
+      REF: ${{ inputs.upstream_branch }}
     steps:
       - uses: actions/checkout@v4
         with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
           submodules: recursive
 
       - run: git lfs pull
-
       - name: Cache SCons
         uses: actions/cache@v4
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
@@ -60,74 +122,108 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
+      - name: Set environment variables
+        id: set-env
+        run: |
+          # Set up common environment
+          source /etc/profile;
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
+
       - name: Setup build environment
         run: |
           mkdir -p "${BUILD_DIR}/"
           sudo find $BUILD_DIR/ -mindepth 1 -delete
           echo "Starting build stage..."
-          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
-      
-      - name: Patch SConstruct to pass arbitrary cache
-        run: |
-          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
-          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
-          cat ${{ github.workspace }}/SConstruct
+          echo "BUILD_DIR: ${BUILD_DIR}"
+          echo "CI_DIR: ${CI_DIR}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
+          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
+          echo "-------"
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            printenv
+          fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+
+      - name: Download model artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
+          path: ${{ github.workspace }}/selfdrive/modeld/models
+      - run: |
+          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+
+          # Loop through all .onnx files
+          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
+            base_name=$(basename "$onnx_file" .onnx)
+            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+
+            echo "Compiling: $onnx_file -> $output_file"
+            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
+            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+          done
+
+      - name: Validate Model Outputs
+        run: |
+          source /etc/profile
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --validate-only \
+            --model-dir "${{ env.MODELS_DIR }}"
 
       - name: Prepare Output
         run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          
+          sudo rm -rf ${{ env.OUTPUT_DIR }}
+          mkdir -p ${{ env.OUTPUT_DIR }}
+
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
-            --include='*.thneed' \
             --include='*.pkl' \
             --include='*.onnx' \
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
-            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
-          
-          # Rename files if file_name is provided
-          if [ ! -z "${{ inputs.file_name }}" ]; then
-            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
-            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
-          fi
-          
-          # Calculate SHA256 hashes
-          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
-          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
-          
-          # Create metadata.json
-          cat > ${OUTPUT_DIR}/metadata.json << EOF
-          {
-            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
-            "full_name": "${{ inputs.file_name || 'default' }}",
-            "is_20hz": ${{ inputs.is_20hz || false }},
-            "files": {
-              "drive_model": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
-                "sha256": "${HASH}"
-              },
-              "metadata": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
-                "sha256": "${METADATA_HASH}"
-              }
-            },
-            "ref": "${{ inputs.upstream_branch }}",
-            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
-          }     
+            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "${{ env.MODELS_DIR }}" \
+            --output-dir "${{ env.OUTPUT_DIR }}" \
+            --custom-name "${{ env.MODEL_NAME }}" \
+            --upstream-branch "${{ inputs.upstream_branch }}" \
+            ${{ inputs.is_20hz && '--is-20hz' || '' }}
+
+      - name: Write artifact name to file
+        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
 
       - name: Upload Build Artifacts
+        id: upload-artifact
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
           path: ${{ env.OUTPUT_DIR }}
+
+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 6cd5023a17..3966d1a6c9 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -6,57 +6,121 @@ env:
   CI_DIR: ${{ github.workspace }}/release/ci
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-  
+
   # Branch configurations
-  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
-  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
-  
-  # Target branch configurations
-  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
-  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
-  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
-  
+  STAGING_SOURCE_BRANCH: 'master'
+
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-new, master-dev-c3-new ]
-    tags: [ '*' ]
+    branches: [ master, master-dev ]
+    tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
   workflow_dispatch:
     inputs:
       wait_for_tests:
-        description: 'Wait for selfdrive_tests to finish'
+        description: 'Wait for tests to finish'
         required: false
         type: boolean
         default: false
 
 jobs:
+  prepare_strategy:
+    runs-on: ubuntu-24.04
+    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    outputs:
+      environment: ${{ steps.strategy.outputs.environment }}
+      new_branch: ${{ steps.strategy.outputs.new_branch }}
+      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
+      version: ${{ steps.strategy.outputs.version }}
+      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
+      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
+      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
+      build: ${{ steps.strategy.outputs.build }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract deploy strategy
+        id: strategy
+        run: |
+          echo '::group::Strategy Extraction'
+          BRANCH="${{ github.head_ref || github.ref_name }}"
+          echo "Current branch: $BRANCH"
+
+          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
+          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
+            .configs[] | select(.branch == $branch)
+          ')
+
+          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
+          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
+            echo "No exact strategy match found. Falling back to feature/fork logic."
+            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
+            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
+            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
+
+            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
+            echo "version=$BUILD" >> $GITHUB_OUTPUT
+            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
+            echo "environment=feature-branch" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
+          else
+          echo "Matched config: $CONFIG"
+            environment=$(echo "$CONFIG" | jq -r '.environment')
+            echo "environment=$environment" >> $GITHUB_OUTPUT
+            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
+            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
+            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
+            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
+
+            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
+            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
+
+            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
+            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
+            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
+          fi
+          echo "build=$BUILD" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+
   validate_tests:
     runs-on: ubuntu-24.04
-    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'))
+    needs: [ prepare_strategy ]
+    if: ${{
+      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
+      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
+      contains(github.event_name, 'pull_request') && (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
+          workflow: tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
+          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
 
   build:
-    needs: [ validate_tests ]
+    needs: [ validate_tests, prepare_strategy ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
-    runs-on: self-hosted
+    runs-on: [self-hosted, tici]
     outputs:
-      new_branch: ${{ steps.set-env.outputs.new_branch }}
-      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()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
+      version: ${{ needs.prepare_strategy.outputs.version }}
+      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
+      commit_sha: ${{ github.sha }}
+    if: ${{
+      (always() && !cancelled() && !failure()) &&
+      needs.prepare_strategy.result == 'success' &&
+      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
+      (!contains(github.event_name, 'pull_request') ||
+      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -70,70 +134,21 @@ jobs:
         with:
           path: ${{env.SCONS_CACHE_DIR}}
           key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
+          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Feature Branch Prebuilt Configuration
-        id: set_feature_configuration
-        if: (
-              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
-              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
-              !(startsWith(github.ref, 'refs/tags/'))
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set dev-c3-new prebuilt Configuration
-        id: set_dev_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' && 
-                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-
-      - name: Set staging-c3-new prebuilt Configuration
-        id: set_staging_configuration
-        if: (
-                steps.set_feature_configuration.outcome == 'skipped' &&
-                !contains(github.event_name, 'pull_request') &&
-                steps.set_dev_configuration.outcome == 'skipped' && 
-                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-
-      - name: Set release-c3-new prebuilt Configuration
-        id: set_tag_configuration
-        if: (
-              steps.set_feature_configuration.outcome == 'skipped' &&
-              !contains(github.event_name, 'pull_request') &&
-              steps.set_staging_configuration.outcome == 'skipped' &&
-              startsWith(github.ref, 'refs/tags/')
-            )
-        run: |
-          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-
       - name: Set environment variables
         id: set-env
         run: |
-          # Write to GITHUB_OUTPUT from environment variables
-          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
-          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
+          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
+          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
+          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
           echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-          
+
           # Set up common environment
           source /etc/profile;
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
@@ -165,6 +180,13 @@ jobs:
           ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
           cd $BUILD_DIR
           sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
+          echo "Building sunnypilot's modeld_v2..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
+          echo "Building sunnypilot's locationd..."
+          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
+          echo "Building openpilot's locationd..."
+          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
+          echo "Building rest of sunnypilot"
           scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
           touch ${BUILD_DIR}/prebuilt
           if [[ "${{ runner.debug }}" == "1" ]]; then
@@ -176,37 +198,27 @@ jobs:
           sudo rm -rf ${OUTPUT_DIR}
           mkdir -p ${OUTPUT_DIR}
           rsync -am${RUNNER_DEBUG:+v} \
-            --include='**/panda/board/' \
-            --include='**/panda/board/obj' \
-            --include='**/panda/board/obj/panda.bin.signed' \
-            --include='**/panda/board/obj/panda_h7.bin.signed' \
-            --include='**/panda/board/obj/bootstub.panda.bin' \
-            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
             --exclude='.sconsign.dblite' \
             --exclude='*.a' \
             --exclude='*.o' \
             --exclude='*.os' \
             --exclude='*.pyc' \
             --exclude='moc_*' \
-            --exclude='*.cc' \
+            --exclude='__pycache__' \
             --exclude='Jenkinsfile' \
-            --exclude='supercombo.onnx' \
-            --exclude='**/panda/board/*' \
-            --exclude='**/panda/board/obj/**' \
-            --exclude='**/panda/certs/' \
-            --exclude='**/panda/crypto/' \
             --exclude='**/release/' \
             --exclude='**/.github/' \
             --exclude='**/selfdrive/ui/replay/' \
             --exclude='**/__pycache__/' \
-            --exclude='**/selfdrive/ui/*.h' \
-            --exclude='**/selfdrive/ui/**/*.h' \
-            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
             --exclude='${{env.SCONS_CACHE_DIR}}' \
             --exclude='**/.git/' \
             --exclude='**/SConstruct' \
             --exclude='**/SConscript' \
             --exclude='**/.venv/' \
+            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
+            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
+            --exclude='third_party/*x86*' \
+            --exclude='third_party/*Darwin*' \
             --delete-excluded \
             --chown=comma:comma \
             ${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -230,12 +242,15 @@ jobs:
 
   publish:
     concurrency:
-      group: publish-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: true
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build ]
+      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
+      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
+      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
+      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
+      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
+    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build, prepare_strategy ]
     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' }}
+    environment: ${{ needs.prepare_strategy.outputs.environment }}
     steps:
       - uses: actions/checkout@v4
 
@@ -267,8 +282,8 @@ jobs:
             "${{ needs.build.outputs.new_branch }}" \
             "${{ needs.build.outputs.version }}" \
             "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "-${{ needs.build.outputs.extra_version_identifier }}"
-          
+            "${{ needs.build.outputs.extra_version_identifier }}"
+
           echo ""
           echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
           echo ""
@@ -276,38 +291,60 @@ jobs:
           echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
 
+      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
+        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
+        run: |
+            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
+            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
+            git push -f origin ${TAG}
+
   notify:
-    needs: [ build, publish ]
+    needs:
+    - prepare_strategy
+    - build
+    - publish
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    if: ${{ (always() && !cancelled() && !failure())
+      && needs.publish.result == 'success'
+      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
     steps:
       - uses: actions/checkout@v4
-      - name: Setup Alpine Linux environment
-        uses: jirutka/setup-alpine@v1.2.0
-        with:
-          packages: 'jq gettext curl'
 
-      - name: Send Discord Notification
-        env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+      - name: Prepare notification message
+        id: message
         run: |
-          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
-          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
-          export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ env.SOURCE_BRANCH }}
-          export new_branch=${{ needs.build.outputs.new_branch }}
-          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
-          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
-          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
-          
-          echo ""
-          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
-          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
-  
+          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
+          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
+          export branch_name="${{ env.SOURCE_BRANCH }}"
+          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
+          export commit_sha="${{ github.sha }}"
+          export commit_short_sha="${{ github.sha }}"
+          export commit_short_sha="${commit_short_sha:0:7}"
+          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
+          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
+
+          MESSAGE=$(cat << 'EOF' | envsubst
+          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
+          EOF
+          )
+
+          {
+            echo 'content<<EOFMARKER'
+            echo "$MESSAGE"
+            echo 'EOFMARKER'
+          } >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Post to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: "system"
+          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
+          message: ${{ steps.message.outputs.content }}
+
   manage-pr-labels:
     name: Remove prebuilt label
     runs-on: ubuntu-latest
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-prep.yaml
similarity index 70%
rename from .github/workflows/sunnypilot-master-dev-c3-prep.yaml
rename to .github/workflows/sunnypilot-master-dev-prep.yaml
index 031be6a50d..1cb574764b 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-prep.yaml
@@ -1,9 +1,8 @@
-name: Build dev-c3-new
+name: Build dev
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
-  PR_LABEL: "dev-c3"
+  DEFAULT_SOURCE_BRANCH: "master"
+  DEFAULT_TARGET_BRANCH: "master-dev"
   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'
 
@@ -11,23 +10,21 @@ on:
   push:
     branches:
       - master
-      - master-new    
   pull_request_target:
-    types: [ labeled ]  
-    branches:    
-      - 'master'        
-      - 'master-new'            
+    types: [ labeled ]
+    branches:
+      - 'master'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master-new'
+        default: 'master'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev-c3-new'
+        default: 'master-dev'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -43,24 +40,25 @@ jobs:
   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))
-            || (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'))))
-        )
+      (github.event_name == 'workflow_dispatch')
+      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
+      )
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
+          persist-credentials: false
 
       - 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))
-                || (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'))))
-            )
+          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
+          )
         with:
-          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          workflow: tests.yaml # The workflow file to monitor
           github-token: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Configure Git
@@ -120,8 +118,8 @@ jobs:
         run: |
           # Use GitHub API to get PRs with specific label, ordered by creation date
           PR_LIST=$(gh api graphql -f query='
-            query($label:String!) {
-              search(query: $label, type:ISSUE, first:100) {
+            query($search_query:String!) {
+              search(query: $search_query, type:ISSUE, first:40) {
                 nodes {
                   ... on PullRequest {
                     number
@@ -151,8 +149,9 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
+            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
 
+          PR_LIST=${PR_LIST//\'/}
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
@@ -175,10 +174,37 @@ jobs:
           echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
           echo '    locksverify = false' >> .lfsconfig
 
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
+      - name: Restore workflows from source
         run: |
           TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
+
+          # Ensure we are on the target branch
+          git checkout $TARGET_BRANCH
+
+          echo "Restoring .github/workflows from $SOURCE_BRANCH"
+          git checkout origin/$SOURCE_BRANCH -- .github/workflows
+
+          if ! git diff --cached --quiet; then
+            echo "Workflows differ. Committing restoration."
+            git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
+          else
+            echo "Workflows match $SOURCE_BRANCH."
+          fi
+
+      - uses: actions/create-github-app-token@v2
+        id: ci-token
+        with:
+          app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
+          private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
+
+      - name: Push changes if there are diffs
+        id: push-changes
+        run: |
+          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+
+          # Use the App Token to set the remote URL with authentication
+          git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
 
           # Fetch the latest from remote
           git fetch origin $TARGET_BRANCH
@@ -190,7 +216,7 @@ jobs:
             exit 0
           fi
 
-          # If we get here, there are diffs, so push
+          # Push with the authenticated origin
           if ! git push origin $TARGET_BRANCH --force; then
             echo "Failed to push changes to $TARGET_BRANCH"
             exit 1
@@ -203,22 +229,15 @@ jobs:
         if: steps.push-changes.outputs.has_changes == 'true'
         run: |
           echo "Triggering selfdrive tests..."
-          gh workflow run selfdrive_tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
+          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
 
           echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
           sleep 120
 
           echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=selfdrive_tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
+          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
 
           echo "Watching run ID: $RUN_ID"
           gh run watch "$RUN_ID"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/test-discourse.yaml.yml b/.github/workflows/test-discourse.yaml.yml
new file mode 100644
index 0000000000..fadaec4eaa
--- /dev/null
+++ b/.github/workflows/test-discourse.yaml.yml
@@ -0,0 +1,78 @@
+name: Debug Discourse Posting
+
+on:
+  push:
+
+jobs:
+  test-discourse-post:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Post test message to Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      
+      
+      - name: Create topic on Discourse
+        uses: ./.github/workflows/post-to-discourse
+        with:
+          discourse-url: ${{ vars.DISCOURSE_URL }}
+          api-key: ${{ secrets.DISCOURSE_API_KEY }}
+          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
+          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
+          category-id: 4
+          title: "This is a test of a new topic instead of a reply"
+          message: |
+            ## 🧪 Test Post from GitHub Actions
+            
+            **This is a test post to verify Discourse integration**
+            
+            - **Workflow**: ${{ github.workflow }}
+            - **Run Number**: #${{ github.run_number }}
+            - **Branch**: `${{ github.ref_name }}`
+            - **Commit**: ${{ github.sha }}
+            - **Actor**: @${{ github.actor }}
+            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
+            
+            ---
+            
+            ### Fake Build Info (for testing)
+            - **Version**: 0.9.8-test
+            - **Build**: #42
+            - **Branch**: release-test
+            
+            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
+            
+            *This is an automated test message. Drive safe! 🚗💨*
+      - name: Display results
+        if: always()
+        run: |
+          echo "::notice::Discourse post test completed"
+          echo "Check your Discourse topic to verify the post appeared correctly"
\ No newline at end of file
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
new file mode 100644
index 0000000000..760b16326a
--- /dev/null
+++ b/.github/workflows/tests.yaml
@@ -0,0 +1,238 @@
+name: tests
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
+
+concurrency:
+  group: tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  CI: 1
+  PYTHONPATH: ${{ github.workspace }}
+  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    env:
+      STRIPPED_DIR: /tmp/releasepilot
+      PYTHONPATH: /tmp/releasepilot
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - name: Getting LFS files
+      uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
+      with:
+        timeout_minutes: 2
+        max_attempts: 3
+        command: git lfs pull
+    - name: Build devel
+      timeout-minutes: 1
+      run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
+    - run: ./tools/op.sh setup
+    - name: Build openpilot and run checks
+      timeout-minutes: 30
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: python3 system/manager/build.py
+    - name: Run tests
+      timeout-minutes: 1
+      working-directory: ${{ env.STRIPPED_DIR }}
+      run: release/check-dirty.sh
+    - name: Check submodules
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
+      run: |
+        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
+          git fetch  origin master:refs/remotes/origin/master
+
+          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+            if git ls-files --stage "$path" | grep -q "^160000"; then
+              echo "$path"
+            fi
+          done | tr '\n' ' ')
+
+          if [ -n "$SUBMODULE_PATHS" ]; then
+            echo "Changed submodule paths: $SUBMODULE_PATHS"
+            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
+            export CHECK_PR_REFS=true
+          fi
+        fi
+        release/check-submodules.sh
+
+  build_mac:
+    name: build macOS
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - name: Remove Homebrew from environment
+      run: |
+        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
+        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
+    - run: ./tools/op.sh setup
+    - name: Building openpilot
+      run: scons
+
+  static_analysis:
+    name: static analysis
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: ./tools/op.sh setup
+    - name: Static analysis
+      timeout-minutes: 1
+      run: scripts/lint/lint.sh
+
+  unit_tests:
+    name: unit tests
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: ./tools/op.sh setup
+    - name: Build openpilot
+      run: scons -j$(nproc)
+    - name: Run unit tests
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
+      run: |
+        source selfdrive/test/setup_xvfb.sh
+        # Pre-compile Python bytecode so each pytest worker doesn't need to
+        $PYTEST --collect-only -m 'not slow' -qq
+        MAX_EXAMPLES=1 $PYTEST -m 'not slow'
+
+  process_replay:
+    name: process replay
+    if: false  # disable process_replay for forks
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: ./tools/op.sh setup
+    - name: Build openpilot
+      run: scons -j$(nproc)
+    - name: Run replay
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
+      continue-on-error: ${{ github.ref == 'refs/heads/master' }}
+      run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
+    - name: Print diff
+      id: print-diff
+      if: always()
+      run: cat selfdrive/test/process_replay/diff.txt
+    - uses: actions/upload-artifact@v6
+      if: always()
+      continue-on-error: true
+      with:
+        name: process_replay_diff.txt
+        path: selfdrive/test/process_replay/diff.txt
+    - name: Checkout ci-artifacts
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      uses: actions/checkout@v4
+      with:
+        repository: commaai/ci-artifacts
+        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+        path: ${{ github.workspace }}/ci-artifacts
+    - name: Push refs
+      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
+      working-directory: ${{ github.workspace }}/ci-artifacts
+      run: |
+        git config user.name "GitHub Actions Bot"
+        git config user.email "<>"
+        git fetch origin process-replay || true
+        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
+        cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst .
+        echo "${{ github.sha }}" > ref_commit
+        git add .
+        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
+        git push origin process-replay
+    - name: Run regen
+      if: false
+      timeout-minutes: 4
+      env:
+        ONNXCPU: 1
+      run: $PYTEST selfdrive/test/process_replay/test_regen.py
+
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    if: false  # FIXME: Started to timeout recently
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        submodules: true
+    - run: ./tools/op.sh setup
+    - name: Build openpilot
+      run: scons -j$(nproc)
+    - name: Driving test
+      timeout-minutes: 2
+      run: |
+        source selfdrive/test/setup_xvfb.sh
+        pytest -s tools/sim/tests/test_metadrive_bridge.py
+
+  create_ui_report:
+    name: Create UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        run: scons -j$(nproc)
+      - name: Create UI Report
+        run: |
+          source selfdrive/test/setup_xvfb.sh
+          python3 selfdrive/ui/tests/diff/replay.py
+          python3 selfdrive/ui/tests/diff/replay.py --big
+      - name: Upload UI Report
+        uses: actions/upload-artifact@v6
+        with:
+          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/diff/report
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f9b24e0f2c..a02726c3af 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -3,21 +3,25 @@ on:
   push:
     branches:
       - master
-      - master-new
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
       - 'master'
-      - 'master-new'
     paths:
+      - 'selfdrive/assets/**'
       - 'selfdrive/ui/**'
+      - 'system/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.sha || github.event.pull_request.head.sha }}
-  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-ui-preview"
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+  # variant:video_prefix:master_branch
+  VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
 
 jobs:
   preview:
@@ -30,8 +34,9 @@ jobs:
       pull-requests: write
       actions: read
     steps:
-      - name: Waiting for ui generation to start
-        run: sleep 30
+      - uses: actions/checkout@v6
+        with:
+          submodules: true
 
       - name: Waiting for ui generation to end
         uses: lewagon/wait-on-check-action@v1.3.4
@@ -48,110 +53,93 @@ jobs:
           echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
 
       - name: Getting proposed ui
-        id: download-artifact
         uses: dawidd6/action-download-artifact@v6
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           run_id: ${{ steps.get_run_id.outputs.run_id }}
           search_artifacts: true
-          name: report-1-${{ env.REPORT_NAME }}
+          name: ui-report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
-      - name: Getting master ui
-        uses: actions/checkout@v4
+      - name: Getting mici master ui
+        uses: actions/checkout@v6
         with:
           repository: sunnypilot/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
-          path: ${{ github.workspace }}/master_ui
-          ref: openpilot_master_ui
+          path: ${{ github.workspace }}/master_mici
+          ref: openpilot_master_ui_mici_raylib
+
+      - name: Getting big master ui
+        uses: actions/checkout@v6
+        with:
+          repository: sunnypilot/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_big
+          ref: openpilot_master_ui_big_raylib
 
       - name: Saving new master ui
-        if: (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.event_name == 'push'
-        working-directory: ${{ github.workspace }}/master_ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
         run: |
-          git checkout --orphan=new_master_ui
-          git rm -rf *
-          git branch -D openpilot_master_ui
-          git branch -m openpilot_master_ui
-          git config user.name "GitHub Actions Bot"
-          git config user.email "<>"
-          mv ${{ github.workspace }}/pr_ui/*.png .
-          git add .
-          git commit -m "screenshots for commit ${{ env.SHA }}"
-          git push origin openpilot_master_ui --force
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video branch <<< "$variant"
+            master_dir="${{ github.workspace }}/master_${name}"
+            cd "$master_dir"
+            git checkout --orphan=new_branch
+            git rm -rf *
+            git branch -D "$branch"
+            git branch -m "$branch"
+            git config user.name "GitHub Actions Bot"
+            git config user.email "<>"
+            cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
+            git add .
+            git commit -m "${name} video for commit ${{ env.SHA }}"
+            git push origin "$branch" --force
+          done
 
-      - name: Finding diff
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diffs
         if: github.event_name == 'pull_request_target'
         id: find_diff
-        run: >-
-          sudo apt-get update && sudo apt-get install -y imagemagick
+        run: |
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
 
-          scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
-          A=($scenes)
+          COMMENT=""
+          for variant in $VARIANTS; do
+            IFS=':' read -r name video _ <<< "$variant"
+            diff_name="${name}_diff"
 
-          DIFF=""
-          TABLE="<details><summary>All Screenshots</summary>"
-          TABLE="${TABLE}<table>"
+            mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
+            cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
 
-          for ((i=0; i<${#A[*]}; i=i+1));
-          do
-            # Check if the master file exists
-            if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
+            diff_exit_code=0
+            python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
+              "${{ github.workspace }}/pr_ui/${video}_master.mp4" \
+              "${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
+              "${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
 
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
 
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
-            elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
-              convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
-              composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
-              convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
-
-              mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
-
-              DIFF="${DIFF}<details open>"
-              DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
-              DIFF="${DIFF}<table>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
-              DIFF="${DIFF}</tr>"
-
-              DIFF="${DIFF}</table>"
-              DIFF="${DIFF}</details>"
+            REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
+            if [ $diff_exit_code -eq 0 ]; then
+              COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
             else
-              rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
-            fi
-
-            INDEX=$(($i % 2))
-            if [[ $INDEX -eq 0 ]]; then
-              TABLE="${TABLE}<tr>"
-            fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
-            if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
-              TABLE="${TABLE}</tr>"
+              COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
             fi
           done
 
-          TABLE="${TABLE}</table></details>"
-
-          echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
+          {
+            echo "COMMENT<<EOF"
+            echo "$COMMENT"
+            echo "EOF"
+          } >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui
         if: github.event_name == 'pull_request_target'
-        working-directory: ${{ github.workspace }}/master_ui
+        working-directory: ${{ github.workspace }}/master_mici
         run: |
           git config user.name "GitHub Actions Bot"
           git config user.email "<>"
@@ -159,17 +147,29 @@ jobs:
           git rm -rf *
           mv ${{ github.workspace }}/pr_ui/* .
           git add .
-          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git commit -m "ui videos for PR #${{ github.event.number }}"
           git push origin ${{ env.BRANCH_NAME }} --force
 
-      - name: Comment Screenshots on PR
+          # Append diff reports to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          for variant in $VARIANTS; do
+            IFS=':' read -r name _ _ <<< "$variant"
+            diff_name="${name}_diff"
+            cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
+            git add "${diff_name}_pr_${{ github.event.number }}.html"
+          done
+          git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment on PR
         if: github.event_name == 'pull_request_target'
         uses: thollander/actions-comment-pull-request@v2
         with:
           message: |
-            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            <!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
             ## UI Preview
-            ${{ steps.find_diff.outputs.DIFF }}
-          comment_tag: run_id_screenshots
+            ${{ steps.find_diff.outputs.COMMENT }}
+          comment_tag: run_id_ui_preview
           pr_number: ${{ github.event.number }}
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml
index 9cde4cf076..01bc614618 100644
--- a/.github/workflows/wait-for-action/action.yaml
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -4,7 +4,7 @@ inputs:
   workflow:
     description: 'The workflow file name to monitor'
     required: true
-    default: 'selfdrive_tests.yaml'
+    default: 'tests.yaml'
   branch:
     description: 'The branch to monitor (defaults to current branch)'
     required: false
diff --git a/.gitignore b/.gitignore
index b556885632..cd5e64e52b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,12 +10,13 @@ venv/
 .overlay_init
 .overlay_consistent
 .sconsign.dblite
-model2.png
 a.out
 .hypothesis
+.cache/
 
 /docs_site/
 
+*.mp4
 *.dylib
 *.DSYM
 *.d
@@ -35,30 +36,23 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-*.qm
+*.mo
 *_pyx.cpp
+*.stats
 config.json
 clcache
 compile_commands.json
 compare_runtime*.html
 
-persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
-selfdrive/mapd/default_speeds_by_region.json
-system/proclogd/proclogd
 selfdrive/ui/translations/tmp
-selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 
-notebooks
-hyperthneed
-provisioning
-
 .coverage*
 coverage.xml
 htmlcov
@@ -70,13 +64,10 @@ flycheck_*
 cppcheck_report.txt
 comma*.sh
 
-selfdrive/modeld/thneed/compile
-selfdrive/modeld/models/*.thneed
-selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
+selfdrive/modeld/models/*.pkl*
 sunnypilot/modeld*/models/*.pkl
 
+# openpilot log files
 *.bz2
 *.zst
 
@@ -106,6 +97,11 @@ Pipfile
 .history
 .ionide
 
+.claude/
+.context/
+PLAN.md
+TASK.md
+
 ### JetBrains ###
 !.idea/customTargets.xml
 !.idea/tools/*
diff --git a/.gitmodules b/.gitmodules
index b9f0336a0e..5c5d72a7dc 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,7 +6,7 @@
   url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/sunnypilot/msgq.git
+  url = https://github.com/commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = https://github.com/commaai/rednose.git
@@ -15,7 +15,7 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/sunnypilot/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
   path = sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/.idea/tools/External Tools.xml b/.idea/tools/External Tools.xml
index fa2375e2ee..d5d03136ea 100644
--- a/.idea/tools/External Tools.xml	
+++ b/.idea/tools/External Tools.xml	
@@ -2,7 +2,7 @@
   <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db --ccflags=\&quot;-fno-inline\&quot;&quot;" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
@@ -16,7 +16,7 @@
   <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
     <exec>
       <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --compile_db&quot; " />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
diff --git a/.run/Build_BIG_UI.run.xml b/.run/Build_BIG_UI.run.xml
new file mode 100644
index 0000000000..b58b1bf1b7
--- /dev/null
+++ b/.run/Build_BIG_UI.run.xml
@@ -0,0 +1,26 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
+    <module name="sunnypilot" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="BIG" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.run/Build_SMALL_UI.run.xml b/.run/Build_SMALL_UI.run.xml
new file mode 100644
index 0000000000..6c231c83f8
--- /dev/null
+++ b/.run/Build_SMALL_UI.run.xml
@@ -0,0 +1,23 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
+    <module name="sunnypilot" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="false" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2">
+      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index a6b341d9ea..f090061c42 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -23,6 +23,11 @@
       "id": "args",
       "description": "Arguments to pass to the process",
       "type": "promptString"
+    },
+    {
+      "id": "replayArg",
+      "type": "promptString",
+      "description": "Enter route or segment to replay."
     }
   ],
   "configurations": [
@@ -40,7 +45,41 @@
       "type": "cppdbg",
       "request": "launch",
       "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}",
+      "cwd": "${workspaceFolder}"
+    },
+    {
+      "name": "Attach LLDB to Replay drive",
+      "type": "lldb",
+      "request": "attach",
+      "pid": "${command:pickMyProcess}",
+      "initCommands": [
+        "script import time; time.sleep(3)"
+      ]
+    },
+    {
+      "name": "Replay drive",
+      "type": "debugpy",
+      "request": "launch",
+      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
+      "args": [
+        "${input:replayArg}"
+      ],
+      "console": "integratedTerminal",
+      "justMyCode": false,
+      "env": {
+        "PYTHONPATH": "${workspaceFolder}"
+      },
+      "subProcess": true,
+      "stopOnEntry": false
+    }
+  ],
+  "compounds": [
+    {
+      "name": "Replay drive + Safety LLDB",
+      "configurations": [
+        "Replay drive",
+        "Attach LLDB to Replay drive"
+      ]
     }
   ]
 }
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000000..8ad026b12b
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,1203 @@
+sunnypilot Version 2026.001.000 (2026-03-xx)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * Complete rewrite of the user interface from Qt C++ to Raylib Python
+  * comma four support
+  * ui: sunnypilot toggle style by @nayan8teen
+  * ui: fix scroll panel mouse wheel behavior by @nayan8teen
+  * ui: sunnypilot panels by @nayan8teen
+  * sunnylink: centralize key pair handling in sunnylink registration by @devtekve
+  * ui: reimplement sunnypilot branding with Raylib by @sunnyhaibin
+  * ui: Platform Selector by @Discountchubbs
+  * ui: vehicle brand settings by @Discountchubbs
+  * ui: sunnylink client-side implementation by @nayan8teen
+  * ui: `NetworkUISP` by @Discountchubbs
+  * ui: add sunnypilot font by @nayan8teen
+  * ui: sunnypilot sponsor tier color mapping by @sunnyhaibin
+  * ui: sunnylink panel by @nayan8teen
+  * ui: Models panel by @Discountchubbs
+  * ui: software panel by @Discountchubbs
+  * modeld_v2: support planplus outputs by @Discountchubbs
+  * ui: OSM panel by @Discountchubbs
+  * ui: Developer panel extension by @Discountchubbs
+  * sunnylink: Vehicle Selector support by @sunnyhaibin
+  * [TIZI/TICI] ui: Developer Metrics by @rav4kumar
+  * [comma 4] ui: sunnylink panel by @nayan8teen
+  * ui: lateral-only and longitudinal-only UI statuses support by @royjr
+  * sunnylink: elliptic curve keys support and improve key path handling by @nayan8teen
+  * sunnylink: block remote modification of SSH key parameters by @zikeji
+  * [TIZI/TICI] ui: rainbow path by @rav4kumar
+  * [TIZI/TICI] ui: chevron metrics by @rav4kumar
+  * ui: include MADS enabled state to `engaged` check by @sunnyhaibin
+  * Toyota: Enforce Factory Longitudinal Control by @sunnyhaibin
+  * ui: fix malformed dongle ID display on the PC if dongleID is not set by @dzid26
+  * SL: Re enable and validate ingestion of swaglogs by @devtekve
+  * modeld_v2: planplus model tuning by @Discountchubbs
+  * ui: fix Always Offroad button visibility by @nayan8teen
+  * Reimplement sunnypilot Terms of Service & sunnylink Consent Screens by @sunnyhaibin
+  * [TIZI/TICI] ui: update dmoji position and Developer UI adjustments by @rav4kumar
+  * modeld: configurable camera offset by @Discountchubbs
+  * [TIZI/TICI] ui: sunnylink status on sidebar by @Copilot
+  * ui: Global Brightness Override by @nayan8teen
+  * ui: Customizable Interactive Timeout by @sunnyhaibin
+  * sunnylink: add units to param metadata by @nayan8teen
+  * ui: Customizable Onroad Brightness by @sunnyhaibin
+  * [TIZI/TICI] ui: Steering panel by @nayan8teen
+  * [TIZI/TICI] ui: Rocket Fuel by @rav4kumar
+  * [TIZI/TICI] ui: MICI style turn signals by @rav4kumar
+  * [TIZI/TICI] ui: MICI style blindspot indicators by @sunnyhaibin
+  * [MICI] ui: display blindspot indicators when available by @rav4kumar
+  * [TIZI/TICI] ui: Road Name by @rav4kumar
+  * [TIZI/TICI] ui: Blue "Exit Always Offroad" button by @dzid26
+  * [TIZI/TICI] ui: Speed Limit by @rav4kumar
+  * Reapply "latcontrol_torque: lower kp and lower friction threshold (commaai/openpilot#36619)" by @sunnyhaibin
+  * [TIZI/TICI] ui: steering arc by @royjr
+  * [TIZI/TICI] ui: Smart Cruise Control elements by @sunnyhaibin
+  * [TIZI/TICI] ui: Green Light and Lead Departure elements by @sunnyhaibin
+  * [TIZI/TICI] ui: standstill timer by @sunnyhaibin
+  * [MICI] ui: driving models selector by @Discountchubbs
+  * [TIZI/TICI] ui: Hide vEgo and True vEgo by @sunnyhaibin
+  * [TIZI/TICI] ui: Visuals panel by @nayan8teen
+  * Device: Retain QuickBoot state after op switch by @nayan8teen
+  * [TIZI/TICI] ui: Trips panel by @sunnyhaibin
+  * [TIZI/TICI] ui: dynamic ICBM status by @sunnyhaibin
+  * [TIZI/TICI] ui: Cruise panel by @sunnyhaibin
+  * ui: better wake mode support by @nayan8teen
+  * Pause Lateral Control with Blinker: Post-Blinker Delay by @CHaucke89
+  * SCC-V: Use p97 for predicted lateral accel by @yasu-oh
+  * Controls: Support for Torque Lateral Control v0 Tune by @sunnyhaibin
+* What's Changed (sunnypilot/opendbc)
+  * Honda: DBC for Accord 9th Generation by @mvl-boston
+  * FCA: update tire stiffness values for `RAM_HD` by @dparring
+  * Honda: Nidec hybrid baseline brake support by @mvl-boston
+  * Subaru Global Gen2: bump steering limits and update tuning by @sunnyhaibin
+  * Toyota: Enforce Stock Longitudinal Control by @rav4kumar
+  * Nissan: use MADS enabled status for LKAS HUD logic by @downquark7
+  * Reapply "Lateral: lower friction threshold (#2915)" (#378) by @sunnyhaibin
+  * HKG: add KIA_FORTE_2019_NON_SCC fingerprint by @royjr
+  * Nissan: Parse cruise control buttons by @downquark7
+  * Rivian: Add stalk down ACC behavior to match stock Rivian by @lukasloetkolben
+  * Tesla: remove `TESLA_MODEL_X` from `dashcamOnly` by @ssysm
+  * Hyundai Longitudinal: refactor tuning by @Discountchubbs
+  * Tesla: add fingerprint for Model 3 Performance HW4 by @sunnyhaibin
+  * Toyota: do not disable radar when smartDSU or CAN Filter detected by @sunnyhaibin
+  * Honda: add missing `GasInterceptor` messages to Taiwan Odyssey DBC by @mvl-boston
+  * GM: remove `CHEVROLET_EQUINOX_NON_ACC_3RD_GEN` from `dashcamOnly` by @sunnyhaibin
+  * GM: remove `CHEVROLET_BOLT_NON_ACC_2ND_GEN` from `dashcamOnly` by @sunnyhaibin
+* New Contributors (sunnypilot/sunnypilot)
+  * @TheSecurityDev made their first contribution in "ui: fix sidebar scroll in UI screenshots"
+  * @zikeji made their first contribution in "sunnylink: block remote modification of SSH key parameters"
+  * @Candy0707 made their first contribution in "[TIZI/TICI] ui: Fix misaligned turn signals and blindspot indicators with sidebar"
+  * @CHaucke89 made their first contribution in "Pause Lateral Control with Blinker: Post-Blinker Delay"
+  * @yasu-oh made their first contribution in "SCC-V: Use p97 for predicted lateral accel"
+* New Contributors (sunnypilot/opendbc)
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support"
+  * @downquark7 made their first contribution in "Nissan: use MADS enabled status for LKAS HUD logic"
+  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
+  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+
+sunnypilot Version 2025.002.000 (2025-11-06)
+========================
+* What's Changed (sunnypilot/sunnypilot)
+  * models: bump model json to v8 by @Discountchubbs
+  * Bug: Model UI Crash Fix by @nayan8teen
+  * controlsd: add `CP_SP` to `get_pid_accel_limits` by @THERoenPR
+  * sunnylink: update uploader button logic to support novice tier and above by @devtekve
+  * Tesla: Coop Steering by @AmyJeanes
+  * ui: update discord references and add forum widget by @devtekve
+  * ui: Fix spacing in sunnylink panel by @devtekve
+  * docs: Update README installation branches and discord links by @mpurnell1 in
+  * stats: sunnylink integration by @devtekve
+  * bug: Fix initial registration for sunnylink by @devtekve
+* What's Changed (sunnypilot/opendbc)
+  * Honda: add brake hold messages for Clarity by @mvl-boston
+  * interface: add `CP_SP` to `get_pid_accel_limits` method signature by @roenthomas
+  * Honda: use fixed accel min/max constants for Gas Interceptor by @roenthomas
+  * Tesla: Coop Steering by @AmyJeanes
+* New Contributors (sunnypilot/sunnypilot)
+  * @THERoenPR made their first contribution in "controlsd: add `CP_SP` to `get_pid_accel_limits`"
+  * @AmyJeanes made their first contribution in "Tesla: Coop Steering"
+  * @mpurnell1 made their first contribution in "docs: Update README installation branches and discord links"
+* Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.001.000...v2025.002.000
+
+sunnypilot Version 2025.001.000 (2025-10-25)
+========================
+* 🛠️ Major rewrite
+  * Most features are intended to be identical to previous versions with slight improvements
+  * Fully adopts upstream commaai’s openpilot, opendbc (car interface and safety), and panda test suites to ensure consistent safety compliance and reliability across all systems
+  * Added regression testing to verify expected behavior and maintain stability across core modules
+  * Aligns with comma.ai’s safety policy: preserving driver monitoring, actuation checks, and safety test suite coverage
+  * Some features have not yet been reimplemented in this rewrite and are temporarily disabled in this release. They may return in future releases once fully ported and validated. See the end of the changelog to get a list of what's not going to be present.
+* 🌟 Major Features & Systems
+  * Modular Assistive Driving System (MADS)
+    * Complete driving assistance framework
+  * Driving Model Manager
+    * Custom driving model selection with support for about 86 models (as of writing), from Night Strike (October 2023) up to The Cool People’s Models (October 2025)
+  * Neural Network Lateral Control (NNLC) (Formerly NNFF)
+    * Advanced torque-based lateral control
+  * Dynamic Experimental Control (DEC)
+    * Intelligent longitudinal control adaptation
+  * Speed Limit Assist (SLA)
+    * Comprehensive speed limit integration featuring @pfeiferj's `mapd` for offline map limits downloads, a Speed Limit Resolver for sourcing data (from car, map, combined, etc), on-screen UI for Speed Limit Information/Warning, and Speed Limit Assist (SLA) to adjust cruise speed automatically.
+    * Currently disabled for Tesla with sunnypilot Longitudinal Control in release and Rivian with sunnypilot Longitudinal Control in all branches
+      * May return in future releases
+  * Intelligent Cruise Button Management (ICBM)
+    * System designed to manage the vehicle’s speed by sending cruise control button commands to the car’s ECU.
+  * Smart Cruise Control Map & Vision (SCC-M / SCC-V)
+    * When using any form of long control (sunnypilot longitudinal control or ICBM) it will control the speed at which you enter and perform a turn by leveraging map data (SCC-M) and/or by leveraging what the model sees about the curve ahead (SCC-V)
+  * Vehicle Selector
+    * If your vehicle isn’t fingerprinted automatically, you can still use the vehicle selector to get it working
+  * sunnylink Integration
+    * Cloud connectivity and settings backup/restore
+    * PENDING: The infrastructure is ready for remote setting management, including remote driving model switching. An announcement will be made when this is ready to use in current and future releases.
+  * External Storage Support
+    * Expanded storage options
+  * mapd Integration (thanks to @pfeiferj)
+    * Allow downloading OpenStreetMap databases for your area, which could be useful for Speed Limit Assist (SLA)
+* User Interface Enhancements
+  * Complete UI Redesign from Default openpilot Experience
+    * A total overhaul of the sunnypilot offroad user interface for a modern and intuitive experience.
+  * New Settings Panels
+    * Reorganized settings into dedicated panels: Steering, Longitudinal, Vehicle, Models, Visuals, Display, and Trips.
+  * Advanced Controls Toggle
+    * Out of the box experience has a slightly reduced set of settings for a lower barrier of entry, once you are ready, you can get a few extra settings by toggling on the Advanced Controls.
+  * Models Panel
+    * A dedicated panel for model management, featuring a download manager, model folders, a favorites system, fuzzy search, and a cache refresh button.
+  * Visuals & Display
+    * Extensive customization options including brightness controls, custom interactivity timeouts, green light indicator, lead vehicle indicator, on-screen turn signals, blind spot indicators, lead chevron info, standstill timer, road name display, and a Tesla-like 🌈 rainbow road path.
+  * Screen Off while driving
+    * Options to turn the screen off while driving and customize wake-up behavior for alerts.
+  * Branch & Platform Selectors
+    * Improved software management with a searchable branch selector and a platform selector that displays the current fingerprint.
+  * Developer UI
+    * An enhanced developer UI with better alert positioning and an integrated error log viewer.
+  * Convenience Features
+    * Added an “Exit Offroad” button, “Always Offroad” mode, Quiet Mode, and customizable max time offroad settings.
+  * OpenStreetMap Database Downloader
+    * The OpenStreetMap database downloader now includes a search feature for easily finding areas.
+* Model and AI Improvements
+  * Modular Model Backend
+    * Major refactor of `modeld` to support modular runners (SNPE, thneed, tinygrad) and dynamic model inputs.
+  * Enhanced Model Outputs
+    * Models now provide additional outputs like “turn desires” for improved control.
+  * Live Parameter Adjustments
+    * Support for live delay adjustments and software delay controls directly from the UI.
+  * Model Management
+    * Added model caching, automatic refresh capabilities, and shape inference from inputs for better compatibility.
+* Control Systems
+  * Pause Lateral on Blinker
+    * Option to temporarily pause lateral control when the turn signal is active.
+  * Custom ACC Setpoint Increments
+    * Configure custom increments for adjusting the ACC set speed for applicable vehicle platforms.
+  * Steering on Brake Press
+    * Customizable steering behavior when the brake pedal is pressed.
+  * Enforce Torque Lateral Control
+    * New customized settings for fine-tuning torque-based steering.
+  * Automatic Lane Change
+    * Support for automatic lane changes, including a mode to disable it.
+* Technical Infrastructure
+  * Custom Cereal Implementation
+    * Migrated sunnypilot-specific events, car parameters, and car controls to a dedicated cereal for better compatibility and performance.
+  * Car Interface Abstractions
+    * Refactored car interfaces to support brand-specific settings and easier integration.
+  * Param Store Caching
+    * Implemented a cache for the parameter store to reduce startup times, with support for live parameter updates.
+  * Enhanced Error Handling
+    * Improved exception management and Sentry logging for better stability and debugging.
+  * Docker & CI/CD
+    * Full Docker image support, a dedicated GitHub runner service, and comprehensive improvements to the entire CI/CD pipeline for automated testing, building, and releasing.
+* Bug Fixes and Stability
+  * Registration Requirement Removed
+    * No longer necessary to register the device to go onroad.
+  * Panda Firmware Checks
+    * Improved firmware checks to gracefully handle deprecated Panda devices.
+  * Numerous Fixes
+    * Addressed a wide range of bugs across the system for a more stable and reliable experience.
+* Developer Experience
+  * CLion IDE integration and external tools
+  * Comprehensive testing and build automation
+  * Model building and publishing automation
+  * UI preview generation and testing
+  * Release drafting and version management
+  * Code quality and maintenance workflows
+* Translations and Localization
+  * Korean translation updates
+  * Automated translation management system
+* ❌ Removed
+  * Navigate on openpilot (NoO)
+    * Navigate on openpilot (NoO) has been removed as upstream is prioritizing improving the driving model’s capabilities and simplifying the training stack.
+    * The feature may return in a future upstream release by comma.ai once model improvements from upstream make it more reliable.
+  * Visuals: Rocket Fuel
+  * Visuals: Displaying Braking Status
+  * Vehicle: Toyota - Enforce Stock Longitudinal Control
+  * Subaru: Increase Steering Torque
+  * Longitudinal: Acceleration Personality
+  * UI: Display CPU Temperature on Sidebar
+  * Lateral: Block Lane Change with Road Edge Detection
+  * UI: Display DM Camera in Reverse Gear
+  * UI: Auto-hide Selected UI Elements
+  * Visuals: Display End-to-End Longitudinal Status
+  * Toyota: Stop and Go Hack (alpha)
+  * Visuals: Onroad Settings
+  * Honda: Serial Steering Support
+  * Volkswagen: Non-ACC Platforms Support
+  * Longitudinal: Dynamic Personality
+  * Honda Nidec: Allow Stock Longitudinal Control
+  * Lateral Planner: Dynamic Lane Profile
+  * Lateral Planner: Laneful Mode
+  * Lateral: Custom Camera and Path Offsets
+  * Toyota: Door Controls
+* New Contributors (sunnypilot/sunnypilot)
+  * @royjr made their first contribution in "NNLC: bump max similarity for higher accuracy (#704)"
+  * @nayan8teen made their first contribution in "UI: Update AbstractControlSP_SELECTOR and OptionControlSP (#800)"
+  * @wtogami made their first contribution in "TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)"
+  * @dparring made their first contribution in "FCA: Ram 1500 improvements (#797)"
+  * @Kirito3481 made their first contribution in "Update ko-kr translation (#1167)"
+  * @michael-was-taken made their first contribution in "Reorder README tables: show -new branches first (#1191)"
+  * @dzid26 made their first contribution in "params: Fix loading delay on startup (#1297)"
+  * @HazZelnutz made their first contribution in "Visuals: Turn signals on screen when blinker is used (#1291)"
+  * @sirmuskrat made their first contribution in "ui: openpilot Longitudinal Control → sunnypilot Longitudinal Control (#1422)"
+* New Contributors (sunnypilot/opendbc)
+  * @chrispypatt made their first contribution in "Toyota: SecOC Longitudinal Control (sunnypilot/opendbc#93)"
+  * @Discountchubbs made their first contribution in "Hyundai: EPS FW For 2022 KIA_NIRO_EV SCC (sunnypilot/opendbc#118)"
+  * @lukasloetkolben made their first contribution in "Tesla: enableBsm is always true (sunnypilot/opendbc#163)"
+  * @roenthomas made their first contribution in "Honda: int flag for modified EPS configs (sunnypilot/opendbc#254)"
+  * @AmyJeanes made their first contribution in "Tesla: Fix stock LKAS being blocked when MADS is enabled (sunnypilot/opendbc#286)"
+  * @mvl-boston made their first contribution in "Honda: Update Clarity brake to renamed DBC message name (sunnypilot/opendbc#282)"
+  * @dzid26 made their first contribution in "Tesla: Parse speed limit from CAN (sunnypilot/opendbc#308)"
+  * @firestar5683 made their first contribution in "GM: Non-ACC platforms with steering only support (sunnypilot/opendbc#229)"
+************************
+* Synced with commaai's openpilot (v0.10.1)
+  * master commit c9dbf97649a27117be6d5955a49e2d4253337288 (September 12, 2025)
+* New driving model
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * Driving Vision Model: trained on 4x the number of segments
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+
+sunnypilot - 0.9.7.1 (2024-06-13)
+========================
+* New driving model
+  * Inputs the past curvature for smoother and more accurate lateral control
+  * Simplified neural network architecture in the model's last layers
+  * Minor fixes to desire augmentation and weight decay
+* New driver monitoring model
+  * Improved end-to-end bit for phone detection
+* Adjust driving personality with the follow distance button
+* Support for hybrid variants of supported Ford models
+* Fingerprinting without the OBD-II port on all cars
+* Improved fuzzy fingerprinting for Ford and Volkswagen
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit f8cb04e (June 10, 2024)
+* NEW❗: sunnylink (Alpha early access)
+  * NEW❗: Config/Settings Backup
+    * Remotely back up and restore sunnypilot settings easily
+    * Device registration with sunnylink ensures a secure, integrated experience across services
+    * AES encryption derived from the device's RSA private key is used for utmost security
+    * Settings are encrypted on-device, transmitted securely via HTTPS, and stored encrypted on sunnylink
+    * Prevents loss of settings after device resets, offering peace of mind through end-to-end encryption
+    * Early alpha access to all current and previous GitHub Sponsors and Patreon supporters
+  * GitHub account pairing from device settings scanning QR code
+    * Pairing your account will allow you to access features via our API (still WIP but accessible if you dig a little on our code 😉)
+    * Allow inheritance of your sponsorship status, allowing you to get extra features and early access whenever applicable
+* NEW❗: iOS Siri Shortcuts Navigation support thanks to twilsonco and mike86437!
+  * iOS and macOS Shortcuts to quickly set navigation destinations from your iOS device
+  * comma Prime support
+  * Personal Mapbox/Amap/Google Maps token support
+  * Instructions on how to set up your iOS Siri Shortcuts: https://routinehub.co/shortcut/17677/
+* NEW❗: Forced Offroad mode
+  * Force sunnypilot in the offroad state even when the car is on
+  * When Forced Offroad mode is on, allows changing offroad-only settings even when the car is turned on
+  * To engage/disengage Force Offroad, go to Settings -> Device panel
+* UPDATED: Auto Lane Change Timer -> Auto Lane Change by Blinker
+  * NEW❗: New "Off" option to disable lane change by blinker
+* UPDATED: Pause Lateral Below Speed with Blinker
+  * NEW❗: Customizable Pause Lateral Speed
+    * Pause lateral actuation with blinker when traveling below the desired speed selected. Default is 20 MPH or 32 km/h.
+* UPDATED: Hyundai CAN Longitudinal
+  * Auto-enable radar tracks on platforms with applicable Mando radar
+* UPDATED: Hyundai CAN-FD Camera-based SCC
+  * NEW❗: Parse lead info for camera-based SCC platforms with longitudinal support
+    * Improve lead tracking when using openpilot longitudinal
+* RE-ENABLED: Map-based Turn Speed Control (M-TSC) for supported platforms
+  * openpilot Longitudinal Control available cars
+  * Custom Stock Longitudinal Control available cars
+* UPDATED: Continued support for comma Pedal
+  * In response to the official deprecation of support for comma Pedal in the upstream, sunnypilot will continue maintaining software support for comma Pedal
+* UPDATED: Driving Model Selector v4
+  * NEW❗: Driving Model additions
+    * North Dakota (April 29, 2024) - NDv2
+    * WD40 (April 09, 2024) - WD40
+    * Duck Amigo (March 18, 2024) - DA
+    * Recertified Herbalist (March 01, 2024) - CHLR
+  * Legacy Driving Models with Navigate on openpilot (NoO) support
+    * Includes Duck Amigo and all preceding models
+* UPDATED: Bumping mapd by [@pfeiferj](https://github.com/pfeiferj) to version [v1.9.0](https://github.com/pfeiferj/mapd/releases/tag/v1.9.0) thanks to pfeiferj!
+* UPDATED: Reset Mapbox Access Token -> Reset Access Tokens for Map Services
+  * Reset self-service access tokens for Mapbox, Amap, and Google Maps
+* UPDATED: Upstream native support for Gap Adjust Cruise
+* UPDATED: Neural Network Lateral Control (NNLC)
+  * Due to upstream changes with platform simplifications, most platforms will match and fallback to combined platform model
+  * This will be updated when the new mapping of platforms are restructured (thanks @twilsonco 😉)
+* UI Updates
+  * Display Metrics Below Chevron
+    * NEW❗: Metrics is now being displayed below the chevron instead of above
+    * NEW❗: Display both Distance and Speed simultaneously
+    * NEW❗: View sunnylink connectivity status on the left sidebar!
+
+sunnypilot - 0.9.6.2 (2024-05-29)
+========================
+* REMOVED: Screen Recorder
+  * Screen Recorder is removed due to unnecessary resource usage
+  * An improved version will be available in the near future. Stay tuned!
+
+sunnypilot - 0.9.6.1 (2024-02-27)
+========================
+* New driving model
+  * Vision model trained on more data
+  * Improved driving performance
+  * Directly outputs curvature for lateral control
+* New driver monitoring model
+  * Trained on larger dataset
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Durango 2020-21 support
+* Hyundai Staria 2023 support thanks to sunnyhaibin!
+* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
+* Toyota RAV4 2023-24 support
+* Toyota RAV4 Hybrid 2023-24 support
+************************
+* UPDATED: Synced with commaai's openpilot
+  * master commit db57a21 (February 22, 2024)
+  * v0.9.6 release (February 27, 2024)
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:beta3 commit f4ee52f
+* NEW❗: Default Driving Model: Certified Herbalist v2 (February 13, 2024)
+* UPDATED: Driving Model Selector v3
+  * NEW❗: Driving Model additions
+    * Certified Herbalist v2 (February 13, 2024) - CHv2
+    * Certified Herbalist (February 5, 2024) - CH
+    * Los Angeles v2 (January 24, 2024) - LAv2
+    * Los Angeles (January 22, 2024) - LAv1
+  * NEW❗: Model Caching thanks to DevTekVE!
+    * Model caching allows the selection of previously downloaded Driving Model
+    * Users can now access cached versions of selected models, eliminating redundant downloads for previously fetched models
+  * Legacy Driving Models support
+    * New Delhi (December 21, 2023) - ND
+    * Blue Diamond v2 (December 11, 2023) - BDv2
+    * Blue Diamond (November 18, 2023) - BDv1
+    * Farmville (November 7, 2023) - FV
+    * Night Strike (October 3, 2023) - NS
+  * Certain features are deprecated with newer Driving Models
+    * Dynamic Lane Profile (DLP)
+    * Custom Offsets
+* UPDATED: Dynamic Lane Profile (DLP)
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Custom Offsets
+  * Continued support for Legacy Driving Models (e.g., ND, BDv2, BDv1, FV, NS)
+  * Deprecated support for newer Driving Models (e.g., CHv2, CH, LAv2, LAv1)
+* UPDATED: Hyundai/Kia/Genesis - ESCC Radar Interceptor
+  * Message parsing improvements with the latest firmware update: https://github.com/sunnypilot/panda/tree/test-escc-smdps
+* UI Updates
+  * NEW❗: Visuals: Display Feature Status toggle
+    * Display the statuses of certain features on the driving screen
+  * NEW❗: Visuals: Enable Onroad Settings toggle
+    * Display the Onroad Settings button on the driving screen to adjust feature options on the driving screen, without navigating into the settings menu
+  * REMOVED: "Device ambient" temperature option on the sidebar
+* FIXED: New comma 3X support
+* FIXED: New comma eSIM support
+* Bug fixes and performance improvements
+
+sunnypilot - 0.9.5.3 (2023-12-24)
+========================
+* UPDATED: Dynamic Experimental Control (DEC)
+  * Synced with dragonpilot-community/dragonpilot:lp-dp-beta2 commit 578d38b
+* UPDATED: Driving Model Selector v2
+  * Driving models sort in descending order based on availability date
+  * Experimental/unmerged driving models are only available in "dev-c3" branch
+    * To select and use experimental driving models, navigate to "Software" panel, select the "dev-c3" branch, and check for update
+* UPDATED: Vision-based Turn Speed Control (V-TSC) implementation
+  * Refactored implementation thanks to pfeiferj!
+  * More accurate and consistent velocity calculation to achieve smoother longitudinal control in curves
+* NEW❗: Speed Limit Warning
+  * Display alert and/or chime to warn the driver when the cruising speed is faster than the speed limit plus the Warning Offset
+  * Customizable Warning Offset, independent of Speed Limit Control (SLC)'s Limit Offset
+* UPDATED: Speed Limit Source Policy
+  * Selectable speed limit source for Speed Limit Control and Speed Limit Warning
+  * Applicable to: Speed Limit Control, Speed Limit Warning
+* UPDATED: Speed Limit Control (SLC)
+  * Engage Mode: Removed "Warning Only" mode - this has been replaced by the new Speed Limit Warning sub-menu
+* UPDATED: OpenStreetMap (OSM) implementation
+  * Refactored implementation thanks to pfeiferj!
+    * Less resource impact
+    * Significantly smaller sizes with databases
+    * All regions are available to download
+    * Weekly map updates thanks to pfeiferj!
+    * Increased the font size of the road name
+  * C3X-specific changes
+    * Altitude (ALT.) display on Developer UI
+    * Current street name on top of driving screen when "OSM Debug UI" is enabled
+* UPDATED: Map-based Turn Speed Control (M-TSC) implementation
+  * Only available in "staging-c3" and "dev-c3" branches. If you are using "release-c3" branch, navigate to "Software" panel, select the desired target branch, and check for update
+  * Refactored implementation thanks to pfeiferj!
+  * Based on the new OpenStreetMap implementation
+  * Improved predicted curvature calculations from OpenStreetMap data
+* UI updates
+  * RE-ENABLED: Navigation: Full screen support
+    * Display the map view in full screen
+    * To switch back to driving view, tap on the border edge
+* Hyundai Bayon Non-SCC 2019 support thanks to polein78!
+
+sunnypilot - 0.9.5.2 (2023-12-07)
+========================
+* NEW❗: MADS: Allow Navigate on openpilot in Chill Mode
+  * Allow navigation to feed map view into the driving model while using Chill Mode
+  * Support all platforms, including platforms that do not support openpilot longitudinal control & Experimental Mode
+* NEW❗: Neural Network Lateral Controller
+  * Formerly known as "NNFF", this replaces the lateral "torque" controller with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy
+  * Contact @twilsonco in the sunnypilot Discord server with feedback, or to provide log data for your car if your car is currently unsupported
+* NEW❗: Driving Model Selector
+  * Easily switch between driving models without reinstalling branches. Offering immediate access to the latest models upon release
+    * An internet connection is required for downloading models. Each model switch currently involves downloading the model again. Future updates may allow for offline switching
+  * Warning is displayed for metered connections to avoid unexpected data usage if on cellular data
+  * Change driving models via **Settings -> Software -> Current Driving Model**.
+* NEW❗: Hyundai CAN longitudinal:
+  * NEW❗: Enable radar tracks for certain Santa Fe platforms
+    * Internal Combustion Engine (ICE) 2021-23
+    * Hybrid 2022-23
+    * Plug-in Hybrid 2022-23
+* NEW❗: Lane Change: When manually braking with steering engaged, turning on the turn signal will default to Nudge mode
+* Volkswagen MQB CC only platforms (radar or no radar) support thanks to jyoung8607!
+
+sunnypilot - 0.9.5.1 (2023-11-17)
+========================
+* UPDATED: Synced with commaai's master commit e94c3c5
+* NEW❗: Farmville driving model
+* NEW❗: Onroad Settings Panel
+  * Onroad buttons (i.e., DLP, GAC) moved to its dedicated panel
+    * Driving Personality
+    * Dynamic Lane Profile (DLP)
+    * Dynamic Experimental Control (DEC)
+    * Speed Limit Control (SLC)
+* NEW❗: Display main feature status on onroad view in real-time
+  * GAP - Driving Personality
+  * DLP - Dynamic Lane Profile
+  * DEC - Dynamic Experimental Control
+  * SLC - Speed Limit Control
+* NEW❗: Dynamic Experimental Control (DEC) thanks to dragonpilot-community!
+  * Automatically determines and selects between openpilot ACC and openpilot End to End longitudinal based on conditions for a more natural drive
+  * Dynamic Experimental Control is only active while in Experimental Mode
+  * When Dynamic Experimental Control is ON, initially setting cruise speed will set to the vehicle's current speed
+* NEW❗: Hyundai CAN longitudinal:
+  * NEW❗: Parse lead info for camera-based SCC platforms
+    * Improve lead tracking when using openpilot longitudinal
+  * NEW❗: Parse lead distance to display on car cluster
+    * Introduced better lead distance calculation to display on the car's cluster, replacing the binary "lead visible" indication on the SCC cluster
+    * Lead distance is now categorized into different ranges for more detailed and comprehensive information to the driver similar to how stock ACC does it
+  * NEW❗: Parse speed limit sign recognition from camera for certain supported platforms
+* NEW❗: Subaru - Stop and Go auto-resume support thanks to martinl!
+  * Global (excluding Gen 2 and Hybrid) and Pre-Global support
+* NEW❗: Toyota - Stop and Go hack
+  * Allow some Toyota/Lexus cars to auto resume during stop and go traffic
+  * Only applicable to certain models and model years
+* NEW❗: Toyota: ZSS support thanks to dragonpilot-community and ErichMoraga!
+* NEW❗: MSPA (Cereal structs refactor)
+  * Make sunnypilot Parsable Again - @sshane
+  * sunnypilot is now parsable with stock openpilot tools
+* NEW❗: Display 3D buildings on map thanks to jakethesnake420!
+* openpilot Longitudianl Control capable cars only
+  * UPDATED: Gap Adjust Cruise is now a part of Driving Personality
+    * [DISTANCE/FOLLOW DISTANCE/GAP DISTANCE] physical button on the steering wheel to select Driving Personality on by default
+    * Status now viewable in onroad view or Onroad Settings Panel
+    * REMOVED: Gap Adjust Cruise toggle
+* UPDATED: Speed Limit Control (SLC)
+  * NEW❗: Speed Limit Engage Mode
+    * Select the desired mode to set the cruising speed to the speed limit
+      * Warning Only: Warn the driver when the vehicle is driven faster than the speed limit
+      * Auto: Automatic speed adjustment on motorways based on speed limit data
+      * User Confirm: Inform the driver to change set speed of Adaptive Cruise Control to help the driver stay within the speed limit
+    * Supported platforms
+      * openpilot Longitudinal Control available cars (Excluding certain Toyota/Lexus, Ford, explained below)
+      * Custom Stock Longitudinal Control available cars
+    * Unsupported platforms
+      * Toyota/Lexus and Ford - most platforms do not allow us to control the PCM's set speed, requires testers to verify
+  * NEW❗: Speed limit source selector
+    * Select the desired precedence order of sources used to adapt cruise speed to road limits
+* UPDATED: Custom Stock Longitudinal Control
+  * RE-ENABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* UPDATED: Custom Offsets reimplementation
+  * Camera Offset only works in Laneful (Laneful Only or Laneful in Auto mode when using Dynamic Lane Profile)
+  * Path Offset can be applied to both Laneless and Laneful
+* UPDATED: Refactored Torque Lateral Control custom tuning menu
+  * NEW❗: Less Restrict Settings for Self-Tune (Beta)
+  * NEW❗: Custom Tuning for setting offline and live values in real-time
+* UPDATED: Auto-detect custom Mapbox token if a personal Mapbox token is provided
+  * REMOVED: "Enable Mapbox Navigation" toggle
+* UI updates
+  * New Settings menu redesign and improved interactions
+* FIXED: Retain hotspot/tethering state was not consistently saved
+* FIXED: Map stuck in "Map Loading" if comma Prime is active
+* FIXED: OpenStreetMap implementation on C3X devices
+  * M-TSC
+  * Altitude (ALT.) display on Developer UI
+  * Current street name on top of driving screen when "OSM Debug UI" is enabled
+* Hyundai Kona Non-SCC 2019 support thanks to Quex!
+* Kia Seltos Non-SCC 2023-24 support thanks to Moodkiller and jeroid_!
+
+sunnypilot - 0.9.4.1 (2023-08-11)
+========================
+* UPDATED: Synced with commaai's 0.9.4 release
+* NEW❗: Moonrise driving model
+* NEW❗: Ford upstream models support
+* UPDATED: Dynamic Lane Profile selector in the "SP - Controls" menu
+* REMOVED: Dynamic Lane Profile driving screen UI button
+* FIXED: Disallow torque lateral control for angle control platforms (e.g. Ford, Nissan, Tesla)
+  * Torque lateral control cannot be used by angle control platforms, and would cause a "Controls Unresponsive" error if Torque lateral control is enforced in settings
+* REMOVED: Speed Limit Style override
+* Honda Accord 2016-17 support thanks to mlocoteta!
+  * Serial Steering hardware required. For more information, see https://github.com/mlocoteta/serialSteeringHardware
+* mapd: utilize advisory speed limit in curves (#142) thanks to pfeiferj!
+
+sunnypilot - 0.9.3.1 (2023-07-09)
+========================
+* UPDATED: Synced with commaai's 0.9.3 release
+* NEW❗: Display Temperature on Sidebar toggle
+  * Display Ambient temperature, memory temperature, CPU core with the highest temperature, GPU temperature, or max of Memory/CPU/GPU on the sidebar
+  * Replace "Display CPU Temperature on Sidebar" toggle
+* NEW❗: Hot Coffee driving model
+* NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
+  * Smoother stopping behind a stopped car or desired stopping event.
+  * This is only applicable to HKG CAN platforms using openpilot longitudinal control
+* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
+  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
+* NEW❗: Enable Screen Recorder toggle
+  * Enable this will display a button on the onroad screen to toggle on or off real-time screen recording with UI elements.
+* IMPROVED: Dynamic Lane Profile: when using Laneline planner via Laneline Mode or Auto Mode, enforce Laneless planner while traveling below 10 MPH or 16 km/h
+* REMOVED: Display CPU Temperature on Sidebar
+
+sunnypilot - 0.9.2.3 (2023-06-18)
+========================
+* NEW❗: Auto Lane Change: Delay with Blind Spot
+  * Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects an obstructing vehicle, ensuring safe maneuvering
+* NEW❗: Driving Screen Off: Wake with Non-Critical Events
+  * When Driving Screen Off Timer is not set to "Always On":
+    * Enabled: Wake the brightness of the screen to display all events
+    * Disabled: Wake the brightness of the screen to display critical events
+  * Currently, all non-nudge modes are default to continue lane change after 1 seconds of blind spot detection
+* NEW❗: Fleet Manager PIN Requirement toggle
+  * User can now enable or disable PIN requirement on the comma device before accessing Fleet Manager
+* NEW❗: Reset all sunnypilot settings toggle
+* NEW❗: Turn signals display on screen when blinker is used
+  * Green: Blinker is on
+  * Red: Blinker is on, car detected in the adjacent blind spot or road edge detected
+* IMPROVED: mapd: better exceptions handling when loading dependencies
+* UPDATED: Green Traffic Light Chime no longer displays an orange border when executed
+* FIXED: mapd: Road name flashing caused by desync with last GPS timestamp
+* FIXED: Ram HD (2500/3500): Ignore paramsd sanity check
+  * Live parameters have trouble with self-tuning on this platform with upstream openpilot 0.9.2
+* Hyundai: Longitudinal support for CAN-based Camera SCC cars thanks to Zack1010OP's Patreon sponsor!
+
+sunnypilot - 0.9.2.2 (2023-06-13)
+========================
+* NEW❗: Toyota: Allow M.A.D.S. toggling with LKAS Button (Beta)
+* IMPROVED: Ram: cruise button handling
+
+sunnypilot - 0.9.2.1 (2023-06-10)
+========================
+* UPDATED: Synced with commaai's 0.9.2 release
+* UPDATED: feature revamp with better stability
+* UPDATED:
+  * M.A.D.S.
+    * Path color becomes LIGHT ORANGE during Driver Steering Override
+  * Gap Adjust Cruise (now known as Driving Personality in upstream openpilot 0.9.3):
+    * Updated profiles and jerk changes
+    * Experimental Mode support
+    * Three settings: Stock, Aggressive, and Maniac
+    * Stock is recommended and the default
+    * In Aggressive/Maniac mode, lead follow distance is shorter and quicker gas/brake response
+  * Dynamic Lane Profile
+    * Display blue borders on both sides of the driving path when Laneline mode is being used in the planner
+    * Auto Mode optimization
+      * Permanent: Laneless during Auto Lane Change execution
+  * Mapd
+    * OpenStreetMap Database: new regions added
+  * Developer UI (Dev UI)
+    * REMOVED: 2-column design
+    * NEW❗: 1-column + 1-row design
+  * Custom Stock Longitudinal Control
+    * NEW❗: Chrysler/Jeep/Ram support
+    * NEW❗: Mazda support
+    * NEW❗: Volkswagen PQ support
+    * DISABLED: Hyundai/Kia/Genesis CAN-FD platforms
+* NEW❗: Switch between Chill (openpilot ACC) and Experimental (E2E longitudinal) with DISTANCE button on the steering wheel
+  * To switch between Chill and Experimental Mode: press and hold the DISTANCE button on the steering wheel for over 0.5 second
+  * All openpilot longitudinal capable cars support
+* NEW❗: Nicki Minaj driving model
+* NEW❗: Nissan and Mazda upstream models support
+* NEW❗: Pre-Global Subaru upstream models support
+* NEW❗: Display End-to-end Longitudinal Status (Beta)
+  * Display an icon that appears when the End-to-end model decides to start or stop
+* NEW❗: Green Traffic Light Chime (Beta)
+  * A chime will play when the traffic light you are waiting for turns green, and you have no vehicle in front of you.
+* NEW❗: Lead Vehicle Departure Alert
+  * Notify when the leading vehicle drives away
+* NEW❗: Speedometer: Display True Speed
+  * Display the true vehicle current speed from wheel speed sensors.
+* NEW❗: Speedometer: Hide from Onroad Screen
+* NEW❗: Auto-Hide UI Buttons
+  * Hide UI buttons on driving screen after a 30-second timeout. Tap on the screen at anytime to reveal the UI buttons
+  * Applicable to Dynamic Lane Profile (DLP) and Gap Adjust Cruise (GAC)
+* NEW❗: Display DM Camera in Reverse Gear
+  * Show Driver Monitoring camera while the car is in reverse gear
+* NEW❗: Block Lane Change: Road Edge Detection (Beta)
+  * Block lane change when road edge is detected on the stalk actuated side
+* NEW❗: Display CPU Temperature on Sidebar
+  * Display the CPU core with the highest temperature on the sidebar
+* NEW❗: Display current driving model in Software settings
+* NEW❗: HKG: smartMDPS automatic detection (installed with applicable firmware)
+* FIXED: Unintended siren/alarm from the comma device if the vehicle is turned off too quickly in PARK gear
+* FIXED: mapd: Exception handling for loading dependencies
+* Fleet Manager via Browser support thanks to actuallylemoncurd, AlexandreSato, ntegan1, and royjr!
+  * Access your dashcam footage, screen recordings, and error logs when the car is turned off
+  * Connect to the device via Wi-Fi, mobile hotspot, or tethering on the comma device, then navigate to http://ipAddress:5050 to access.
+* Honda Clarity 2018-22 support thanks to mcallbosco, vanillagorillaa and wirelessnet2!
+* Ram: Steer to 0/7 MPH support thanks to vincentw56!
+* Retain hotspot/tethering state across reboots thanks to rogerioaguas!
+
+sunnypilot - Version Latest (2023-02-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2023.02.19-04:52:00:GMT - 0.9.2
+* Refactor sunnypilot features to be more stable
+
+sunnypilot - Version Latest (2022-12-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.16-06:31:00:GMT - 0.9.1
+* NEW❗: GM:
+    * NEW❗: Gap Adjust Cruise support - Chill, Normal, Aggressive
+    * NEW❗: Experimental Mode: Hold DISTANCE button on the steering wheel for 0.5 second to switch between Experimental Mode and Chill Mode
+* REMOVED❌: Toytoa: SnG Hack
+    * This method is not recommended and may cause some cars to not behave as expected
+    * SDSU is strongly recommended to enable SnG for Toyota vehicles without SnG from factory
+* commaai: radard: add missing accel data for vision-only leads (commaai/openpilot#26619) - pending PR
+    * VOACC performance is drastically improved when using Chill Mode
+* IMPROVED: M.A.D.S. events handling
+* IMPROVED: UI: screen recorder button change
+* IMPROVED: OpenStreetMap Offline Database optimization
+* FIXED: Toyota: vehicles' LKAS button no longer has a delay with toggling M.A.D.S.
+* FIXED: Toyota: brake pedal press at standstill causing Cruise Fault
+* FIXED: Volkswagen MQB: reduce Camera Malfunction occurrences (requires testing)
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-10)
+========================
+* IMPROVED: NEW❗ Developer UI design
+    * Second column metrics is now moved to the bottom of the screen
+        * ACC. = Acceleration
+        * L.S. = Lead Speed
+        * E.T. = EPS Torque
+        * B.D. = Bearing Degree
+        * FRI. = Friction
+        * L.A. = Lateral Acceleration
+        * ALT. = Altitude
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-07)
+========================
+* NEW❗: Screen Recorder support thanks to neokii and Kumar!
+* NEW❗: End-to-end longitudinal start/stop status icon
+    * Only appears when Experimental Mode is enabled
+* NEW❗: End-to-end longitudinal car chime when starting
+    * Hyundai/Kia/Genesis CAN platform, Honda/Acura Bosch/Nidec, Toyota/Lexus
+    * i.e. Traffic light turns green, stop sign ready to go, etc.
+    * Only appears when Experimental Mode is enabled AND longitudinal control is disengaged
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-12-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.12.04-22:46:00:GMT - 0.9.1
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.12-10:02:00:GMT - 0.8.17
+* FIXED: CAN Error for CAN HKG cars that do not have navigation from the factory
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.11-21:22:00:GMT - 0.8.17
+* commaai: AGNOS 6.2 (commaai/openpilot#26441)
+* NEW❗: Speed Limit Control - HKG - add speed limit from car's navigation head unit
+    * Compatible with certain models, trims, and model years
+* DISABLED: FCA: RAM HD - steer down to 0
+* FIXED: UI: End-to-end longitudinal button on driving screen synchronization
+* FIXED: Honda: Longitudinal status with set cruise speed now displays properly in the car's dashboard
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-11-08)
+========================
+* ADDED: New Zealand offline OpenStreetMap database
+
+sunnypilot - Version Latest (2022-11-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.11.05-01:44:00:GMT - 0.8.17
+* RE-ENABLED: Dynamic Lane Profile - preserves lanelines
+    * Can be found in "SP - Controls" menu
+* NEW❗: DLP: switch to laneless for current/future curves thanks to @twilsonco!
+    * Can be found in "SP - Controls" menu
+* NEW❗: UI: Road Camera Selector
+    * Enable this will display a button on the driving screen to select the driving camera
+    * Can be found in "SP - Visuals" menu
+* NEW❗: Controls: Camera & Path Custom Offsets
+    * Only applicable to laneline mode when using Dynamic Lane Profile
+* NEW❗: Buttons on driving screen are now sorted based on priority and availability
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-28)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.28-03:53:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-26)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.26-06:20:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-25)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.25-23:53:00:GMT - 0.8.17
+* Pre-Global Subaru support thanks to @martinl!
+* NEW❗: Speed Limit values turn red when current speed is higher than posted speed limit
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-23)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.22-23:15:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - HKG - only allow engagement on user button press
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more consistent set speed change
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.21-17:33:00:GMT - 0.8.17
+* IMPROVED: Custom Stock Longitudinal Control - Volkswagen MQB & PQ - more predictable button send logic
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.20-20:25:00:GMT - 0.8.17
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-19)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.19-08:31:00:GMT - 0.8.17
+* IMPROVED: Controls: Speed Limit Control - accelerator press only disengage if "Disengage on Accelerator Pedal" is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.18-04:44:00:GMT - 0.8.17
+* RE-ENABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+* NEW❗: Steering Rate Cost Live Tune
+    * Enables live tune for Steering Rate Cost. Lower value allows steering wheel to move more freely at low speed
+    * Can be found in "SP - Controls" menu
+* FIXED: MADS: GM - include Regen Paddle logic thanks to @twilsonco!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.17-23:54:00:GMT+1 - 0.8.17
+* ENABLED: "Custom Stock Longitudinal Control" toggle for CAN-FD cars
+* FIXED: HKG CAN-FD: Could not engage when openpilot longitudinal is enabled
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.13-19:43:00:GMT+1 - 0.8.17
+* ADDED: Live Tmux toggle
+    * Can be found in "SP - General" menu
+* IMPROVED: OpenStreetMap Database Update - only check for database update with explicit user decision
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-11)
+========================
+* ADDED: Hyundai openpilot longitudinal improvements - huge thanks to @aragon7777!
+* ADDED: Check for OpenStreetMap Database Update button
+* UPDATED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bbcd448) - pending PR
+* FIXED: MUTCD speed limit spacing adjusts dynamically when no subtext is shown (i.e., speed limit offset, distance to next speed limit)
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-09)
+========================
+* ADDED: commaai: Low speed lateral control improvements (commaai:openpilot#26022, bca288bb) - pending PR
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: stop signs and other supported traffic_calming tags are now slowing/stopping as expected
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.08-12:07:00:GMT+1 - 0.8.17
+* FIXED: MADS: Intermittent CAN Error when engaging for Toyota Prius TSS-P
+* IMPROVED: mapd: Speed Humps are now set at 20 MPH or 32 km/h
+* IMPROVED: OpenStreetMap Offline Database download experience
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-10-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.10.07-08:16:00:GMT - 0.8.17
+* NEW❗: OpenStreetMap database can now be downloaded locally for offline use
+    * Now offering US South, US West, US Northeast, US Florida, Taiwan, and South Africa
+    * Databases updated - 2022.10.05-03:30:00:GMT
+* NEW❗: mapd: Stop Sign, Yield, Speed Bump, Speed Hump, Sharp Curve support - huge thanks to @move-fast and @dragonpilot-community!
+    * Go to https://openstreetmap.org and start mapping out your area!
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-30)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.30-22:43:00:GMT - 0.8.17
+* RE-ADDED: Torque Lateral Controller Live Tune Menu
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-23)
+========================
+* ADDED: Developer UI: latAccelFactorFiltered & frictionCoefficientFiltered values displays in green if Torque is using live params
+* Bug fixes and performance improvements
+
+sunnypilot - Version Latest (2022-09-22)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* NEW❗: Toggle to explicitly enable Custom Stock Longitudinal Control
+    * Applicable cars only: Honda, Hyundai/Kia/Genesis
+    * Settings -> Toggles menu
+
+sunnypilot - Version Latest (2022-09-21)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* UPDATED: New metrics in Developer UI (when Live Torque is enabled)
+    * REMOVED: latAccelFactorRaw & frictionCoefficientRaw from torqued
+    * ADDED: latAccelFactorFiltered & frictionCoefficientFiltered from torqued
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-20)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.19-22:19:00:GMT - 0.8.17
+* ADDED: Toggle to enable Live Torque (self/auto tune) with Torque lateral controller
+    * To enable, first enable "Enforce Torque Lateral Controller" toggle
+* REMOVED: Temporary remove Torque Lateral Controller Live Tune Menu
+
+sunnypilot - Version Latest (2022-09-18)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* ADDED: Kia Forte Non-SCC 2019 support for @askalice
+* FIXED: Torque Lateral Control Live Tune now syncs with commaai:openpilot#25822
+* FIXED: mapd dependencies no longer need to be re-downloaded after unknown reboots
+
+sunnypilot - Version Latest (2022-09-17)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.17-11:23:00:GMT - 0.8.17
+* NEW❗: Non SCC HKG support
+    * Custom Stock Longitudinal Control
+    * ❗No❗ openpilot longitudinal control
+* FIXED: Honda Bosch random low-value set speed changes
+
+sunnypilot - Version Latest (2022-09-16)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-20:23:00:GMT - 0.8.17
+
+sunnypilot - Version Latest (2022-09-15)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.16-02:00:00:GMT - 0.8.17
+* FIXED: Block additional auto lane change actions if blinker stays on after the first lane change
+* REVERTED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+
+sunnypilot - Version Latest (2022-09-14)u
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: GM models supported in Force Car Recognition (FCR)
+    * Under "SP - Vehicles"
+* NEW❗: Prompt to select car in "SP - Vehicles" if car unrecognized on startup
+* FIXED: Some Toyota with LKAS button no longer requires double press to engage/disengage M.A.D.S.
+* UPDATED: ESCC: Use radar tracks from radar if available
+
+sunnypilot - Version Latest (2022-09-13)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: New metric in Developer UI
+    * Actual Lateral Acceleration (Roll Compensated)
+
+sunnypilot - Version Latest (2022-09-12)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* FIXED: Honda Nidec models not gaining speed when longitudinal engaged
+
+sunnypilot - Version Latest (2022-09-11)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: Hyundai Enhanced SCC now forwards FCW and AEB signals and commands from radar to car
+* RE-ENABLED: MADS Status Icon toggle
+
+sunnypilot - Version Latest (2022-09-10)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.11-02:47:00:GMT - 0.8.17
+* NEW❗: RAM improvement implementation thanks to realfast!
+* DISABLED: Chrysler/Jeep/Ram with Custom Stock Longitudinal Control
+* DISABLED: Volkswagen MQB & PQ with Custom Stock Longitudinal Control
+
+sunnypilot - Version Latest (2022-09-09)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.09-07:35:00:GMT - 0.8.17
+* NEW❗: MADS now supporting General Motors (GM)
+* ADDED: Custom Stock Longitudinal Control - Volkswagen
+    * MQB & PQ
+* ADDED: Reverse ACC Change
+    * ACC +/-: Short=5, Long=1
+* ADDED: Custom Stock Longitudinal Control
+    * Hyundai/Kia/Genesis
+    * Honda Bosch
+* ADDED: Hyundai: 2015-16 Genesis resume from standstill fix (commaai:openpilot#25579) - pending PR
+* Vision Turn Speed Control re-enabled
+* Disable Onroad Uploads toggle re-enabled
+
+sunnypilot - Version Latest (2022-09-08)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW❗: Block lane change initiation while brake is pressed
+
+sunnypilot - Version Latest (2022-09-07)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.08-04:05:00:GMT - 0.8.17
+* NEW❗: Display End-to-end longitudinal 🌮 on screen
+    * NEW❗: Hold DISTANCE button on the steering wheel for 1 second to switch between E2E Long and ACC mode
+    * Enable toggle on the driving screen to switch between modes with End-to-end longitudinal
+    * Only applicable to cars with openpilot longitudinal control
+* NEW❗: Block lane change initiation while brake is pressed
+* REMOVED: Dynamic Lane Profile - upstream laneless model is now on by default
+* REMOVED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+
+sunnypilot - Version Latest (2022-09-06)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.06 - 0.8.17
+* NEW❗: Display useful metrics above the chevron that tracks the lead car
+    * Under "SP - Visuals" menu
+    * Only applicable to cars with openpilot longitudinal control
+* ADDED: hyundai: consistent start from stop (commaai:openpilot#25672) - pending PR
+* FIXED: Vienna speed limit interface now scales properly with the outer box
+* REMOVED: Hyundai long improvements (commaai:openpilot#25604) - closed PR
+
+sunnypilot - Version Latest (2022-09-05)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* NEW❗: Speed Limit Control (SLC) interface integrated with upstream
+* NEW❗: Speed limit from active navigation is now prioritized for Speed Limit Control
+* NEW❗: MUTCD (U.S.) or Vienna (E.U.) speed limit interfaces can now be selected under "SP - Controls"
+
+sunnypilot - Version Latest (2022-09-04)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* FIXED: Gap Adjust Cruise status now displays properly on screen
+* FIXED: mapd - missing index in list caused mapd to crash
+* REMOVED: Temporary removed Vision Turn Speed Control
+
+sunnypilot - Version Latest (2022-09-03)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.09.03 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* TWEAKED: Update changelogs on startup in Settings -> Software -> Version
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version Latest (2022-08-31)
+========================
+* UPDATED: Synced with commaai's master branch - 2022.08.31 - 0.8.17
+* ADDED: New border colors for different operation engagements
+* ADDED: UI: Show barrier when car detected in blind spot
+    * Only applicable to cars that have BSM detection with openpilot
+* FIXED: Cruise Cancel button no longer display prompt if cruise not engaged
+* REMOVED: Upload Raw Logs and Full Resolution Videos toggles
+
+sunnypilot - Version 0.8.16 (2022-07-16)
+========================
+* Sync with commaai's master branches
+* NEW❗: Add toggle to pause lateral actuation below 30 MPH / 50 KM/H
+* IMPROVED: Better controls mismatch handling
+* IMPROVED: Less frequent Low Memory alert
+* IMPROVED: Only allow lateral control when in forward gears
+* IMPROVED: Better alerts handling on gear changes
+
+sunnypilot - Version 0.8.14-1.3 (2022-06-29)
+========================
+* Hyundai/Kia/Genesis
+    * NEW❗: MADS: Add GAP/Distance button on the steering wheel to engage/disengage
+        * To engage/disengage MADS: Hold the button for 0.5 second
+* NEW❗: Dynamic Lane Profile: Add toggle to enable "Laneless for Curves in Auto Lane"
+* HOTFIX🛠: Improve Torque lateral control and reduce ping pong for some Toyota cars
+    * Torque control: higher low speed gains and better steering angle deadzone logic
+* Developer UI: Remove Distance Traveled, replace with Memory Usage %
+    * This may have a potential to fix the Low Memory alert that may appear
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* HOTFIX🛠: Honda, Toyota, Volkswagen now initialized correctly with Torque Lateral Live Tune
+
+sunnypilot - Version 0.8.14-1 (2022-06-27)
+========================
+* NEW❗: Added toggle to enable updates for sunnypilot
+* HOTFIX🛠: Volkswagen car list now displays properly in Force Car Recognition menu
+* REVERTED: Honda - temporary removes CRUISE (MAIN) for MADS engagement
+    * LKAS button continues to be used for MADS engagement/disengagement
+
+sunnypilot - Version 0.8.14-1 (2022-06-26)
+========================
+Visit https://bit.ly/sunnyreadme for more details
+* sunnypilot 0.8.14 release - based on openpilot 0.8.14 devel
+* "0.8.14-prod-c3" branch only supports comma three
+    * If you have a comma two, EON, or other devices than a comma three, visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Mono-branch support
+    * Honda/Acura
+    * Hyundai/Kia/Genesis
+    * Toyota/Lexus
+    * Volkswagen MQB
+* Modified Assistive Driving Safety (MADS) Mode
+    * NEW❗: CRUISE (MAIN) now engages MADS for all supported car makes
+    * NEW❗: Added toggle to disable disengaging Automatic Lane Centering (ALC) on the brake pedal
+* Dynamic Lane Profile (DLP)
+* NEW❗: Gap Adjust Cruise (GAC)
+    * openpilot longitudinal cars can now adjust between the lead car's following distance gap via 3 modes:
+        * Steering Wheel (SW) | User Interface (UI) | Steering Wheel + User Interface (SW+UI)
+* NEW❗: Custom Camera & Path Offsets
+* NEW❗: Torque Lateral Control from openpilot 0.8.15 master (as of 2022-06-15)
+* NEW❗: Torque Lateral Control Live Tune Menu
+* NEW❗: Speed Limit Sign from openpilot 0.8.15 master (as of 2022-06-22)
+* NEW❗: Mapbox Speed Limit data will now be utilized in Speed Limit Control (SLC)
+    * Speed limit data will be utilized in the following availability:
+        * Mapbox (active navigation) -> OpenStreetMap -> Car Interface (Toyota's TSR)
+* Custom Stock Longitudinal Control
+    * NEW❗: Volkswagen MQB
+    * Honda
+    * Hyundai/Kia/Genesis
+* NEW❗: Mapbox navigation support for non-Prime users
+    * Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Hyundai/Kia/Genesis
+    * NEW❗: Enhanced SCC (ESCC) Support
+        * Requires hardware modification. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+    * NEW❗: Smart MDPS (SMDPS) Support - Auto-detection
+        * Requires hardware modification and custom firmware for the SMDPS. Visit sunnyhaibin's discord server for more details: https://discord.gg/wRW3meAgtx
+* Toyota/Lexus
+    * NEW❗: Added toggle to enforce stock longitudinal control
+
+sunnypilot - Version 0.8.12-4
+========================
+* NEW❗: Custom Stock Longitudinal Control by setting the target speed via openpilot's "MAX" speed thanks to multikyd!
+    * Speed Limit Control
+    * Vision-based Turn Control
+    * Map-based Turn Control
+* NEW❗: HDA status integration with Custom Stock Longitudinal Control on applicable HKG cars only
+* NEW❗: Roll Compensation and SteerRatio fix from comma's 0.8.13
+* NEW❗: Dev UI to display different metrics on screen
+    * Click on the "MAX" box on the top left of the openpilot display to toggle different metrics display
+    * Lead car relative distance; Lead car relative speed; Actual steering degree; Desired steering degree; Engine RPM; Longitudinal acceleration; Lead car actual speed; EPS torque; Current altitude; Compass direction
+* NEW❗: Stand Still Timer to display time spent at a stop with M.A.D.S engaged (i.e., stop lights, stop signs, traffic congestions)
+* NEW❗: Current car speed text turns red when the car is braking
+* NEW❗: Export GPS tracks into GPX files and upload to OSM thanks to eFini!
+* NEW❗: Enable ACC and M.A.D.S with a single press of the RES+/SET- button
+* NEW❗: ACC +/-: Short=5, Long=1
+    * Change the ACC +/- buttons behavior with cruise speed change in openpilot
+    * Disabled (Stock):  Short=1, Long=5
+    * Enabled:  Short=5, Long=1
+* NEW❗: Speed Limit Value Offset (not %)*
+    * Set speed limit higher or lower than actual speed limit for a more personalized drive.
+    * *To use this feature, turn off "Enable Speed Limit % Offset"*
+* NEW❗: Dedicated icon to show the status of M.A.D.S.
+* NEW❗: No Offroad Fix for non-official devices that cannot shut down after the car is turned off
+* NEW❗: Stop N' Go Resume Alternative
+    * Offer alternative behavior to auto resume when stopped behind a lead car using stock SCC/ACC. This feature removes the repeating prompt chime when stopped and/or allows some cars to use auto resume (i.e., Genesis)
+* IMPROVED: Show the lead car icon in the car's dashboard when a lead car is detected by openpilot's camera vision
+* FIXED: MADS button unintentionally set MAX when using stock longitudinal control thanks to Spektor56!
+
+sunnypilot - Version 0.8.12-3
+========================
+* NEW❗: Bypass "System Malfunction" alert toggle
+    * Prevent openpilot from returning the "System Malfunction" alert that hinders the ability use openpilot
+* FIXED: Hyundai/Kia/Genesis Brake Hold Active now outputs the correct events on screen with M.A.D.S. engaged
+
+sunnypilot - Version 0.8.12-2
+========================
+* NEW❗: Disable M.A.D.S. toggle to disable the beloved M.A.D.S. feature
+    * Enable Stock openpilot engagement/disengagement
+* ADJUST: Initialize Driving Screen Off Brightness at 50%
+
+sunnypilot - Version 0.8.12-1
+========================
+* sunnypilot 0.8.12 release - based on openpilot 0.8.12 devel
+* Dedicated Hyundai/Kia/Genesis branch support
+* NEW❗: OpenStreetMap integration thanks to the Move Fast team!
+    * NEW❗: Vision-based Turn Control
+    * NEW❗: Map-Data-based Turn Control
+    * NEW❗: Speed Limit Control w/ optional Speed Limit Offset
+    * NEW❗: OpenStreetMap integration debug UI
+    * Only available to openpilot longitudinal enabled cars
+* NEW❗: Hands on Wheel Monitoring according to EU r079r4e regulation
+* NEW❗: Disable Onroad Uploads for data-limited Wi-Fi hotspots when using OpenStreetMap related features
+* NEW❗: Fast Boot (Prebuilt)
+* NEW❗: Auto Lane Change Timer
+* NEW❗: Screen Brightness Control (Global)
+* NEW❗: Driving Screen Off Timer
+* NEW❗: Driving Screen Off Brightness (%)
+* NEW❗: Max Time Offroad
+* Improved user feedback with M.A.D.S. operations thanks to Spektor56!
+    * Lane Path
+        * Green🟢 (Laneful), Red🔴 (Laneless): M.A.D.S. engaged
+        * White⚪: M.A.D.S. suspended or disengaged
+        * Black⚫: M.A.D.S. engaged, steering is being manually override by user
+    * Screen border now only illuminates Green when SCC/ACC is engaged
+
+sunnypilot - Version 0.8.10-1 (Unreleased)
+========================
+* sunnypilot 0.8.10 release - based on openpilot 0.8.10 `devel`
+* Add Toyota cars to Force Car Recognition
+
+sunnypilot - Version 0.8.9-4
+========================
+* Hyundai: Fix Ioniq Hybrid signals
+
+sunnypilot - Version 0.8.9-3
+========================
+* Update home screen brand and version structure
+
+sunnypilot - Version 0.8.9-2
+========================
+* Added additional Sonata Hybrid Firmware Versions
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller
+
+sunnypilot - Version 0.8.9-1
+========================
+* First changelog!
+* Features
+    * Modified Assistive Driving Safety (MADS) Mode
+    * Dynamic Lane Profile (DLP)
+    * Quiet Drive 🤫
+    * Force Car Recognition (FCR)
+    * PID Controller: add kd into the stock PID controller
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index f34caba81b..72d874b022 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -1,13 +1,38 @@
-FROM ghcr.io/commaai/openpilot-base:latest
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED=1
 
-ENV OPENPILOT_PATH=/home/batman/openpilot
-ENV PYTHONPATH=${OPENPILOT_PATH}:${PYTHONPATH}
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales && \
+    rm -rf /var/lib/apt/lists/*
 
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY . ${OPENPILOT_PATH}/
+COPY --chown=$USER . ${OPENPILOT_PATH}/
 
-RUN scons --cache-readonly -j$(nproc)
+ENV UV_BIN="/home/$USER/.local/bin/"
+ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
+ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
+RUN tools/setup_dependencies.sh && \
+    sudo rm -rf /var/lib/apt/lists/*
+
+USER root
+RUN git config --global --add safe.directory '*'
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
deleted file mode 100644
index 04fb589bf6..0000000000
--- a/Dockerfile.openpilot_base
+++ /dev/null
@@ -1,82 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-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
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/Jenkinsfile b/Jenkinsfile
index b1a0746ea3..c5ebf6162b 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export LOGPRINT=debug
+#export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -167,7 +167,7 @@ node {
   env.GIT_COMMIT = checkout(scm).GIT_COMMIT
 
   def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
-                         'testing-closet*', 'hotfix-*']
+                         'release-tici', 'release-tizi', 'release-tizi-staging', 'testing-closet*', 'hotfix-*']
   def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
 
   if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
@@ -178,20 +178,20 @@ node {
 
   try {
     if (env.BRANCH_NAME == 'devel-staging') {
-      deviceStage("build release3-staging", "tici-needs-can", [], [
-        step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
+      deviceStage("build release-tizi-staging", "tizi-needs-can", [], [
+        step("build release-tizi-staging", "RELEASE_BRANCH=release-tizi-staging $SOURCE_DIR/release/build_release.sh"),
       ])
     }
 
     if (env.BRANCH_NAME == '__nightly') {
       parallel (
         'nightly': {
-          deviceStage("build nightly", "tici-needs-can", [], [
+          deviceStage("build nightly", "tizi-needs-can", [], [
             step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
           ])
         },
         'nightly-dev': {
-          deviceStage("build nightly-dev", "tici-needs-can", [], [
+          deviceStage("build nightly-dev", "tizi-needs-can", [], [
             step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
           ])
         },
@@ -200,63 +200,43 @@ node {
 
     if (!env.BRANCH_NAME.matches(excludeRegex)) {
     parallel (
-      // tici tests
       'onroad tests': {
-        deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
+        deviceStage("onroad", "tizi-needs-can", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
           step("check dirty", "release/check-dirty.sh"),
           step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
         ])
       },
       'HW + Unit Tests': {
-        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
-          step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
-      'loopback': {
-        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
-        ])
-      },
-      'camerad AR0231': {
-        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
-        ])
-      },
       'camerad OX03C10': {
-        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+        deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
         ])
       },
       'sensord': {
-        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          step("build", "cd system/manager && ./build.py"),
-          step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
-        ])
-        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+        deviceStage("LSM + MMC", "tizi-lsmc", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
           step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
         ])
       },
       'replay': {
-        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
           step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
         ])
@@ -264,9 +244,8 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
           step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
diff --git a/README.md b/README.md
index 897852b03f..71fbb00e4c 100644
--- a/README.md
+++ b/README.md
@@ -3,68 +3,23 @@
 ## 🌞 What is sunnypilot?
 [sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
 
-## 💭 Join our Discord
-Join the official sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://discord.gg/sunnypilot
-
-  ![](https://dcbadge.vercel.app/api/server/wRW3meAgtx?style=flat) ![Discord Shield](https://discordapp.com/api/guilds/880416502577266699/widget.png?style=shield)
+## 💭 Join our Community Forum
+Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
+* https://community.sunnypilot.ai/
 
 ## Documentation
 https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
 
 ## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 300+ supported cars](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
-
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+First, check out this list of items you'll need to [get started](https://community.sunnypilot.ai/t/getting-started-using-sunnypilot-in-your-supported-car/251).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `release-c3` branch.
-
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```release-c3.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
-
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `release-c3`
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
-
-### 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.
+Next, refer to the sunnypilot community forum for [installation instructions](https://community.sunnypilot.ai/t/read-before-installing-sunnypilot/254), as well as a complete list of [Recommended Branch Installations](https://community.sunnypilot.ai/t/recommended-branch-installations/235).
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
 
-Pull requests should be against the most current `master-new` branch.
+Pull requests should be against the most current `master` branch.
 
 ## 📊 User Data
 
@@ -73,7 +28,7 @@ By default, sunnypilot uploads the driving data to comma servers. You can also a
 sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
 
 sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
 
 By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
 
diff --git a/RELEASES.md b/RELEASES.md
index 5730877f94..895dcbba7a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,13 +1,62 @@
-Version 0.9.9 (2025-05-15)
+Version 0.10.4 (2026-02-17)
+========================
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Reduce comma four standby power usage by 77% to 52 mW
+
+Version 0.10.3 (2025-12-17)
+========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
+
+Version 0.10.2 (2025-11-19)
+========================
+* comma four support
+
+Version 0.10.1 (2025-09-08)
+========================
+* New driving model #36276
+  * World Model: removed global localization inputs
+  * World Model: 2x the number of parameters
+  * World Model: trained on 4x the number of segments
+  * VAE Compression Model: new architecture and training objective
+  * Driving Vision Model: trained on 4x the number of segments
+* New Driver Monitoring model #36198
+* Acura TLX 2021 support thanks to MVL!
+* Honda City 2023 support thanks to vanillagorillaa and drFritz!
+* Honda N-Box 2018 support thanks to miettal!
+* Honda Odyssey 2021-25 support thanks to csouers and MVL!
+* Honda Passport 2026 support thanks to vanillagorillaa and MVL!
+
+Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
-  * New training architecture supervised by MLSIM
-* Steering actuator delay is now learned online
+  * New training architecture
+     * Described in our CVPR paper: "Learning to Drive from a World Model"
+     * Longitudinal MPC replaced by E2E planning from World Model in Experimental Mode
+     * Action from lateral MPC as training objective replaced by E2E planning from World Model
+  * Low-speed lead car ground-truth fixes
+* Enable live-learned steering actuation delay
+* Opt-in audio recording for dashcam video
+* Acura MDX 2025 support thanks to vanillagorillaa and MVL!
+* Honda Accord 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda CR-V 2023-25 support thanks to vanillagorillaa and MVL!
+* Honda Pilot 2023-25 support thanks to vanillagorillaa and MVL!
+
+Version 0.9.9 (2025-05-23)
+========================
+* New driving model
+  * New training architecture using parts from MLSIM
+* Steering actuation delay is now learned online
+* Ford Escape 2023-24 support thanks to incognitojam!
+* Ford Kuga 2024 support thanks to incognitojam!
+* Hyundai Nexo 2021 support thanks to sunnyhaibin!
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
 * Lexus RC 2023 support thanks to nelsonjchen!
-* Coming soon
-  * New Honda models
-  * Bigger vision model
 
 Version 0.9.8 (2025-02-28)
 ========================
diff --git a/SConstruct b/SConstruct
index 7a2bdc5b94..99d5dc4b8a 100644
--- a/SConstruct
+++ b/SConstruct
@@ -3,230 +3,104 @@ import subprocess
 import sys
 import sysconfig
 import platform
+import shlex
 import numpy as np
 
 import SCons.Errors
 
 SCons.Warnings.warningAsException(True)
 
-# pending upstream fix - https://github.com/SCons/scons/issues/4461
-#SetOption('warn', 'all')
-
-TICI = os.path.isfile('/TICI')
-AGNOS = TICI
-
 Decider('MD5-timestamp')
 
-SetOption('num_jobs', int(os.cpu_count()/2))
-
-AddOption('--kaitai',
-          action='store_true',
-          help='Regenerate kaitai struct parsers')
-
-AddOption('--asan',
-          action='store_true',
-          help='turn on ASAN')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
-
-AddOption('--coverage',
-          action='store_true',
-          help='build with test coverage options')
-
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
-AddOption('--compile_db',
-          action='store_true',
-          help='build clang compilation database')
-
-AddOption('--ccflags',
-          action='store',
-          type='string',
-          default='',
-          help='pass arbitrary flags over the command line')
-
-AddOption('--external-sconscript',
-          action='store',
-          metavar='FILE',
-          dest='external_sconscript',
-          help='add an external SConscript to the build')
-
-AddOption('--pc-thneed',
-          action='store_true',
-          dest='pc_thneed',
-          help='use thneed on pc')
-
-AddOption('--mutation',
-          action='store_true',
-          help='generate mutation-ready code')
+SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
+AddOption('--asan', action='store_true', help='turn on ASAN')
+AddOption('--ubsan', action='store_true', help='turn on UBSan')
+AddOption('--mutation', action='store_true', help='generate mutation-ready code')
+AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
+AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
           action='store_false',
           dest='extras',
-          default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
+          default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
           help='the minimum build to run openpilot. no tests, tools, etc.')
 
-AddOption('--stock-ui',
-          action='store_true',
-          dest='stock_ui',
-          default=False,
-          help='Build stock openpilot UI instead of sunnypilot UI')
-
-## Architecture name breakdown (arch)
-## - larch64: linux tici aarch64
-## - aarch64: linux pc aarch64
-## - x86_64:  linux pc x64
-## - Darwin:  mac x64 or arm64
-real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+# Detect platform
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-elif arch == "aarch64" and AGNOS:
+elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
-assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
+assert arch in [
+  "larch64",  # linux tici arm64
+  "aarch64",  # linux pc arm64
+  "x86_64",   # linux pc x64
+  "Darwin",   # macOS arm64 (x86 not supported)
+]
 
-lenv = {
-  "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
-
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
-}
-
-rpath = lenv["LD_LIBRARY_PATH"].copy()
-
-if arch == "larch64":
-  cpppath = [
-    "#third_party/opencl/include",
-  ]
-
-  libpath = [
-    "/usr/local/lib",
-    "/system/vendor/lib64",
-    f"#third_party/acados/{arch}/lib",
-  ]
-
-  libpath += [
-    "#third_party/snpe/larch64",
-    "#third_party/libyuv/larch64/lib",
-    "/usr/lib/aarch64-linux-gnu"
-  ]
-  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
-  rpath += ["/usr/local/lib"]
+if arch != "larch64":
+  import bzip2
+  import capnproto
+  import eigen
+  import ffmpeg as ffmpeg_pkg
+  import libjpeg
+  import libyuv
+  import ncurses
+  import python3_dev
+  import zeromq
+  import zstd
+  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, zeromq, zstd]
+  py_include = python3_dev.INCLUDE_DIR
 else:
-  cflags = []
-  cxxflags = []
-  cpppath = []
-  rpath += []
-
-  # MacOS
-  if arch == "Darwin":
-    libpath = [
-      f"#third_party/libyuv/{arch}/lib",
-      f"#third_party/acados/{arch}/lib",
-      f"{brew_prefix}/lib",
-      f"{brew_prefix}/opt/openssl@3.0/lib",
-      "/System/Library/Frameworks/OpenGL.framework/Libraries",
-    ]
-
-    cflags += ["-DGL_SILENCE_DEPRECATION"]
-    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
-    cpppath += [
-      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl@3.0/include",
-    ]
-    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
-  # Linux
-  else:
-    libpath = [
-      f"#third_party/acados/{arch}/lib",
-      f"#third_party/libyuv/{arch}/lib",
-      "/usr/lib",
-      "/usr/local/lib",
-    ]
-
-    if arch == "x86_64":
-      libpath += [
-        f"#third_party/snpe/{arch}"
-      ]
-      rpath += [
-        Dir(f"#third_party/snpe/{arch}").abspath,
-      ]
-
-if GetOption('asan'):
-  ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
-  ldflags = ["-fsanitize=address"]
-elif GetOption('ubsan'):
-  ccflags = ["-fsanitize=undefined"]
-  ldflags = ["-fsanitize=undefined"]
-else:
-  ccflags = []
-  ldflags = []
-
-# no --as-needed on mac linker
-if arch != "Darwin":
-  ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
-
-if not GetOption('stock_ui'):
-  cflags += ["-DSUNNYPILOT"]
-  cxxflags += ["-DSUNNYPILOT"]
-
-ccflags_option = GetOption('ccflags')
-if ccflags_option:
-  ccflags += ccflags_option.split(' ')
+  # TODO: remove when AGNOS has our new vendor pkgs
+  pkgs = []
+  py_include = sysconfig.get_paths()['include']
 
 env = Environment(
-  ENV=lenv,
+  ENV={
+    "PATH": os.environ['PATH'],
+    "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
+    "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+    "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+    "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
+  },
   CCFLAGS=[
     "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow",
+    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
     "-Wno-vla-cxx-extension",
-  ] + cflags + ccflags,
-
-  CPPPATH=cpppath + [
+  ],
+  CFLAGS=["-std=gnu11"],
+  CXXFLAGS=["-std=c++1z"],
+  CPPPATH=[
     "#",
+    "#msgq",
+    "#third_party",
+    "#third_party/json11",
+    "#third_party/linux/include",
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
-    "#third_party/libyuv/include",
-    "#third_party/json11",
-    "#third_party/linux/include",
-    "#third_party/snpe/include",
-    "#third_party",
-    "#msgq",
+    [x.INCLUDE_DIR for x in pkgs],
   ],
-
-  CC='clang',
-  CXX='clang++',
-  LINKFLAGS=ldflags,
-
-  RPATH=rpath,
-
-  CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
+  LIBPATH=[
+    "#common",
     "#msgq_repo",
     "#third_party",
     "#selfdrive/pandad",
-    "#common",
     "#rednose/helpers",
+    f"#third_party/acados/{arch}/lib",
+    [x.LIB_DIR for x in pkgs],
   ],
+  RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
@@ -234,122 +108,102 @@ env = Environment(
   toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
-if arch == "Darwin":
-  # RPATH is not supported on macOS, instead use the linker flags
-  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
-  env["LINKFLAGS"] += darwin_rpath_link_flags
+# Arch-specific flags and paths
+if arch == "larch64":
+  env["CC"] = "clang"
+  env["CXX"] = "clang++"
+  env.Append(LIBPATH=[
+    "/usr/local/lib",
+    "/system/vendor/lib64",
+    "/usr/lib/aarch64-linux-gnu",
+  ])
+  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  env.Append(CCFLAGS=arch_flags)
+  env.Append(CXXFLAGS=arch_flags)
+elif arch == "Darwin":
+  env.Append(LIBPATH=[
+    "/System/Library/Frameworks/OpenGL.framework/Libraries",
+  ])
+  env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+else:
+  env.Append(LIBPATH=[
+    "/usr/lib",
+    "/usr/local/lib",
+  ])
 
-if GetOption('compile_db'):
-  env.CompilationDatabase('compile_commands.json')
+# Sanitizers and extra CCFLAGS from CLI
+if GetOption('asan'):
+  env.Append(CCFLAGS=["-fsanitize=address", "-fno-omit-frame-pointer"])
+  env.Append(LINKFLAGS=["-fsanitize=address"])
+elif GetOption('ubsan'):
+  env.Append(CCFLAGS=["-fsanitize=undefined"])
+  env.Append(LINKFLAGS=["-fsanitize=undefined"])
 
-# Setup cache dir
-default_cache_dir = '/data/scons_cache' if AGNOS else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
-CacheDir(cache_dir)
-Clean(["."], cache_dir)
+_extra_cc = shlex.split(GetOption('ccflags') or '')
+if _extra_cc:
+  env.Append(CCFLAGS=_extra_cc)
 
+# no --as-needed on mac linker
+if arch != "Darwin":
+  env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
+
+# Shorter build output: show brief descriptions instead of full commands.
+# Full command lines are still printed on failure by scons.
+if not GetOption('verbose'):
+  for action, short in (
+    ("CC",     "CC"),
+    ("CXX",    "CXX"),
+    ("LINK",   "LINK"),
+    ("SHCC",   "CC"),
+    ("SHCXX",  "CXX"),
+    ("SHLINK", "LINK"),
+    ("AR",     "AR"),
+    ("RANLIB", "RANLIB"),
+    ("AS",     "AS"),
+  ):
+    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
+
+# progress output
 node_interval = 5
 node_count = 0
 def progress_function(node):
   global node_count
   node_count += node_interval
   sys.stderr.write("progress: %d\n" % node_count)
-
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-# Cython build environment
-py_include = sysconfig.get_paths()['include']
+# ********** Cython build environment **********
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
+  envCython["LINKFLAGS"] = env["LINKFLAGS"] + ["-bundle", "-undefined", "dynamic_lookup"]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-# Qt build environment
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+Export('env', 'arch')
 
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+# Setup cache dir
+default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
+cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+CacheDir(cache_dir)
+Clean(["."], cache_dir)
 
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-
-# compatibility for older SCons versions
-try:
-  qt_env.Tool('qt3')
-except SCons.Errors.UserError:
-  qt_env.Tool('qt')
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-Export('env', 'qt_env', 'arch', 'real_arch')
+# ********** start building stuff **********
 
 # Build common module
 SConscript(['common/SConscript'])
-Import('_common', '_gpucommon')
-
+Import('_common')
 common = [_common, 'json11', 'zmq']
-gpucommon = [_gpucommon]
-
-Export('common', 'gpucommon')
+Export('common')
 
 # Build messaging (cereal + msgq + socketmaster + their dependencies)
 # Enable swaglog include in submodules
@@ -373,15 +227,8 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/proclogd/SConscript',
-  'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
-if arch != "Darwin":
-  SConscript([
-    'system/sensord/SConscript',
-    'system/logcatd/SConscript',
-  ])
 
 if arch == "larch64":
   SConscript(['system/camerad/SConscript'])
@@ -393,11 +240,8 @@ SConscript(['selfdrive/SConscript'])
 
 SConscript(['sunnypilot/SConscript'])
 
-if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/replay/SConscript'])
-  if arch != "larch64":
-    SConscript(['tools/cabana/SConscript'])
+if Dir('#tools/cabana/').exists() and arch != "larch64":
+  SConscript(['tools/cabana/SConscript'])
 
-external_sconscript = GetOption('external_sconscript')
-if external_sconscript:
-  SConscript([external_sconscript])
+
+env.CompilationDatabase('compile_commands.json')
diff --git a/cereal/SConscript b/cereal/SConscript
index a58a9490ce..73dc61844b 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 89c5cf38e3..93f4d77227 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -1,9 +1,11 @@
 import os
 import capnp
+from importlib.resources import as_file, files
 
-CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+with as_file(files("cereal")) as fspath:
+  CEREAL_PATH = fspath.as_posix()
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 10fc83eb01..53986262ec 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,8 +25,92 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
+struct IntelligentCruiseButtonManagement {
+  state @0 :IntelligentCruiseButtonManagementState;
+  sendButton @1 :SendButtonState;
+  vTarget @2 :Float32;
+
+  enum IntelligentCruiseButtonManagementState {
+    inactive @0;      # No button press or default state
+    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
+    increasing @2;    # Increasing speed
+    decreasing @3;    # Decreasing speed
+    holding @4;       # Holding steady speed
+  }
+
+  enum SendButtonState {
+    none @0;
+    increase @1;
+    decrease @2;
+  }
+}
+
+# Same struct as Log.RadarState.LeadData
+struct LeadData {
+  dRel @0 :Float32;
+  yRel @1 :Float32;
+  vRel @2 :Float32;
+  aRel @3 :Float32;
+  vLead @4 :Float32;
+  dPath @6 :Float32;
+  vLat @7 :Float32;
+  vLeadK @8 :Float32;
+  aLeadK @9 :Float32;
+  fcw @10 :Bool;
+  status @11 :Bool;
+  aLeadTau @12 :Float32;
+  modelProb @13 :Float32;
+  radar @14 :Bool;
+  radarTrackId @15 :Int32 = -1;
+
+  aLeadDEPRECATED @5 :Float32;
+}
+
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
+  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
+
+  enum AudibleAlert {
+    none @0;
+
+    engage @1;
+    disengage @2;
+    refuse @3;
+
+    warningSoft @4;
+    warningImmediate @5;
+
+    prompt @6;
+    promptRepeat @7;
+    promptDistracted @8;
+
+    # unused, these are reserved for upstream events so we don't collide
+    reserved9 @9;
+    reserved10 @10;
+    reserved11 @11;
+    reserved12 @12;
+    reserved13 @13;
+    reserved14 @14;
+    reserved15 @15;
+    reserved16 @16;
+    reserved17 @17;
+    reserved18 @18;
+    reserved19 @19;
+    reserved20 @20;
+    reserved21 @21;
+    reserved22 @22;
+    reserved23 @23;
+    reserved24 @24;
+    reserved25 @25;
+    reserved26 @26;
+    reserved27 @27;
+    reserved28 @28;
+    reserved29 @29;
+    reserved30 @30;
+
+    promptSingleLow @31;
+    promptSingleHigh @32;
+  }
 }
 
 struct ModelManagerSP @0xaedffd8f31e7b55d {
@@ -63,12 +147,13 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     type @0 :Type;
     artifact @1 :Artifact;  # Main artifact
     metadata @2 :Artifact;  # Metadata artifact
-    
+
     enum Type {
       supercombo @0;
       navigation @1;
       vision @2;
       policy @3;
+      offPolicy @4;
     }
   }
 
@@ -78,6 +163,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     stock @2;
   }
 
+  struct Override {
+    key @0 :Text;
+    value @1 :Text;
+  }
+
   struct ModelBundle {
     index @0 :UInt32;
     internalName @1 :Text;
@@ -88,13 +178,21 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     environment @6 :Text;
     runner @7 :Runner;
     is20hz @8 :Bool;
-    ref @9 :Text;  # New field
+    ref @9 :Text;
     minimumSelectorVersion @10 :UInt32;
+    overrides @11 :List(Override);
   }
 }
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
   dec @0 :DynamicExperimentalControl;
+  longitudinalPlanSource @1 :LongitudinalPlanSource;
+  smartCruiseControl @2 :SmartCruiseControl;
+  speedLimit @3 :SpeedLimit;
+  vTarget @4 :Float32;
+  aTarget @5 :Float32;
+  events @6 :List(OnroadEventSP.Event);
+  e2eAlerts @7 :E2eAlerts;
 
   struct DynamicExperimentalControl {
     state @0 :DynamicExperimentalControlState;
@@ -106,6 +204,97 @@ struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
       blended @1;
     }
   }
+
+  struct SmartCruiseControl {
+    vision @0 :Vision;
+    map @1 :Map;
+
+    struct Vision {
+      state @0 :VisionState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      currentLateralAccel @3 :Float32;
+      maxPredictedLateralAccel @4 :Float32;
+      enabled @5 :Bool;
+      active @6 :Bool;
+    }
+
+    struct Map {
+      state @0 :MapState;
+      vTarget @1 :Float32;
+      aTarget @2 :Float32;
+      enabled @3 :Bool;
+      active @4 :Bool;
+    }
+
+    enum VisionState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on vision range.
+      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
+      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
+      overriding @5; # System overriding with manual control.
+    }
+
+    enum MapState {
+      disabled @0; # System disabled or inactive.
+      enabled @1; # No predicted substantial turn on map range.
+      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
+      overriding @3; # System overriding with manual control.
+    }
+  }
+
+  struct SpeedLimit {
+    resolver @0 :Resolver;
+    assist @1 :Assist;
+
+    struct Resolver {
+      speedLimit @0 :Float32;
+      distToSpeedLimit @1 :Float32;
+      source @2 :Source;
+      speedLimitOffset @3 :Float32;
+      speedLimitLast @4 :Float32;
+      speedLimitFinal @5 :Float32;
+      speedLimitFinalLast @6 :Float32;
+      speedLimitValid @7 :Bool;
+      speedLimitLastValid @8 :Bool;
+    }
+
+    struct Assist {
+      state @0 :AssistState;
+      enabled @1 :Bool;
+      active @2 :Bool;
+      vTarget @3 :Float32;
+      aTarget @4 :Float32;
+    }
+
+    enum Source {
+      none @0;
+      car @1;
+      map @2;
+    }
+
+    enum AssistState {
+      disabled @0;
+      inactive @1; # No speed limit set or not enabled by parameter.
+      preActive @2;
+      pending @3; # Awaiting new speed limit.
+      adapting @4; # Reducing speed to match new speed limit.
+      active @5; # Cruising at speed limit.
+    }
+  }
+
+  enum LongitudinalPlanSource {
+    cruise @0;
+    sccVision @1;
+    sccMap @2;
+    speedLimitAssist @3;
+  }
+
+  struct E2eAlerts {
+    greenLightAlert @0 :Bool;
+    leadDepartAlert @1 :Bool;
+  }
 }
 
 struct OnroadEventSP @0xda96579883444c35 {
@@ -144,12 +333,23 @@ struct OnroadEventSP @0xda96579883444c35 {
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
+    laneTurnLeft @17;
+    laneTurnRight @18;
+    speedLimitPreActive @19;
+    speedLimitActive @20;
+    speedLimitChanged @21;
+    speedLimitPending @22;
+    e2eChime @23;
   }
 }
 
 struct CarParamsSP @0x80ae746ee2596b11 {
   flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
   safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
+  pcmCruiseSpeed @3 :Bool;
+  intelligentCruiseButtonManagementAvailable @4 :Bool;
+  enableGasInterceptor @5 :Bool;
 
   neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
 
@@ -166,6 +366,28 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
+  params @1 :List(Param);
+  leadOne @2 :LeadData;
+  leadTwo @3 :LeadData;
+  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
+
+  struct Param {
+    key @0 :Text;
+    type @2 :ParamType;
+    value @3 :Data;
+
+    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
+  }
+
+  enum ParamType {
+    string @0;
+    bool @1;
+    int @2;
+    float @3;
+    time @4;
+    json @5;
+    bytes @6;
+  }
 }
 
 struct BackupManagerSP @0xf98d843bfd7004a3 {
@@ -176,14 +398,14 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
   lastError @4 :Text;
   currentBackup @5 :BackupInfo;
   backupHistory @6 :List(BackupInfo);
-  
+
   enum Status {
     idle @0;
     inProgress @1;
     completed @2;
     failed @3;
   }
-  
+
   struct Version {
     major @0 :UInt16;
     minor @1 :UInt16;
@@ -191,13 +413,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
     build @3 :UInt16;
     branch @4 :Text;
   }
-  
+
   struct MetadataEntry {
     key @0 :Text;
     value @1 :Text;
     tags @2 :List(Text);
   }
-  
+
   struct BackupInfo {
     deviceId @0 :Text;
     version @1 :UInt32;
@@ -210,13 +432,27 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
   }
 }
 
-struct CustomReserved7 @0xb86e6369214c01c8 {
+struct CarStateSP @0xb86e6369214c01c8 {
+  speedLimit @0 :Float32;
 }
 
-struct CustomReserved8 @0xf416ec09499d9d19 {
+struct LiveMapDataSP @0xf416ec09499d9d19 {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  roadName @5 :Text;
 }
 
-struct CustomReserved9 @0xa1680744031fdb2d {
+struct ModelDataV2SP @0xa1680744031fdb2d {
+  laneTurnDirection @0 :TurnDirection;
+
+  enum TurnDirection {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+  }
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 9eb503adfa..d14e149c14 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -127,6 +128,9 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    userBookmark @95;
+    excessiveActuation @96;
+    audioFeedback @97;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -489,13 +493,14 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   # device thermals
   cpuTempC @26 :List(Float32);
   gpuTempC @27 :List(Float32);
+  dspTempC @49 :Float32;
   memoryTempC @28 :Float32;
-  nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
+  bottomSocTempC @50 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
@@ -566,6 +571,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   chargingDisabledDEPRECATED @18 :Bool;
   usbOnlineDEPRECATED @12 :Bool;
   ambientTempCDEPRECATED @30 :Float32;
+  nvmeTempCDEPRECATED @35 :List(Float32);
 }
 
 struct PandaState @0xa7649e2575e4591e {
@@ -581,13 +587,13 @@ struct PandaState @0xa7649e2575e4591e {
   heartbeatLost @22 :Bool;
   interruptLoad @25 :Float32;
   fanPower @28 :UInt8;
-  fanStallCount @34 :UInt8;
 
-  spiChecksumErrorCount @33 :UInt16;
+  spiErrorCount @33 :UInt16;
 
   harnessStatus @21 :HarnessStatus;
   sbu1Voltage @35 :Float32;
   sbu2Voltage @36 :Float32;
+  soundOutputLevel @37 :UInt16;
 
   # can health
   canState0 @29 :PandaCanState;
@@ -710,6 +716,7 @@ struct PandaState @0xa7649e2575e4591e {
   usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
   safetyParamDEPRECATED @20 :Int16;
   safetyParam2DEPRECATED @26 :UInt32;
+  fanStallCountDEPRECATED @34 :UInt8;
 }
 
 struct PeripheralState {
@@ -914,6 +921,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
    }
 
   struct LateralLQRState {
@@ -1081,7 +1090,7 @@ struct ModelDataV2 {
   confidence @23: ConfidenceClass;
 
   # Model perceived motion
-  temporalPose @21 :Pose;
+  temporalPoseDEPRECATED @21 :Pose;
 
   # e2e lateral planner
   action @26: Action;
@@ -1471,6 +1480,11 @@ struct ProcLog {
 
     cmdline @15 :List(Text);
     exe @16 :Text;
+
+    # from /proc/<pid>/smaps_rollup (proportional/private memory)
+    memPss @17 :UInt64;        # Pss — shared pages split by mapper count
+    memPssAnon @18 :UInt64;    # Pss_Anon — private anonymous (heap, stack)
+    memPssShmem @19 :UInt64;   # Pss_Shmem — proportional MSGQ/tmpfs share
   }
 
   struct CPUTimes {
@@ -2142,13 +2156,10 @@ struct Joystick {
 struct DriverStateV2 {
   frameId @0 :UInt32;
   modelExecutionTime @1 :Float32;
-  dspExecutionTimeDEPRECATED @2 :Float32;
   gpuExecutionTime @8 :Float32;
   rawPredictions @3 :Data;
 
-  poorVisionProb @4 :Float32;
   wheelOnRightProb @5 :Float32;
-
   leftDriverData @6 :DriverData;
   rightDriverData @7 :DriverData;
 
@@ -2163,10 +2174,14 @@ struct DriverStateV2 {
     leftBlinkProb @7 :Float32;
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
-    occludedProb @10 :Float32;
-    readyProb @11 :List(Float32);
-    notReadyProb @12 :List(Float32);
+    phoneProb @13 :Float32;
+    notReadyProbDEPRECATED @12 :List(Float32);
+    occludedProbDEPRECATED @10 :Float32;
+    readyProbDEPRECATED @11 :List(Float32);
   }
+
+  dspExecutionTimeDEPRECATED @2 :Float32;
+  poorVisionProbDEPRECATED @4 :Float32;
 }
 
 struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
@@ -2218,7 +2233,10 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   hiStdCount @14 :UInt32;
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
+  uncertainCount @19 :UInt32;
 
+  phoneProbOffsetDEPRECATED @20 :Float32;
+  phoneProbValidCountDEPRECATED @21 :UInt32;
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
   eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
@@ -2279,6 +2297,7 @@ struct LiveTorqueParametersData {
   points @10 :List(List(Float32));
   version @11 :Int32;
   useParams @12 :Bool;
+  calPerc @13 :Int8;
 }
 
 struct LiveDelayData {
@@ -2289,6 +2308,7 @@ struct LiveDelayData {
   lateralDelayEstimate @3 :Float32;
   lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
+  calPerc @6 :Int8;
 
   enum Status {
     unestimated @0;
@@ -2463,16 +2483,27 @@ struct DebugAlert {
   alertText2 @1 :Text;
 }
 
-struct UserFlag {
+struct UserBookmark @0xfe346a9de48d9b50 {
 }
 
-struct Microphone {
+struct SoundPressure @0xdc24138990726023 {
   soundPressure @0 :Float32;
 
   # uncalibrated, A-weighted
   soundPressureWeighted @3 :Float32;
   soundPressureWeightedDb @1 :Float32;
-  filteredSoundPressureWeightedDb @2 :Float32;
+
+  filteredSoundPressureWeightedDbDEPRECATED @2 :Float32;
+}
+
+struct AudioData {
+  data @0 :Data;
+  sampleRate @1 :UInt32;
+}
+
+struct AudioFeedback {
+  audio @0 :AudioData;
+  blockNum @1 :UInt16;
 }
 
 struct Touch {
@@ -2501,13 +2532,10 @@ struct Event {
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
-    gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
-    accelerometer2 @101 :SensorEventData;
     magnetometer @95 :SensorEventData;
     lightSensor @96 :SensorEventData;
     temperatureSensor @97 :SensorEventData;
-    temperatureSensor2 @123 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
@@ -2552,7 +2580,8 @@ struct Event {
     livestreamDriverEncodeIdx @119 :EncodeIndex;
 
     # microphone data
-    microphone @103 :Microphone;
+    soundPressure @103 :SoundPressure;
+    rawAudioData @147 :AudioData;
 
     # systems stuff
     androidLog @20 :AndroidLogEntry;
@@ -2574,9 +2603,13 @@ struct Event {
     mapRenderState @105: MapRenderState;
 
     # UI services
-    userFlag @93 :UserFlag;
     uiDebug @102 :UIDebug;
 
+    # driving feedback
+    userBookmark @93 :UserBookmark;
+    bookmarkButton @148 :UserBookmark;
+    audioFeedback @149 :AudioFeedback;
+
     # *********** debug ***********
     testJoystick @52 :Joystick;
     roadEncodeData @86 :EncodeData;
@@ -2607,9 +2640,9 @@ struct Event {
     carParamsSP @111 :Custom.CarParamsSP;
     carControlSP @112 :Custom.CarControlSP;
     backupManagerSP @113 :Custom.BackupManagerSP;
-    customReserved7 @114 :Custom.CustomReserved7;
-    customReserved8 @115 :Custom.CustomReserved8;
-    customReserved9 @116 :Custom.CustomReserved9;
+    carStateSP @114 :Custom.CarStateSP;
+    liveMapDataSP @115 :Custom.LiveMapDataSP;
+    modelDataV2SP @116 :Custom.ModelDataV2SP;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
@@ -2662,8 +2695,11 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
+    liveLocationKalman @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
+    gyroscope2DEPRECATED @100 :SensorEventData;
+    accelerometer2DEPRECATED @101 :SensorEventData;
+    temperatureSensor2DEPRECATED @123 :SensorEventData;
   }
 }
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 8ad956b61b..2c925b4cc4 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -1,10 +1,8 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 import msgq
-
 import os
 import capnp
 import time
@@ -13,11 +11,25 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
+def pub_sock(endpoint: str) -> PubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.pub_sock(endpoint, segment_size)
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
+                       timeout=timeout, segment_size=segment_size)
+
+
 def reset_context():
   msgq.context = Context()
 
@@ -145,12 +157,16 @@ class SubMaster:
     self.updated = {s: False for s in services}
     self.recv_time = {s: 0. for s in services}
     self.recv_frame = {s: 0 for s in services}
-    self.alive = {s: False for s in services}
-    self.freq_ok = {s: False for s in services}
     self.sock = {}
     self.data = {}
-    self.valid = {}
-    self.logMonoTime = {}
+    self.logMonoTime = {s: 0 for s in services}
+
+    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
+    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.alive = {s: on_demand[s] for s in services}
+    self.freq_ok = {s: on_demand[s] for s in services}
+    self.valid = {s: on_demand[s] for s in services}
 
     self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
@@ -177,8 +193,6 @@ class SubMaster:
         data = new_message(s, 0) # lists
 
       self.data[s] = getattr(data.as_reader(), s)
-      self.logMonoTime[s] = 0
-      self.valid[s] = False
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
@@ -215,14 +229,10 @@ class SubMaster:
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.services:
-      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-        self.freq_ok[s] = self.freq_tracker[s].valid
-      else:
-        self.freq_ok[s] = True
-        self.alive[s] = self.seen[s] if self.simulation else True
+    for s in self.static_freq_services:
+      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
+      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
+      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index 69ecd188e1..77823c413a 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -25,15 +25,16 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }
 
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<SubSocket *, PubSocket *> sub2pub;
+  auto poller = std::make_unique<BridgeZmqPoller>();
+  auto pub_context = std::make_unique<Context>();
+  auto sub_context = std::make_unique<BridgeZmqContext>();
+  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
 
   for (auto endpoint : endpoints) {
-    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
+    auto pub_sock = new PubSocket();
+    auto sub_sock = new BridgeZmqSubSocket();
+    size_t queue_size = services.at(endpoint).queue_size;
+    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);
diff --git a/cereal/messaging/bridge_zmq.cc b/cereal/messaging/bridge_zmq.cc
new file mode 100644
index 0000000000..5c56673b47
--- /dev/null
+++ b/cereal/messaging/bridge_zmq.cc
@@ -0,0 +1,170 @@
+#include "cereal/messaging/bridge_zmq.h"
+
+#include <cassert>
+#include <cstring>
+#include <unistd.h>
+
+static size_t fnv1a_hash(const std::string &str) {
+  const size_t fnv_prime = 0x100000001b3;
+  size_t hash_value = 0xcbf29ce484222325;
+  for (char c : str) {
+    hash_value ^= (unsigned char)c;
+    hash_value *= fnv_prime;
+  }
+  return hash_value;
+}
+
+// FIXME: This is a hack to get the port number from the socket name, might have collisions.
+static int get_port(std::string endpoint) {
+  size_t hash_value = fnv1a_hash(endpoint);
+  int start_port = 8023;
+  int max_port = 65535;
+  return start_port + (hash_value % (max_port - start_port));
+}
+
+BridgeZmqContext::BridgeZmqContext() {
+  context = zmq_ctx_new();
+}
+
+BridgeZmqContext::~BridgeZmqContext() {
+  if (context != nullptr) {
+    zmq_ctx_term(context);
+  }
+}
+
+void BridgeZmqMessage::init(size_t sz) {
+  size = sz;
+  data = new char[size];
+}
+
+void BridgeZmqMessage::init(char *d, size_t sz) {
+  size = sz;
+  data = new char[size];
+  memcpy(data, d, size);
+}
+
+void BridgeZmqMessage::close() {
+  if (size > 0) {
+    delete[] data;
+  }
+  data = nullptr;
+  size = 0;
+}
+
+BridgeZmqMessage::~BridgeZmqMessage() {
+  close();
+}
+
+int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+  if (conflate) {
+    int arg = 1;
+    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+  }
+
+  int reconnect_ivl = 500;
+  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+  full_endpoint = "tcp://" + address + ":";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  return zmq_connect(sock, full_endpoint.c_str());
+}
+
+void BridgeZmqSubSocket::setTimeout(int timeout) {
+  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+Message *BridgeZmqSubSocket::receive(bool non_blocking) {
+  zmq_msg_t msg;
+  assert(zmq_msg_init(&msg) == 0);
+
+  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
+  int rc = zmq_msg_recv(&msg, sock, flags);
+
+  Message *ret = nullptr;
+  if (rc >= 0) {
+    ret = new BridgeZmqMessage;
+    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+  }
+
+  zmq_msg_close(&msg);
+  return ret;
+}
+
+BridgeZmqSubSocket::~BridgeZmqSubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
+  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+  if (sock == nullptr) {
+    return -1;
+  }
+
+  full_endpoint = "tcp://*:";
+  if (check_endpoint) {
+    full_endpoint += std::to_string(get_port(endpoint));
+  } else {
+    full_endpoint += endpoint;
+  }
+
+  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
+  pid = getpid();
+
+  return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int BridgeZmqPubSocket::sendMessage(Message *message) {
+  assert(pid == getpid());
+  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int BridgeZmqPubSocket::send(char *data, size_t size) {
+  assert(pid == getpid());
+  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+BridgeZmqPubSocket::~BridgeZmqPubSocket() {
+  if (sock != nullptr) {
+    zmq_close(sock);
+  }
+}
+
+void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
+  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
+  polls[num_polls].socket = socket->getRawSocket();
+  polls[num_polls].events = ZMQ_POLLIN;
+
+  sockets.push_back(socket);
+  num_polls++;
+}
+
+std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
+  std::vector<BridgeZmqSubSocket *> ret;
+
+  int rc = zmq_poll(polls, num_polls, timeout);
+  if (rc < 0) {
+    return ret;
+  }
+
+  for (size_t i = 0; i < num_polls; i++) {
+    if (polls[i].revents) {
+      ret.push_back(sockets[i]);
+    }
+  }
+
+  return ret;
+}
diff --git a/cereal/messaging/bridge_zmq.h b/cereal/messaging/bridge_zmq.h
new file mode 100644
index 0000000000..ebdbc56c24
--- /dev/null
+++ b/cereal/messaging/bridge_zmq.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <cstddef>
+#include <string>
+#include <vector>
+
+#include <zmq.h>
+
+#include "msgq/ipc.h"
+
+class BridgeZmqContext {
+public:
+  BridgeZmqContext();
+  void *getRawContext() { return context; }
+  ~BridgeZmqContext();
+
+private:
+  void *context = nullptr;
+};
+
+class BridgeZmqMessage : public Message {
+public:
+  void init(size_t size);
+  void init(char *data, size_t size);
+  void close();
+  size_t getSize() { return size; }
+  char *getData() { return data; }
+  ~BridgeZmqMessage();
+
+private:
+  char *data = nullptr;
+  size_t size = 0;
+};
+
+class BridgeZmqSubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
+  void setTimeout(int timeout);
+  Message *receive(bool non_blocking = false);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqSubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+};
+
+class BridgeZmqPubSocket {
+public:
+  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
+  int sendMessage(Message *message);
+  int send(char *data, size_t size);
+  void *getRawSocket() { return sock; }
+  ~BridgeZmqPubSocket();
+
+private:
+  void *sock = nullptr;
+  std::string full_endpoint;
+  int pid = -1;
+};
+
+class BridgeZmqPoller {
+public:
+  void registerSocket(BridgeZmqSubSocket *socket);
+  std::vector<BridgeZmqSubSocket *> poll(int timeout);
+
+private:
+  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
+  std::vector<BridgeZmqSubSocket *> sockets;
+  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
+  size_t num_polls = 0;
+};
diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc
index ce626f2aad..5e7ea22273 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -2,6 +2,7 @@
 
 #include <cassert>
 
+#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -21,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) {
 }
 
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<MSGQContext>();
+  zmq_context = std::make_unique<BridgeZmqContext>();
+  msgq_context = std::make_unique<Context>();
 
   // Create ZMQPubSockets for each endpoint
   for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
+    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
     int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
     if (ret != 0) {
       printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -48,7 +49,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
+        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
@@ -71,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() {
   // Set up ZMQ monitor for each pub socket
   for (int i = 0; i < socket_pairs.size(); ++i) {
     std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
 
     void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
     zmq_connect(monitor_socket, addr.c_str());
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            size_t queue_size = services.at(pair.endpoint).queue_size;
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }
@@ -128,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() {
 
   // Clean up monitor sockets
   for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
     zmq_close(pollitems[i].socket);
   }
   cv.notify_one();
diff --git a/cereal/messaging/msgq_to_zmq.h b/cereal/messaging/msgq_to_zmq.h
index ebdbe5df69..64f3a2173e 100644
--- a/cereal/messaging/msgq_to_zmq.h
+++ b/cereal/messaging/msgq_to_zmq.h
@@ -7,9 +7,8 @@
 #include <string>
 #include <vector>
 
-#define private public
 #include "msgq/impl_msgq.h"
-#include "msgq/impl_zmq.h"
+#include "cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:
@@ -22,16 +21,16 @@ protected:
 
   struct SocketPair {
     std::string endpoint;
-    std::unique_ptr<ZMQPubSocket> pub_sock;
+    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
     std::unique_ptr<MSGQSubSocket> sub_sock;
     int connected_clients = 0;
   };
 
-  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<ZMQContext> zmq_context;
+  std::unique_ptr<Context> msgq_context;
+  std::unique_ptr<BridgeZmqContext> zmq_context;
   std::mutex mutex;
   std::condition_variable cv;
   std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
+  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
   std::vector<SocketPair> socket_pairs;
 };
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index 1a7a48980e..dfeeb807ee 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -33,7 +33,7 @@ MessageContext message_context;
 struct SubMaster::SubMessage {
   std::string name;
   SubSocket *socket = nullptr;
-  int freq = 0;
+  float freq = 0.0f;
   bool updated = false, alive = false, valid = false, ignore_alive;
   uint64_t rcv_time = 0, rcv_frame = 0;
   void *allocated_msg_reader = nullptr;
@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
@@ -187,7 +187,8 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(services.count(name) > 0);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
+    service serv = services.at(std::string(name));
+    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
     assert(socket);
     sockets_[name] = socket;
   }
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
index 6234a11c08..afdab8a51f 100644
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -5,7 +5,7 @@ import numbers
 import random
 import threading
 import time
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 import pytest
 
 from cereal import log, car
@@ -30,7 +30,7 @@ def zmq_sleep(t=1):
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
-  fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"]
+  fields = ["vEgo", "aEgo", "brake", "steeringAngleDeg"]
   msg = messaging.new_message("carState")
   cs = msg.carState
   for f in fields:
@@ -177,8 +177,8 @@ class TestMessaging:
 
     # wait 5 socket timeouts before sending
     msg = random_carstate()
-    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
+    delayed_send(sock_timeout*5, pub_sock, msg.to_bytes())
     recvd = messaging.recv_one_retry(sub_sock)
     assert (time.monotonic() - start_time) >= sock_timeout*5
     assert isinstance(recvd, capnp._DynamicStructReader)
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
index e9bc7a85cb..5e26b49701 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -6,6 +6,7 @@ import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
+from cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
@@ -26,7 +27,9 @@ class TestSubMaster:
     sm = messaging.SubMaster(socks)
     assert sm.frame == -1
     assert not any(sm.updated.values())
-    assert not any(sm.alive.values())
+    assert not any(sm.seen.values())
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
+    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
     assert all(t == 0. for t in sm.recv_time.values())
     assert all(f == 0 for f in sm.recv_frame.values())
     assert all(t == 0 for t in sm.logMonoTime.values())
@@ -83,6 +86,7 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
+        "userBookmark": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
index 8bfd2ea978..3320723fec 100644
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
diff --git a/cereal/services.py b/cereal/services.py
index c40538eec0..a2fd5f7dce 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -1,37 +1,44 @@
 #!/usr/bin/env python3
+from enum import IntEnum
 from typing import Optional
 
 
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
+
+
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
+    self.queue_size = queue_size
 
 
 _services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
   "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
   "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
@@ -43,7 +50,7 @@ _services: dict[str, tuple] = {
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
   "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15),
+  "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
@@ -65,39 +72,46 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
-  "userFlag": (True, 0., 1),
-  "microphone": (True, 10., 10),
+  "userBookmark": (True, 0., 1),
+  "soundPressure": (True, 10., 10),
+  "rawAudioData": (False, 20.),
+  "bookmarkButton": (True, 0., 1),
+  "audioFeedback": (True, 0., 1),
+  "roadEncodeData": (False, 20., None, QueueSize.BIG),
+  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
+  "modelManagerSP": (False, 1., 1, QueueSize.BIG),
+  "backupManagerSP": (False, 1., 1, QueueSize.BIG),
   "selfdriveStateSP": (True, 100., 10),
   "longitudinalPlanSP": (True, 20., 10),
   "onroadEventsSP": (True, 1., 1),
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
+  "carStateSP": (True, 100., 10),
+  "liveMapDataSP": (True, 1., 1),
+  "modelDataV2SP": (True, 20., None, QueueSize.BIG),
+  "liveLocationKalman": (True, 20.),
 
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
-  "roadEncodeData": (False, 20.),
-  "driverEncodeData": (False, 20.),
-  "wideRoadEncodeData": (False, 20.),
-  "qRoadEncodeData": (False, 20.),
   "livestreamWideRoadEncodeIdx": (False, 20.),
   "livestreamRoadEncodeIdx": (False, 20.),
   "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20.),
-  "livestreamRoadEncodeData": (False, 20.),
-  "livestreamDriverEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
@@ -115,13 +129,13 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; int frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %d, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
 
   h += "#endif\n"
diff --git a/codecov.yml b/codecov.yml
deleted file mode 100644
index 519e7d1a38..0000000000
--- a/codecov.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-comment: false
-coverage:
-  status:
-    project:
-      default:
-        informational: true
-    patch: off
-
-ignore:
-  - "**/test_*.py"
-  - "selfdrive/test/**"
-  - "system/version.py" # codecov changes depending on if we are in a branch or not
-  - "tools"
diff --git a/common/SConscript b/common/SConscript
index 829db6eeec..15a0e5eff1 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -4,22 +4,11 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
-  'i2c.cc',
-  'watchdog.cc',
-  'ratekeeper.cc'
+  'ratekeeper.cc',
 ]
 
-if arch != "Darwin":
-  common_libs.append('gpio.cc')
-
 _common = env.Library('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-]
-
-_gpucommon = env.Library('gpucommon', files)
-Export('_common', '_gpucommon')
+Export('_common')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
@@ -29,11 +18,6 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
+common_python = [params_python]
 
 Export('common_python')
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 3e238ccc7a..45c73e2a05 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -14,9 +14,13 @@ class Api:
   def post(self, *args, **kwargs):
     return self.service.post(*args, **kwargs)
 
-  def get_token(self, expiry_hours=1):
-    return self.service.get_token(expiry_hours)
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self.service.get_token(payload_extra, expiry_hours)
 
 
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, session, **params)
+
+
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  return CommaConnectApi(None).get_key_pair()
diff --git a/common/api/base.py b/common/api/base.py
index d40b47d49d..5cb59347ad 100644
--- a/common/api/base.py
+++ b/common/api/base.py
@@ -1,18 +1,22 @@
 import jwt
+import os
 import requests
 import unicodedata
 from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
+
 
 class BaseApi:
   def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
     self.dongle_id = dongle_id
     self.api_host = api_host
     self.user_agent = user_agent
-    with open(f'{Paths.persist_root()}/comma/id_rsa') as f:
-      self.private_key = f.read()
+    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
 
   def get(self, *args, **kwargs):
     return self.request('GET', *args, **kwargs)
@@ -23,7 +27,7 @@ class BaseApi:
   def request(self, method, endpoint, timeout=None, access_token=None, **params):
     return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
-  def _get_token(self, expiry_hours=1, **extra_payload):
+  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
     now = datetime.now(UTC).replace(tzinfo=None)
     payload = {
       'identity': self.dongle_id,
@@ -32,20 +36,22 @@ class BaseApi:
       'exp': now + timedelta(hours=expiry_hours),
       **extra_payload
     }
-    token = jwt.encode(payload, self.private_key, algorithm='RS256')
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
     if isinstance(token, bytes):
       token = token.decode('utf8')
     return token
 
-  def get_token(self, expiry_hours=1):
-    return self._get_token(expiry_hours)
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    return self._get_token(payload_extra, expiry_hours)
 
   def remove_non_ascii_chars(self, text):
     normalized_text = unicodedata.normalize('NFD', text)
     ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
     return ascii_encoded_text.decode()
 
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
+  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, session=None, json=None, **params):
     headers = {}
     if access_token is not None:
       headers['Authorization'] = "JWT " + access_token
@@ -53,4 +59,14 @@ class BaseApi:
     version = self.remove_non_ascii_chars(get_version())
     headers['User-Agent'] = self.user_agent + version
 
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+    # TODO: add session to Api
+    req = requests if session is None else session
+    return req.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
+
+  @staticmethod
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+    for key in KEYS:
+      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+          return KEYS[key], private.read(), public.read()
+    return None, None, None
diff --git a/common/clutil.cc b/common/clutil.cc
deleted file mode 100644
index f8381a7e09..0000000000
--- a/common/clutil.cc
+++ /dev/null
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace {  // helper functions
-
-template <typename Func, typename Id, typename Name>
-std::string get_info(Func get_info_func, Id id, Name param_name) {
-  size_t size = 0;
-  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
-  std::string info(size, '\0');
-  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
-  return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
-  size_t work_group_size = 0;
-  cl_device_type device_type = 0;
-  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
-  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
-  const char *type_str = "Other...";
-  switch (device_type) {
-    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
-    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
-    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
-  }
-
-  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
-  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
-  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
-  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
-  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
-  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %zu", work_group_size);
-  LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-}  // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
-  cl_uint num_platforms = 0;
-  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
-  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
-  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
-  for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
-    // Get first device
-    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
-      cl_print_info(platform_ids[i], device_id);
-      return device_id;
-    }
-  }
-  LOGE("No valid openCL platform found");
-  assert(0);
-  return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
-  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
-  clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
-  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  const char *csrc = src.c_str();
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
diff --git a/common/clutil.h b/common/clutil.h
deleted file mode 100644
index b364e79d45..0000000000
--- a/common/clutil.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-#define CL_CHECK(_expr)          \
-  do {                           \
-    assert(CL_SUCCESS == (_expr)); \
-  } while (0)
-
-#define CL_CHECK_ERR(_expr)           \
-  ({                                  \
-    cl_int err = CL_INVALID_VALUE;    \
-    __typeof__(_expr) _ret = _expr;   \
-    assert(_ret&& err == CL_SUCCESS); \
-    _ret;                             \
-  })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/common/conversions.py b/common/constants.py
similarity index 83%
rename from common/conversions.py
rename to common/constants.py
index b02b33c625..7ca425c4b2 100644
--- a/common/conversions.py
+++ b/common/constants.py
@@ -1,6 +1,7 @@
 import numpy as np
 
-class Conversions:
+# conversions
+class CV:
   # Speed
   MPH_TO_KPH = 1.609344
   KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -17,3 +18,6 @@ class Conversions:
 
   # Mass
   LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
diff --git a/common/dict_helpers.py b/common/dict_helpers.py
deleted file mode 100644
index 62cff63b58..0000000000
--- a/common/dict_helpers.py
+++ /dev/null
@@ -1,9 +0,0 @@
-# remove all keys that end in DEPRECATED
-def strip_deprecated_keys(d):
-  for k in list(d.keys()):
-    if isinstance(k, str):
-      if k.endswith('DEPRECATED'):
-        d.pop(k)
-      elif isinstance(d[k], dict):
-        strip_deprecated_keys(d[k])
-  return d
diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py
deleted file mode 100644
index 01741c6f42..0000000000
--- a/common/ffi_wrapper.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import platform
-
-
-def suffix():
-  if platform.system() == "Darwin":
-    return ".dylib"
-  else:
-    return ".so"
diff --git a/common/file_chunker.py b/common/file_chunker.py
new file mode 100644
index 0000000000..ac9ddbb384
--- /dev/null
+++ b/common/file_chunker.py
@@ -0,0 +1,37 @@
+import math
+import os
+from pathlib import Path
+
+CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
+
+def get_chunk_name(name, idx, num_chunks):
+  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
+
+def get_manifest_path(name):
+  return f"{name}.chunkmanifest"
+
+def get_chunk_paths(path, file_size):
+  num_chunks = math.ceil(file_size / CHUNK_SIZE)
+  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
+
+def chunk_file(path, targets):
+  manifest_path, *chunk_paths = targets
+  with open(path, 'rb') as f:
+    data = f.read()
+  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
+  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
+  for i, chunk_path in enumerate(chunk_paths):
+    with open(chunk_path, 'wb') as f:
+      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
+  Path(manifest_path).write_text(str(len(chunk_paths)))
+  os.remove(path)
+
+
+def read_file_chunked(path):
+  manifest_path = get_manifest_path(path)
+  if os.path.isfile(manifest_path):
+    num_chunks = int(Path(manifest_path).read_text().strip())
+    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
+  if os.path.isfile(path):
+    return Path(path).read_bytes()
+  raise FileNotFoundError(path)
diff --git a/common/file_helpers.py b/common/file_helpers.py
deleted file mode 100644
index b0d889f163..0000000000
--- a/common/file_helpers.py
+++ /dev/null
@@ -1,58 +0,0 @@
-import io
-import os
-import tempfile
-import contextlib
-import zstandard as zstd
-
-LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
-
-
-class CallbackReader:
-  """Wraps a file, but overrides the read method to also
-  call a callback function with the number of bytes read so far."""
-  def __init__(self, f, callback, *args):
-    self.f = f
-    self.callback = callback
-    self.cb_args = args
-    self.total_read = 0
-
-  def __getattr__(self, attr):
-    return getattr(self.f, attr)
-
-  def read(self, *args, **kwargs):
-    chunk = self.f.read(*args, **kwargs)
-    self.total_read += len(chunk)
-    self.callback(*self.cb_args, self.total_read)
-    return chunk
-
-
-@contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
-                        overwrite: bool = False):
-  """Write to a file atomically using a temporary file in the same directory as the destination file."""
-  dir_name = os.path.dirname(path)
-
-  if not overwrite and os.path.exists(path):
-    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
-
-  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
-    yield tmp_file
-    tmp_file_name = tmp_file.name
-  os.replace(tmp_file_name, path)
-
-
-def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
-  if not should_compress:
-    file_size = os.path.getsize(filepath)
-    file_stream = open(filepath, "rb")
-    return file_stream, file_size
-
-  # Compress the file on the fly
-  compressed_stream = io.BytesIO()
-  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
-
-  with open(filepath, "rb") as f:
-    compressor.copy_stream(f, compressed_stream)
-    compressed_size = compressed_stream.tell()
-    compressed_stream.seek(0)
-    return compressed_stream, compressed_size
diff --git a/common/filter_simple.py b/common/filter_simple.py
index 0ec7a51562..212e1a8f40 100644
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -1,5 +1,4 @@
 class FirstOrderFilter:
-  # first order filter
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
     self.dt = dt
@@ -16,3 +15,20 @@ class FirstOrderFilter:
       self.initialized = True
       self.x = x
     return self.x
+
+
+class BounceFilter(FirstOrderFilter):
+  def __init__(self, x0, rc, dt, initialized=True, bounce=2):
+    self.velocity = FirstOrderFilter(0.0, 0.15, dt)
+    self.bounce = bounce
+    super().__init__(x0, rc, dt, initialized)
+
+  def update(self, x):
+    super().update(x)
+    scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
+    self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
+    self.velocity.update(0.0)
+    if abs(self.velocity.x) < 1e-5:
+      self.velocity.x = 0.0
+    self.x += self.velocity.x
+    return self.x
diff --git a/common/git.py b/common/git.py
index 4406bf96b1..6b662e5719 100644
--- a/common/git.py
+++ b/common/git.py
@@ -1,30 +1,30 @@
 from functools import cache
 import subprocess
-from openpilot.common.run import run_cmd, run_cmd_default
+from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \
diff --git a/common/gpio.cc b/common/gpio.cc
deleted file mode 100644
index dd7ba34b6d..0000000000
--- a/common/gpio.cc
+++ /dev/null
@@ -1,84 +0,0 @@
-#include "common/gpio.h"
-
-#include <string>
-
-#ifdef __APPLE__
-int gpio_init(int pin_nr, bool output) {
-  return 0;
-}
-
-int gpio_set(int pin_nr, bool high) {
-  return 0;
-}
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
-  return 0;
-}
-
-#else
-
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <cstring>
-#include <linux/gpio.h>
-#include <sys/ioctl.h>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-int gpio_init(int pin_nr, bool output) {
-  char pin_dir_path[50];
-  int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
-                           "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if (pin_dir_path_len <= 0) {
-    return -1;
-  }
-  const char *value = output ? "out" : "in";
-  return util::write_file(pin_dir_path, (void*)value, strlen(value));
-}
-
-int gpio_set(int pin_nr, bool high) {
-  char pin_val_path[50];
-  int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
-                           "/sys/class/gpio/gpio%d/value", pin_nr);
-  if (pin_val_path_len <= 0) {
-    return -1;
-  }
-  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
-}
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
-
-  // Assumed that all interrupt pins are unexported and rights are given to
-  // read from gpiochip0.
-  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
-  int fd = open(gpiochip_path.c_str(), O_RDONLY);
-  if (fd < 0) {
-    LOGE("Error opening gpiochip0 fd");
-    return -1;
-  }
-
-  // Setup event
-  struct gpioevent_request rq;
-  rq.lineoffset = pin_nr;
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
-
-  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
-     very short(75us) and is mostly detected as falling edge instead of rising.
-     So if it is detected as rising the following falling edge is skipped. */
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
-
-  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
-  int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
-  if (ret == -1) {
-    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
-    close(fd);
-    return -1;
-  }
-
-  close(fd);
-  return rq.fd;
-}
-
-#endif
diff --git a/common/gpio.h b/common/gpio.h
deleted file mode 100644
index 89cdedd66c..0000000000
--- a/common/gpio.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-// Pin definitions
-#ifdef QCOM2
-  #define GPIO_HUB_RST_N        30
-  #define GPIO_UBLOX_RST_N      32
-  #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
-  #define GPIO_STM_RST_N        124
-  #define GPIO_STM_BOOT0        134
-  #define GPIO_BMX_ACCEL_INT    21
-  #define GPIO_BMX_GYRO_INT     23
-  #define GPIO_BMX_MAGN_INT     87
-  #define GPIO_LSM_INT          84
-  #define GPIOCHIP_INT          0
-#else
-  #define GPIO_HUB_RST_N        0
-  #define GPIO_UBLOX_RST_N      0
-  #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
-  #define GPIO_STM_RST_N        0
-  #define GPIO_STM_BOOT0        0
-  #define GPIO_BMX_ACCEL_INT    0
-  #define GPIO_BMX_GYRO_INT     0
-  #define GPIO_BMX_MAGN_INT     0
-  #define GPIO_LSM_INT          0
-  #define GPIOCHIP_INT          0
-#endif
-
-int gpio_init(int pin_nr, bool output);
-int gpio_set(int pin_nr, bool high);
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
diff --git a/common/gpio.py b/common/gpio.py
index 66b2adf438..8f025a2daf 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,4 +1,6 @@
 import os
+import fcntl
+import ctypes
 from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]:
       if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret
+
+# *** gpiochip ***
+
+class gpioevent_data(ctypes.Structure):
+  _fields_ = [
+    ("timestamp", ctypes.c_uint64),
+    ("id", ctypes.c_uint32),
+  ]
+
+class gpioevent_request(ctypes.Structure):
+  _fields_ = [
+    ("lineoffset", ctypes.c_uint32),
+    ("handleflags", ctypes.c_uint32),
+    ("eventflags", ctypes.c_uint32),
+    ("label", ctypes.c_char * 32),
+    ("fd", ctypes.c_int)
+  ]
+
+def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
+  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
+  GPIOHANDLE_REQUEST_INPUT = 0x1
+  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
+
+  rq = gpioevent_request()
+  rq.lineoffset = pin
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
+  rq.label = label.encode('utf-8')[:31] + b'\0'
+
+  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
+  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
+  os.close(fd)
+  return int(rq.fd)
diff --git a/common/i2c.cc b/common/i2c.cc
deleted file mode 100644
index 3d6c79efc5..0000000000
--- a/common/i2c.cc
+++ /dev/null
@@ -1,92 +0,0 @@
-#include "common/i2c.h"
-
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cstdio>
-#include <stdexcept>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#define UNUSED(x) (void)(x)
-
-#ifdef QCOM2
-// TODO: decide if we want to install libi2c-dev everywhere
-extern "C" {
-  #include <linux/i2c-dev.h>
-  #include <i2c/smbus.h>
-}
-
-I2CBus::I2CBus(uint8_t bus_id) {
-  char bus_name[20];
-  snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
-
-  i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
-  if (i2c_fd < 0) {
-    throw std::runtime_error("Failed to open I2C bus");
-  }
-}
-
-I2CBus::~I2CBus() {
-  if (i2c_fd >= 0) {
-    close(i2c_fd);
-  }
-}
-
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
-  std::lock_guard lk(m);
-
-  int ret = 0;
-
-  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if (ret < 0) { goto fail; }
-
-  ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
-  if ((ret < 0) || (ret != len)) { goto fail; }
-
-fail:
-  return ret;
-}
-
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
-  std::lock_guard lk(m);
-
-  int ret = 0;
-
-  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if (ret < 0) { goto fail; }
-
-  ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
-  if (ret < 0) { goto fail; }
-
-fail:
-  return ret;
-}
-
-#else
-
-I2CBus::I2CBus(uint8_t bus_id) {
-  UNUSED(bus_id);
-  i2c_fd = -1;
-}
-
-I2CBus::~I2CBus() {}
-
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
-  UNUSED(device_address);
-  UNUSED(register_address);
-  UNUSED(buffer);
-  UNUSED(len);
-  return -1;
-}
-
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
-  UNUSED(device_address);
-  UNUSED(register_address);
-  UNUSED(data);
-  return -1;
-}
-#endif
diff --git a/common/i2c.h b/common/i2c.h
deleted file mode 100644
index ca0d4635b8..0000000000
--- a/common/i2c.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <mutex>
-
-#include <sys/types.h>
-
-class I2CBus {
-  private:
-    int i2c_fd;
-    std::mutex m;
-
-  public:
-    I2CBus(uint8_t bus_id);
-    ~I2CBus();
-
-    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
-    int set_register(uint8_t device_address, uint register_address, uint8_t data);
-};
diff --git a/common/i2c.py b/common/i2c.py
new file mode 100644
index 0000000000..1dfaa659ad
--- /dev/null
+++ b/common/i2c.py
@@ -0,0 +1,81 @@
+import os
+import fcntl
+import ctypes
+
+# I2C constants from /usr/include/linux/i2c-dev.h
+I2C_SLAVE = 0x0703
+I2C_SLAVE_FORCE = 0x0706
+I2C_SMBUS = 0x0720
+
+# SMBus transfer types
+I2C_SMBUS_READ = 1
+I2C_SMBUS_WRITE = 0
+I2C_SMBUS_BYTE_DATA = 2
+I2C_SMBUS_I2C_BLOCK_DATA = 8
+
+I2C_SMBUS_BLOCK_MAX = 32
+
+
+class _I2cSmbusData(ctypes.Union):
+  _fields_ = [
+    ("byte", ctypes.c_uint8),
+    ("word", ctypes.c_uint16),
+    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
+  ]
+
+
+class _I2cSmbusIoctlData(ctypes.Structure):
+  _fields_ = [
+    ("read_write", ctypes.c_uint8),
+    ("command", ctypes.c_uint8),
+    ("size", ctypes.c_uint32),
+    ("data", ctypes.POINTER(_I2cSmbusData)),
+  ]
+
+
+class SMBus:
+  def __init__(self, bus: int):
+    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
+
+  def __enter__(self) -> 'SMBus':
+    return self
+
+  def __exit__(self, *args) -> None:
+    self.close()
+
+  def close(self) -> None:
+    if hasattr(self, '_fd') and self._fd >= 0:
+      os.close(self._fd)
+      self._fd = -1
+
+  def _set_address(self, addr: int, force: bool = False) -> None:
+    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
+    fcntl.ioctl(self._fd, ioctl_arg, addr)
+
+  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
+    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
+    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
+
+  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
+    return int(data.byte)
+
+  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
+    self._set_address(addr, force)
+    data = _I2cSmbusData()
+    data.byte = value & 0xFF
+    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
+
+  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
+    self._set_address(addr, force)
+    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
+      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
+
+    data = _I2cSmbusData()
+    data.block[0] = length
+    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
+    read_len = int(data.block[0]) or length
+    read_len = min(read_len, length)
+    return [int(b) for b in data.block[1 : read_len + 1]]
diff --git a/common/logging_extra.py b/common/logging_extra.py
index e921b140c2..ceaf083cd5 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -199,7 +199,6 @@ class SwagLogger(logging.Logger):
       co = f.f_code
       filename = os.path.normcase(co.co_filename)
 
-      # TODO: is this pylint exception correct?
       if filename == _srcfile:
         f = f.f_back
         continue
diff --git a/common/mat.h b/common/mat.h
deleted file mode 100644
index 8e10d61971..0000000000
--- a/common/mat.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
-  float v[3];
-} vec3;
-
-typedef struct vec4 {
-  float v[4];
-} vec4;
-
-typedef struct mat3 {
-  float v[3*3];
-} mat3;
-
-typedef struct mat4 {
-  float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
-  mat3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      float v = 0.0;
-      for (int k=0; k<3; k++) {
-        v += a.v[r*3+k] * b.v[k*3+c];
-      }
-      ret.v[r*3+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
-  vec3 ret = {{0.0}};
-  for (int r=0; r<3; r++) {
-    for (int c=0; c<3; c++) {
-      ret.v[r] += a.v[r*3+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
-  mat4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      float v = 0.0;
-      for (int k=0; k<4; k++) {
-        v += a.v[r*4+k] * b.v[k*4+c];
-      }
-      ret.v[r*4+c] = v;
-    }
-  }
-  return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
-  vec4 ret = {{0.0}};
-  for (int r=0; r<4; r++) {
-    for (int c=0; c<4; c++) {
-      ret.v[r] += a.v[r*4+c] * b.v[c];
-    }
-  }
-  return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
-  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
-  mat3 transform_out = {{
-    1.0f/s, 0.0f, 0.5f,
-    0.0f, 1.0f/s, 0.5f,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  mat3 transform_in = {{
-    s,  0.0f, -0.5f*s,
-    0.0f, s, -0.5f*s,
-    0.0f, 0.0f, 1.0f,
-  }};
-
-  return matmul3(transform_in, matmul3(in, transform_out));
-}
diff --git a/common/model.h b/common/model.h
index ac6154fdf9..444727be93 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Tomb Raider 7 (Default)"
+#define DEFAULT_MODEL "CD210 (Default)"
diff --git a/common/parameterized.py b/common/parameterized.py
new file mode 100644
index 0000000000..7cd21bb9c5
--- /dev/null
+++ b/common/parameterized.py
@@ -0,0 +1,47 @@
+import sys
+import pytest
+import inspect
+
+
+class parameterized:
+  @staticmethod
+  def expand(cases):
+    cases = list(cases)
+
+    if not cases:
+      return lambda func: pytest.mark.skip("no parameterized cases")(func)
+
+    def decorator(func):
+      params = [p for p in inspect.signature(func).parameters if p != 'self']
+      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
+      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
+      expand_params = params[: len(normalized[0])]
+      if len(expand_params) == 1:
+        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
+      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
+
+    return decorator
+
+
+def parameterized_class(attrs, input_list=None):
+  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
+    params_list = attrs
+  else:
+    assert input_list is not None
+    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
+    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
+
+  def decorator(cls):
+    globs = sys._getframe(1).f_globals
+    for i, params in enumerate(params_list):
+      name = f"{cls.__name__}_{i}"
+      new_cls = type(name, (cls,), dict(params))
+      new_cls.__module__ = cls.__module__
+      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
+      globs[name] = new_cls
+    # Don't collect the un-parametrised base, but return it so outer decorators
+    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
+    cls.__test__ = False
+    return cls
+
+  return decorator
diff --git a/common/params.cc b/common/params.cc
index 94fbfa4a71..39592cb905 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -103,10 +103,10 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys(ParamKeyType type) const {
+std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    if (type == ALL || (p.second & type)) {
+    if (flag == ALL || (p.second.flags & flag)) {
       ret.push_back(p.first);
     }
   }
@@ -117,8 +117,16 @@ bool Params::checkKey(const std::string &key) {
   return keys.find(key) != keys.end();
 }
 
+ParamKeyFlag Params::getKeyFlag(const std::string &key) {
+  return static_cast<ParamKeyFlag>(keys[key].flags);
+}
+
 ParamKeyType Params::getKeyType(const std::string &key) {
-  return static_cast<ParamKeyType>(keys[key]);
+  return keys[key].type;
+}
+
+std::optional<std::string> Params::getKeyDefaultValue(const std::string &key) {
+  return keys[key].default_value;
 }
 
 int Params::put(const char* key, const char* value, size_t value_size) {
@@ -142,7 +150,7 @@ int Params::put(const char* key, const char* value, size_t value_size) {
     }
 
     // fsync to force persist the changes.
-    if ((result = fsync(tmp_fd)) < 0) break;
+    if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
 
     FileLock file_lock(params_path + "/.lock");
 
@@ -197,17 +205,17 @@ std::map<std::string, std::string> Params::readAll() {
   return util::read_files_in_dir(getParamPath());
 }
 
-void Params::clearAll(ParamKeyType key_type) {
+void Params::clearAll(ParamKeyFlag key_flag) {
   FileLock file_lock(params_path + "/.lock");
 
-  // 1) delete params of key_type
+  // 1) delete params of key_flag
   // 2) delete files that are not defined in the keys.
   if (DIR *d = opendir(getParamPath().c_str())) {
     struct dirent *de = NULL;
     while ((de = readdir(d))) {
       if (de->d_type != DT_DIR) {
         auto it = keys.find(de->d_name);
-        if (it == keys.end() || (it->second & key_type)) {
+        if (it == keys.end() || (it->second.flags & key_flag)) {
           unlink(getParamPath(de->d_name).c_str());
         }
       }
diff --git a/common/params.h b/common/params.h
index 73e21a3fee..de4f9b435f 100644
--- a/common/params.h
+++ b/common/params.h
@@ -2,6 +2,7 @@
 
 #include <future>
 #include <map>
+#include <optional>
 #include <string>
 #include <tuple>
 #include <utility>
@@ -9,17 +10,34 @@
 
 #include "common/queue.h"
 
-enum ParamKeyType {
+enum ParamKeyFlag {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
   CLEAR_ON_ONROAD_TRANSITION = 0x08,
   CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
-  BACKUP = 0x80,
+  CLEAR_ON_IGNITION_ON = 0x80,
+  BACKUP = 0x100,
   ALL = 0xFFFFFFFF
 };
 
+enum ParamKeyType {
+  STRING = 0, // must be utf-8 decodable
+  BOOL = 1,
+  INT = 2,
+  FLOAT = 3,
+  TIME = 4, // ISO 8601
+  JSON = 5,
+  BYTES = 6
+};
+
+struct ParamKeyAttributes {
+  uint32_t flags;
+  ParamKeyType type;
+  std::optional<std::string> default_value = std::nullopt;
+};
+
 class Params {
 public:
   explicit Params(const std::string &path = {});
@@ -28,16 +46,18 @@ public:
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys(ParamKeyType type = ALL) const;
+  std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
   bool checkKey(const std::string &key);
+  ParamKeyFlag getKeyFlag(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
+  std::optional<std::string> getKeyDefaultValue(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
     return params_path + params_prefix + (key.empty() ? "" : "/" + key);
   }
 
   // Delete a value
   int remove(const std::string &key);
-  void clearAll(ParamKeyType type);
+  void clearAll(ParamKeyFlag flag);
 
   // helpers for reading values
   std::string get(const std::string &key, bool block = false);
diff --git a/common/params.py b/common/params.py
index 66808083dc..494617200f 100644
--- a/common/params.py
+++ b/common/params.py
@@ -1,5 +1,6 @@
-from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
+from openpilot.common.params_pyx import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
 assert Params
+assert ParamKeyFlag
 assert ParamKeyType
 assert UnknownKeyName
 
diff --git a/common/params_keys.h b/common/params_keys.h
index 97f23d5108..a247798e30 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -3,172 +3,276 @@
 #include <string>
 #include <unordered_map>
 
-inline static std::unordered_map<std::string, uint32_t> keys = {
-    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
-    {"AdbEnabled", PERSISTENT},
-    {"AlwaysOnDM", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_FirehoseStats", PERSISTENT},
-    {"AssistNowToken", PERSISTENT},
-    {"AthenadPid", PERSISTENT},
-    {"AthenadUploadQueue", PERSISTENT},
-    {"AthenadRecentlyViewedRoutes", PERSISTENT},
-    {"BootCount", PERSISTENT},
-    {"CalibrationParams", PERSISTENT},
-    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
-    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
-    {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsCache", CLEAR_ON_MANAGER_START},
-    {"CarParamsPersistent", PERSISTENT},
-    {"CarParamsPrevRoute", PERSISTENT},
-    {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CurrentBootlog", PERSISTENT},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DisablePowerDown", PERSISTENT | BACKUP},
-    {"DisableUpdates", PERSISTENT | BACKUP},
-    {"DisengageOnAccelerator", PERSISTENT | BACKUP},
-    {"DongleId", PERSISTENT},
-    {"DoReboot", CLEAR_ON_MANAGER_START},
-    {"DoShutdown", CLEAR_ON_MANAGER_START},
-    {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
-    {"ExperimentalMode", PERSISTENT | BACKUP},
-    {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
-    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ForcePowerDown", PERSISTENT},
-    {"GitBranch", PERSISTENT},
-    {"GitCommit", PERSISTENT},
-    {"GitCommitDate", PERSISTENT},
-    {"GitDiff", PERSISTENT},
-    {"GithubSshKeys", PERSISTENT | BACKUP},
-    {"GithubUsername", PERSISTENT | BACKUP},
-    {"GitRemote", PERSISTENT},
-    {"GsmApn", PERSISTENT | BACKUP},
-    {"GsmMetered", PERSISTENT | BACKUP},
-    {"GsmRoaming", PERSISTENT | BACKUP},
-    {"HardwareSerial", PERSISTENT},
-    {"HasAcceptedTerms", PERSISTENT},
-    {"InstallDate", PERSISTENT},
-    {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
-    {"IsEngaged", PERSISTENT},
-    {"IsLdwEnabled", PERSISTENT | BACKUP},
-    {"IsMetric", PERSISTENT | BACKUP},
-    {"IsOffroad", CLEAR_ON_MANAGER_START},
-    {"IsOnroad", PERSISTENT},
-    {"IsRhdDetected", PERSISTENT},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
-    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LanguageSetting", PERSISTENT | BACKUP},
-    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
-    {"LastGPSPosition", PERSISTENT},
-    {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
-    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
-    {"LastUpdateException", CLEAR_ON_MANAGER_START},
-    {"LastUpdateTime", PERSISTENT},
-    {"LiveDelay", PERSISTENT},
-    {"LiveParameters", PERSISTENT},
-    {"LiveParametersV2", PERSISTENT},
-    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"LocationFilterInitialState", PERSISTENT},
-    {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"LongitudinalPersonality", PERSISTENT | BACKUP},
-    {"NetworkMetered", PERSISTENT},
-    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"PandaSignatures", CLEAR_ON_MANAGER_START},
-    {"PrimeType", PERSISTENT},
-    {"RecordFront", PERSISTENT | BACKUP},
-    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"SecOCKey", PERSISTENT | DONT_LOG},  // Candidate for | BACKUP
-    {"RouteCount", PERSISTENT},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"SshEnabled", PERSISTENT | BACKUP},
-    {"TermsVersion", PERSISTENT},
-    {"TrainingVersion", PERSISTENT},
-    {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterAvailableBranches", PERSISTENT},
-    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
-    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
-    {"UpdaterLastFetchTime", PERSISTENT},
-    {"Version", PERSISTENT},
+#include "cereal/gen/cpp/log.capnp.h"
+
+inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
+    {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
+    {"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
+    {"ApiCache_Device", {PERSISTENT, STRING}},
+    {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
+    {"AssistNowToken", {PERSISTENT, STRING}},
+    {"AthenadPid", {PERSISTENT, INT}},
+    {"AthenadUploadQueue", {PERSISTENT, JSON}},
+    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
+    {"BootCount", {PERSISTENT, INT}},
+    {"CalibrationParams", {PERSISTENT, BYTES}},
+    {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
+    {"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
+    {"CarBatteryCapacity", {PERSISTENT, INT}},
+    {"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
+    {"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"CarParamsPersistent", {PERSISTENT, BYTES}},
+    {"CarParamsPrevRoute", {PERSISTENT, BYTES}},
+    {"CompletedTrainingVersion", {PERSISTENT, STRING, "0"}},
+    {"ControlsReady", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"CurrentBootlog", {PERSISTENT, STRING}},
+    {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
+    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DongleId", {PERSISTENT, STRING}},
+    {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
+    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
+    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
+    {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"ForcePowerDown", {PERSISTENT, BOOL}},
+    {"GitBranch", {PERSISTENT, STRING}},
+    {"GitCommit", {PERSISTENT, STRING}},
+    {"GitCommitDate", {PERSISTENT, STRING}},
+    {"GitDiff", {PERSISTENT, STRING}},
+    {"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
+    {"GithubUsername", {PERSISTENT | BACKUP, STRING}},
+    {"GitRemote", {PERSISTENT, STRING}},
+    {"GsmApn", {PERSISTENT | BACKUP, STRING}},
+    {"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
+    {"HardwareSerial", {PERSISTENT, STRING}},
+    {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
+    {"InstallDate", {PERSISTENT, TIME}},
+    {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsEngaged", {PERSISTENT, BOOL}},
+    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
+    {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsOnroad", {PERSISTENT, BOOL}},
+    {"IsRhdDetected", {PERSISTENT, BOOL}},
+    {"IsReleaseBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
+    {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"LastGPSPosition", {PERSISTENT, STRING}},
+    {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
+    {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
+    {"LastUpdateTime", {PERSISTENT, TIME}},
+    {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
+    {"LiveParameters", {PERSISTENT, JSON}},
+    {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
+    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
+    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
+    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
+    {"Offroad_IsTakingSnapshot", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_NeosUpdate", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_NoFirmware", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_Recalibration", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"PrimeType", {PERSISTENT, INT}},
+    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
+    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
+    {"ShowDebugInfo", {PERSISTENT, BOOL}},
+    {"RouteCount", {PERSISTENT, INT, "0"}},
+    {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
+    {"TermsVersion", {PERSISTENT, STRING}},
+    {"TorqueBar", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrainingVersion", {PERSISTENT, STRING}},
+    {"UbloxAvailable", {PERSISTENT, BOOL}},
+    {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
+    {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
+    {"UpdaterAvailableBranches", {PERSISTENT, STRING}},
+    {"UpdaterCurrentDescription", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterCurrentReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"UpdaterFetchAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"UpdaterNewDescription", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterNewReleaseNotes", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"UpdaterState", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterTargetBranch", {CLEAR_ON_MANAGER_START, STRING}},
+    {"UpdaterLastFetchTime", {PERSISTENT, TIME}},
+    {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
+    {"Version", {PERSISTENT, STRING}},
 
     // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"AutoLaneChangeBsmDelay", PERSISTENT},
-    {"AutoLaneChangeTimer", PERSISTENT},
-    {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
-    {"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},
-    {"QuietMode", PERSISTENT | BACKUP},
+    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
+    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
+    {"BlinkerLateralReengageDelay", {PERSISTENT | BACKUP, INT, "0"}},  // seconds
+    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
+    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
+    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"CarList", {PERSISTENT, JSON}},
+    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
+    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
+    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
+    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
+    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
+    {"CompletedSunnylinkConsentVersion", {PERSISTENT, STRING, "0"}},
+    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
+    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
+    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
+    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
+    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
+    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
+    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
+    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
+    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
+    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
+    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
+    {"OnroadScreenOffBrightnessMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
+    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
+    {"OnroadScreenOffTimerMigrated", {PERSISTENT | BACKUP, STRING, "0.0"}},
+    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // MADS params
-    {"Mads", PERSISTENT | BACKUP},
-    {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
-    {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
+    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
+    {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
 
     // Model Manager params
-    {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
+    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
+    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
+    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
+    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
+    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
 
     // Neural Network Lateral Control
-    {"NeuralNetworkLateralControl", PERSISTENT | BACKUP},
+    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
 
     // sunnylink params
-    {"EnableSunnylinkUploader", PERSISTENT | BACKUP},
-    {"LastSunnylinkPingTime", CLEAR_ON_MANAGER_START},
-    {"SunnylinkCache_Roles", PERSISTENT},
-    {"SunnylinkCache_Users", PERSISTENT},
-    {"SunnylinkDongleId", PERSISTENT},
-    {"SunnylinkdPid", PERSISTENT},
-    {"SunnylinkEnabled", PERSISTENT},
+    {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
+    {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
+    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
+    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
+    {"SunnylinkDongleId", {PERSISTENT, STRING}},
+    {"SunnylinkdPid", {PERSISTENT, INT}},
+    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
+    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
 
     // Backup Manager params
-    {"BackupManager_CreateBackup", PERSISTENT},
-    {"BackupManager_RestoreVersion", PERSISTENT},
+    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
+    {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
 
     // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", PERSISTENT},
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
+    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaEnforceStockLongitudinal", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"ToyotaStopAndGoHack", {PERSISTENT | BACKUP, BOOL, "0"}},
 
-    {"DynamicExperimentalControl", PERSISTENT},
+    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // sunnypilot model params
+    {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
+    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
+    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
+    {"PlanplusControl", {PERSISTENT | BACKUP, FLOAT, "1.0"}},
+
+    // mapd
+    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
+    {"MapdVersion", {PERSISTENT, STRING}},
+    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
+    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
+    {"OSMDownloadBounds", {PERSISTENT, STRING}},
+    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
+    {"OSMDownloadLocations", {PERSISTENT, JSON}},
+    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
+    {"OsmLocal", {PERSISTENT, BOOL}},
+    {"OsmLocationName", {PERSISTENT, STRING}},
+    {"OsmLocationTitle", {PERSISTENT, STRING}},
+    {"OsmLocationUrl", {PERSISTENT, STRING}},
+    {"OsmStateName", {PERSISTENT, STRING, "All"}},
+    {"OsmStateTitle", {PERSISTENT, STRING}},
+    {"OsmWayTest", {PERSISTENT, STRING}},
+    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"RoadNameToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Speed Limit
+    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
+    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
+    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
+    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
+
+    // Smart Cruise Control
+    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
+
+    // Torque lateral control custom params
+    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
+    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
+    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
+    {"TorqueControlTune", {PERSISTENT | BACKUP, FLOAT}},
+    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
+    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index e851020d83..bffa89b5d3 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -1,19 +1,35 @@
 # distutils: language = c++
 # cython: language_level = 3
+import builtins
+import datetime
+import json
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.optional cimport optional
+
+from openpilot.common.swaglog import cloudlog
 
 cdef extern from "common/params.h":
-  cpdef enum ParamKeyType:
+  cpdef enum ParamKeyFlag:
     PERSISTENT
     CLEAR_ON_MANAGER_START
     CLEAR_ON_ONROAD_TRANSITION
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
+    CLEAR_ON_IGNITION_ON
     BACKUP
     ALL
 
+  cpdef enum ParamKeyType:
+    STRING
+    BOOL
+    INT
+    FLOAT
+    TIME
+    JSON
+    BYTES
+
   cdef cppclass c_Params "Params":
     c_Params(string) except + nogil
     string get(string, bool) nogil
@@ -24,10 +40,31 @@ cdef extern from "common/params.h":
     void putBoolNonBlocking(string, bool) nogil
     int putBool(string, bool) nogil
     bool checkKey(string) nogil
+    ParamKeyType getKeyType(string) nogil
+    optional[string] getKeyDefaultValue(string) nogil
     string getParamPath(string) nogil
-    void clearAll(ParamKeyType)
-    vector[string] allKeys(ParamKeyType)
+    void clearAll(ParamKeyFlag)
+    vector[string] allKeys(ParamKeyFlag)
 
+PYTHON_2_CPP = {
+  (str, STRING): lambda v: v,
+  (builtins.bool, BOOL): lambda v: "1" if v else "0",
+  (int, INT): str,
+  (float, FLOAT): str,
+  (datetime.datetime, TIME): lambda v: v.isoformat(),
+  (dict, JSON): json.dumps,
+  (list, JSON): json.dumps,
+  (bytes, BYTES): lambda v: v,
+}
+CPP_2_PYTHON = {
+  STRING: lambda v: v.decode("utf-8"),
+  BOOL: lambda v: v == b"1",
+  INT: int,
+  FLOAT: float,
+  TIME: lambda v: datetime.datetime.fromisoformat(v.decode("utf-8")),
+  JSON: json.loads,
+  BYTES: lambda v: v,
+}
 
 def ensure_bytes(v):
   return v.encode() if isinstance(v, str) else v
@@ -51,8 +88,8 @@ cdef class Params:
   def __dealloc__(self):
     del self.p
 
-  def clear_all(self, tx_type=ParamKeyType.ALL):
-    self.p.clearAll(tx_type)
+  def clear_all(self, tx_flag=ParamKeyFlag.ALL):
+    self.p.clearAll(tx_flag)
 
   def check_key(self, key):
     key = ensure_bytes(key)
@@ -60,21 +97,38 @@ cdef class Params:
       raise UnknownKeyName(key)
     return key
 
-  def get(self, key, bool block=False, encoding=None):
+  def python2cpp(self, proposed_type, expected_type, value, key):
+    cast = PYTHON_2_CPP.get((proposed_type, expected_type))
+    if cast:
+      return cast(value)
+    raise TypeError(f"Type mismatch while writing param {key}: {proposed_type=} {expected_type=} {value=}")
+
+  def _cpp2python(self, t, value, default, key):
+    if value is None:
+      return None
+    try:
+      return CPP_2_PYTHON[t](value)
+    except (KeyError, TypeError, ValueError):
+      cloudlog.warning(f"Failed to cast param {key} with {value=} from type {t=}")
+      return self._cpp2python(t, default, None, key)
+
+  def get(self, key, bool block=False, bool return_default=False):
     cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    cdef optional[string] default = self.p.getKeyDefaultValue(k)
     cdef string val
     with nogil:
       val = self.p.get(k, block)
 
+    default_val = (default.value() if default.has_value() else None) if return_default else None
     if val == b"":
       if block:
         # If we got no value while running in blocked mode
         # it means we got an interrupt while waiting
         raise KeyboardInterrupt
       else:
-        return None
-
-    return val if encoding is None else val.decode(encoding)
+        return self._cpp2python(t, default_val, None, key)
+    return self._cpp2python(t, val, default_val, key)
 
   def get_bool(self, key, bool block=False):
     cdef string k = self.check_key(key)
@@ -83,6 +137,11 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def _put_cast(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return ensure_bytes(self.python2cpp(type(dat), t, dat, key))
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -91,7 +150,7 @@ cdef class Params:
     in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
+    cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
       self.p.put(k, dat_bytes)
 
@@ -102,7 +161,7 @@ cdef class Params:
 
   def put_nonblocking(self, key, dat):
     cdef string k = self.check_key(key)
-    cdef string dat_bytes = ensure_bytes(dat)
+    cdef string dat_bytes = self._put_cast(key, dat)
     with nogil:
       self.p.putNonBlocking(k, dat_bytes)
 
@@ -120,5 +179,19 @@ cdef class Params:
     cdef string key_bytes = ensure_bytes(key)
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
-  def all_keys(self, type=ParamKeyType.ALL):
-    return self.p.allKeys(type)
+  def get_type(self, key):
+    return self.p.getKeyType(self.check_key(key))
+
+  def all_keys(self, flag=ParamKeyFlag.ALL):
+    return self.p.allKeys(flag)
+
+  def get_default_value(self, key):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    cdef optional[string] default = self.p.getKeyDefaultValue(k)
+    return self._cpp2python(t, default.value(), None, key) if default.has_value() else None
+
+  def cpp2python(self, key, value):
+    cdef string k = self.check_key(key)
+    cdef ParamKeyType t = self.p.getKeyType(k)
+    return self._cpp2python(t, value, None, key)
diff --git a/common/pid.py b/common/pid.py
index f2ab935f45..b3d64d6fcd 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -2,23 +2,14 @@ import numpy as np
 from numbers import Number
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    self.k_f = k_f   # feedforward gain
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
+  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
 
-    self.pos_limit = pos_limit
-    self.neg_limit = neg_limit
+    self.set_limits(pos_limit, neg_limit)
 
-    self.i_unwind_rate = 0.3 / rate
-    self.i_rate = 1.0 / rate
+    self.i_dt = 1.0 / rate
     self.speed = 0.0
 
     self.reset()
@@ -35,10 +26,6 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -46,25 +33,25 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
+  def set_limits(self, pos_limit, neg_limit):
+    self.pos_limit = pos_limit
+    self.neg_limit = neg_limit
+
+  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
     self.speed = speed
+    self.p = self.k_p * float(error)
+    self.d = self.k_d * error_rate
+    self.f = feedforward
 
-    self.p = float(error) * self.k_p
-    self.f = feedforward * self.k_f
-    self.d = error_rate * self.k_d
+    if not freeze_integrator:
+      i = self.i + self.k_i * self.i_dt * error
 
-    if override:
-      self.i -= self.i_unwind_rate * float(np.sign(self.i))
-    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
-
-        # Clip i to prevent exceeding control limits
-        control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Don't allow windup if already clipping
+      test_control = self.p + i + self.d + self.f
+      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
+      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
+      self.i = np.clip(i, i_lowerbound, i_upperbound)
 
     control = self.p + self.i + self.d + self.f
-
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control
diff --git a/common/prefix.h b/common/prefix.h
index 2612c05d4f..de3a94d71f 100644
--- a/common/prefix.h
+++ b/common/prefix.h
@@ -13,7 +13,11 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -23,14 +27,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
+      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
     }
-    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
-    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
     unsetenv("OPENPILOT_PREFIX");
   }
 
diff --git a/common/prefix.py b/common/prefix.py
index 762ae70fb4..d0a5f92628 100644
--- a/common/prefix.py
+++ b/common/prefix.py
@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,20 +10,20 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
+    self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache
 
   def __enter__(self):
     self.original_prefix = os.environ.get('OPENPILOT_PREFIX', None)
     os.environ['OPENPILOT_PREFIX'] = self.prefix
-    try:
-      os.mkdir(self.msgq_path)
-    except FileExistsError:
-      pass
-    os.makedirs(Paths.log_root(), exist_ok=True)
+
+    if self.create_dirs_on_enter:
+      self.create_dirs()
 
     if self.shared_download_cache:
       os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT
@@ -40,6 +41,13 @@ class OpenpilotPrefix:
       pass
     return False
 
+  def create_dirs(self):
+    try:
+      os.mkdir(self.msgq_path)
+    except FileExistsError:
+      pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
+
   def clean_dirs(self):
     symlink_path = Params().get_param_path()
     if os.path.exists(symlink_path):
diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc
index 7e63815168..a79acd7d51 100644
--- a/common/ratekeeper.cc
+++ b/common/ratekeeper.cc
@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
+    : name(name_),
+      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
   interval = 1 / rate;
   last_monitor_time = seconds_since_boot();
   next_frame_time = last_monitor_time + interval;
diff --git a/common/realtime.py b/common/realtime.py
index 57926b4c4f..0b14681021 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 
diff --git a/common/retry.py b/common/retry.py
deleted file mode 100644
index 9bd4ac9522..0000000000
--- a/common/retry.py
+++ /dev/null
@@ -1,30 +0,0 @@
-import time
-import functools
-
-from openpilot.common.swaglog import cloudlog
-
-
-def retry(attempts=3, delay=1.0, ignore_failure=False):
-  def decorator(func):
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-      for _ in range(attempts):
-        try:
-          return func(*args, **kwargs)
-        except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
-          time.sleep(delay)
-
-      if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
-      else:
-        raise Exception(f"{func.__name__} failed after retry")
-    return wrapper
-  return decorator
-
-
-if __name__ == "__main__":
-  @retry(attempts=10)
-  def abc():
-    raise ValueError("abc failed :(")
-  abc()
diff --git a/common/run.py b/common/run.py
deleted file mode 100644
index 06deb6388d..0000000000
--- a/common/run.py
+++ /dev/null
@@ -1,13 +0,0 @@
-import subprocess
-
-
-def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
-  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
-
-
-def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
-  try:
-    return run_cmd(cmd, cwd=cwd, env=env)
-  except subprocess.CalledProcessError:
-    return default
-
diff --git a/common/spinner.py b/common/spinner.py
new file mode 100755
index 0000000000..12a816eaf8
--- /dev/null
+++ b/common/spinner.py
@@ -0,0 +1,52 @@
+import os
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class Spinner:
+  def __init__(self):
+    try:
+      self.spinner_proc = subprocess.Popen(["./spinner.py"],
+                                           stdin=subprocess.PIPE,
+                                           cwd=os.path.join(BASEDIR, "system", "ui"),
+                                           close_fds=True)
+    except OSError:
+      self.spinner_proc = None
+
+  def __enter__(self):
+    return self
+
+  def update(self, spinner_text: str):
+    if self.spinner_proc is not None:
+      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+      try:
+        self.spinner_proc.stdin.flush()
+      except BrokenPipeError:
+        pass
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def close(self):
+    if self.spinner_proc is not None:
+      self.spinner_proc.kill()
+      try:
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
+      self.spinner_proc = None
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+  print("gone")
+  time.sleep(5.0)
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 62a405a2b6..d73f0c1a59 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -15,6 +15,8 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
+#include "sunnypilot/common/version.h"
+
 class SwaglogState {
 public:
   SwaglogState() {
@@ -56,7 +58,7 @@ public:
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = COMMA_VERSION;
+    ctx_j["version"] = SUNNYPILOT_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }
diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py
index a9977c2362..c2b880f873 100644
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 
 
 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
       assert f.read() == "test"
     os.remove(path)
 
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)
diff --git a/common/tests/test_markdown.py b/common/tests/test_markdown.py
index d3c7e02c69..7e04bf2920 100644
--- a/common/tests/test_markdown.py
+++ b/common/tests/test_markdown.py
@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
+    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 16cbc45295..592bf2c4b2 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -1,10 +1,11 @@
 import pytest
+import datetime
 import os
 import threading
 import time
 import uuid
 
-from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
 class TestParams:
   def setup_method(self):
@@ -12,7 +13,7 @@ class TestParams:
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
-    assert self.params.get("DongleId") == b"cb38263377b873ee"
+    assert self.params.get("DongleId") == "cb38263377b873ee"
 
   def test_params_non_ascii(self):
     st = b"\xe1\x90\xff"
@@ -20,7 +21,7 @@ class TestParams:
     assert self.params.get("CarParams") == st
 
   def test_params_get_cleared_manager_start(self):
-    self.params.put("CarParams", "test")
+    self.params.put("CarParams", b"test")
     self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
 
@@ -29,24 +30,24 @@ class TestParams:
       f.write("test")
     assert os.path.isfile(undefined_param)
 
-    self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
+    self.params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
     assert self.params.get("CarParams") is None
     assert self.params.get("DongleId") is not None
     assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
     self.params.put("DongleId", "bob")
-    self.params.put("AthenadPid", "123")
-    assert self.params.get("DongleId") == b"bob"
-    assert self.params.get("AthenadPid") == b"123"
+    self.params.put("AthenadPid", 123)
+    assert self.params.get("DongleId") == "bob"
+    assert self.params.get("AthenadPid") == 123
 
   def test_params_get_block(self):
     def _delayed_writer():
       time.sleep(0.1)
-      self.params.put("CarParams", "test")
+      self.params.put("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert self.params.get("CarParams") is None
-    assert self.params.get("CarParams", True) == b"test"
+    assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
     with pytest.raises(UnknownKeyName):
@@ -76,17 +77,17 @@ class TestParams:
     self.params.put_bool("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", "1")
+    self.params.put("IsMetric", True)
     assert self.params.get_bool("IsMetric")
 
-    self.params.put("IsMetric", "0")
+    self.params.put("IsMetric", False)
     assert not self.params.get_bool("IsMetric")
 
   def test_put_non_blocking_with_get_block(self):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      Params().put_nonblocking("CarParams", "test")
+      Params().put_nonblocking("CarParams", b"test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -107,3 +108,34 @@ class TestParams:
     assert len(keys) > 20
     assert len(keys) == len(set(keys))
     assert b"CarParams" in keys
+
+  def test_params_default_value(self):
+    self.params.remove("LanguageSetting")
+    self.params.remove("LongitudinalPersonality")
+    self.params.remove("LiveParameters")
+
+    assert self.params.get("LanguageSetting") is None
+    assert self.params.get("LanguageSetting", return_default=False) is None
+    assert isinstance(self.params.get("LanguageSetting", return_default=True), str)
+    assert isinstance(self.params.get("LongitudinalPersonality", return_default=True), int)
+    assert self.params.get("LiveParameters") is None
+    assert self.params.get("LiveParameters", return_default=True) is None
+
+  def test_params_get_type(self):
+    # json
+    self.params.put("ApiCache_FirehoseStats", {"a": 0})
+    assert self.params.get("ApiCache_FirehoseStats") == {"a": 0}
+
+    # int
+    self.params.put("BootCount", 1441)
+    assert self.params.get("BootCount") == 1441
+
+    # bool
+    self.params.put("AdbEnabled", True)
+    assert self.params.get("AdbEnabled")
+    assert isinstance(self.params.get("AdbEnabled"), bool)
+
+    # time
+    now = datetime.datetime.now(datetime.UTC)
+    self.params.put("InstallDate", now)
+    assert self.params.get("InstallDate") == now
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 09bc4c3795..c97f907c24 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -9,6 +9,8 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
+#include "sunnypilot/common/version.h"
+
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -53,7 +55,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
+    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index de87fa3e06..d927b98a4d 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
     REQUIRE(util::read_file(filename).empty());
 
     std::string content = random_bytes(64 * 1024);
-    write(fd, content.c_str(), content.size());
+    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
     std::string ret = util::read_file(filename);
     bool equal = (ret == content);
     REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }
 
 TEST_CASE("util::create_directories") {
-  system("rm /tmp/test_create_directories -rf");
+  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
   std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
 
-  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
     struct stat st = {};
-    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
   };
 
   SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
   }
   SECTION("a file exists with the same name") {
     REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
     REQUIRE(f != -1);
     close(f);
     REQUIRE(util::create_directories(dir + "/file", 0755) == false);
diff --git a/common/text_window.py b/common/text_window.py
new file mode 100755
index 0000000000..358243d1f1
--- /dev/null
+++ b/common/text_window.py
@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+from openpilot.common.basedir import BASEDIR
+
+
+class TextWindow:
+  def __init__(self, text):
+    try:
+      self.text_proc = subprocess.Popen(["./text.py", text],
+                                        stdin=subprocess.PIPE,
+                                        cwd=os.path.join(BASEDIR, "system", "ui"),
+                                        close_fds=True)
+    except OSError:
+      self.text_proc = None
+
+  def get_status(self):
+    if self.text_proc is not None:
+      self.text_proc.poll()
+      return self.text_proc.returncode
+    return None
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self.text_proc is not None:
+      self.text_proc.terminate()
+      self.text_proc = None
+
+  def wait_for_exit(self):
+    if self.text_proc is not None:
+      while True:
+        if self.get_status() == 1:
+          return
+        time.sleep(0.1)
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_value, traceback):
+    self.close()
+
+
+if __name__ == "__main__":
+  text = """Traceback (most recent call last):
+  File "./controlsd.py", line 608, in <module>
+    main()
+  File "./controlsd.py", line 604, in main
+    controlsd_thread(sm, pm, logcan)
+  File "./controlsd.py", line 455, in controlsd_thread
+    1/0
+ZeroDivisionError: division by zero"""
+  print(text)
+
+  with TextWindow(text) as s:
+    for _ in range(100):
+      if s.get_status() == 1:
+        print("Got exit button")
+        break
+      time.sleep(0.1)
+  print("gone")
diff --git a/common/transformations/SConscript b/common/transformations/SConscript
deleted file mode 100644
index 4ac73a165e..0000000000
--- a/common/transformations/SConscript
+++ /dev/null
@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')
diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py
index 11a6bf70ee..0b5d1c36df 100644
--- a/common/transformations/tests/test_coordinates.py
+++ b/common/transformations/tests/test_coordinates.py
@@ -102,3 +102,36 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
+
+  def test_errors(self):
+    # Test wrong shape/type for geodetic2ecef
+    # numpy_wrap raises IndexError for scalar input
+    with np.testing.assert_raises(IndexError):
+      coord.geodetic2ecef(1.0)
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0])
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0, 0, 0])
+
+    with np.testing.assert_raises(TypeError):
+      coord.geodetic2ecef(['a', 'b', 'c'])
+
+    # Test LocalCoord constructor errors
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic([0, 0])
+
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic(1)
+
+    with np.testing.assert_raises(TypeError):
+      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
+
+    # Test wrong shape/type for ecef2geodetic
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2])
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2, 3, 4])
+    with np.testing.assert_raises(IndexError):
+      coord.ecef2geodetic(1.0)
diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py
index 55fbc6581e..1bf94115c8 100644
--- a/common/transformations/tests/test_orientation.py
+++ b/common/transformations/tests/test_orientation.py
@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
+
+  def test_inputs(self):
+    with pytest.raises(ValueError):
+      euler2quat([1, 2])
+
+    with pytest.raises(ValueError):
+      quat2rot([1, 2, 3])
+
+    with pytest.raises(IndexError):
+      rot2quat(np.zeros((2, 2)))
+
+  def test_euler_rot_consistency(self):
+    rpy = [0.1, 0.2, 0.3]
+    R = euler2rot(rpy)
+
+    # R -> q -> R
+    q = rot2quat(R)
+    R_new = quat2rot(q)
+    np.testing.assert_allclose(R, R_new, atol=1e-15)
+
+    # q -> R -> Euler (quat2euler) -> R
+    rpy_new = quat2euler(q)
+    R_new2 = euler2rot(rpy_new)
+    np.testing.assert_allclose(R, R_new2, atol=1e-15)
+
+    # R -> Euler (rot2euler) -> R
+    rpy_from_rot = rot2euler(R)
+    R_new3 = euler2rot(rpy_from_rot)
+    np.testing.assert_allclose(R, R_new3, atol=1e-15)
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
deleted file mode 100644
index fe32e18dea..0000000000
--- a/common/transformations/transformations.pxd
+++ /dev/null
@@ -1,72 +0,0 @@
-# cython: language_level=3
-from libcpp cimport bool
-
-cdef extern from "orientation.cc":
-  pass
-
-cdef extern from "orientation.hpp":
-  cdef cppclass Quaternion "Eigen::Quaterniond":
-    Quaternion()
-    Quaternion(double, double, double, double)
-    double w()
-    double x()
-    double y()
-    double z()
-
-  cdef cppclass Vector3 "Eigen::Vector3d":
-    Vector3()
-    Vector3(double, double, double)
-    double operator()(int)
-
-  cdef cppclass Matrix3 "Eigen::Matrix3d":
-    Matrix3()
-    Matrix3(double*)
-
-    double operator()(int, int)
-
-  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(const Vector3 &)
-  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
-
-
-cdef extern from "coordinates.cc":
-  cdef struct ECEF:
-    double x
-    double y
-    double z
-
-  cdef struct NED:
-    double n
-    double e
-    double d
-
-  cdef struct Geodetic:
-    double lat
-    double lon
-    double alt
-    bool radians
-
-  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(const ECEF &)
-
-  cdef cppclass LocalCoord_c "LocalCoord":
-    Matrix3 ned2ecef_matrix
-    Matrix3 ecef2ned_matrix
-
-    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(const ECEF &)
-
-    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(const NED &)
-
-cdef extern from "coordinates.hpp":
-  pass
diff --git a/common/transformations/transformations.py b/common/transformations/transformations.py
new file mode 100644
index 0000000000..5cb6220f95
--- /dev/null
+++ b/common/transformations/transformations.py
@@ -0,0 +1,342 @@
+import numpy as np
+
+
+# Constants
+a = 6378137.0
+b = 6356752.3142
+esq = 6.69437999014e-3
+e1sq = 6.73949674228e-3
+
+
+def geodetic2ecef_single(g):
+  """
+  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
+  """
+  try:
+    if len(g) != 3:
+      raise ValueError("Geodetic must be size 3")
+  except TypeError:
+    raise ValueError("Geodetic must be a sequence of length 3") from None
+
+  lat, lon, alt = g
+  lat = np.radians(lat)
+  lon = np.radians(lon)
+  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
+  return np.array([x, y, z])
+
+
+def ecef2geodetic_single(e):
+  """
+  Convert ECEF to geodetic coordinates using Ferrari's solution.
+  """
+  x, y, z = e
+  r = np.sqrt(x**2 + y**2)
+  Esq = a**2 - b**2
+  F = 54 * b**2 * z**2
+  G = r**2 + (1 - esq) * z**2 - esq * Esq
+  C = (esq**2 * F * r**2) / (G**3)
+  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
+  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
+  Q = np.sqrt(1 + 2 * esq**2 * P)
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
+  U = np.sqrt((r - esq * r_0)**2 + z**2)
+  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
+  Z_0 = b**2 * z / (a * V)
+  h = U * (1 - b**2 / (a * V))
+  lat = np.arctan((z + e1sq * Z_0) / r)
+  lon = np.arctan2(y, x)
+  return np.array([np.degrees(lat), np.degrees(lon), h])
+
+
+def euler2quat_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a quaternion.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
+  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
+  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
+
+  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
+  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
+  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
+  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def quat2euler_single(q):
+  """
+  Convert a quaternion to Euler angles (roll, pitch, yaw).
+  """
+  w, x, y, z = q
+  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+  sin_arg = 2 * (w * y - z * x)
+  sin_arg = np.clip(sin_arg, -1.0, 1.0)
+  theta = np.arcsin(sin_arg)
+  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+  return np.array([gamma, theta, psi])
+
+
+def quat2rot_single(q):
+  """
+  Convert a quaternion to a 3x3 rotation matrix.
+  """
+  w, x, y, z = q
+  xx, yy, zz = x * x, y * y, z * z
+  xy, xz, yz = x * y, x * z, y * z
+  wx, wy, wz = w * x, w * y, w * z
+
+  mat = np.array([
+    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
+    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
+    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
+  ])
+  return mat
+
+
+def rot2quat_single(rot):
+  """
+  Convert a 3x3 rotation matrix to a quaternion.
+  """
+  trace = np.trace(rot)
+  if trace > 0:
+    s = 0.5 / np.sqrt(trace + 1.0)
+    w = 0.25 / s
+    x = (rot[2, 1] - rot[1, 2]) * s
+    y = (rot[0, 2] - rot[2, 0]) * s
+    z = (rot[1, 0] - rot[0, 1]) * s
+  else:
+    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
+      w = (rot[2, 1] - rot[1, 2]) / s
+      x = 0.25 * s
+      y = (rot[0, 1] + rot[1, 0]) / s
+      z = (rot[0, 2] + rot[2, 0]) / s
+    elif rot[1, 1] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
+      w = (rot[0, 2] - rot[2, 0]) / s
+      x = (rot[0, 1] + rot[1, 0]) / s
+      y = 0.25 * s
+      z = (rot[1, 2] + rot[2, 1]) / s
+    else:
+      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
+      w = (rot[1, 0] - rot[0, 1]) / s
+      x = (rot[0, 2] + rot[2, 0]) / s
+      y = (rot[1, 2] + rot[2, 1]) / s
+      z = 0.25 * s
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def euler2rot_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  cx, sx = np.cos(phi), np.sin(phi)
+  cy, sy = np.cos(theta), np.sin(theta)
+  cz, sz = np.cos(psi), np.sin(psi)
+
+  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
+  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
+  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
+
+  return Rz @ Ry @ Rx
+
+
+def rot2euler_single(rot):
+  """
+  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
+  """
+  return quat2euler_single(rot2quat_single(rot))
+
+
+def rot_matrix(roll, pitch, yaw):
+  """
+  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
+  """
+  return euler2rot_single([roll, pitch, yaw])
+
+
+def axis_angle_to_rot(axis, angle):
+  """
+  Convert an axis-angle representation to a 3x3 rotation matrix.
+  """
+  c = np.cos(angle / 2)
+  s = np.sin(angle / 2)
+  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
+  return quat2rot_single(q)
+
+
+class LocalCoord:
+  """
+  A class to handle conversions between ECEF and local NED coordinates.
+  """
+  def __init__(self, geodetic=None, ecef=None):
+    """
+    Initialize LocalCoord with either geodetic or ECEF coordinates.
+    """
+    if geodetic is not None:
+      self.init_ecef = geodetic2ecef_single(geodetic)
+      lat, lon, _ = geodetic
+    elif ecef is not None:
+      self.init_ecef = np.array(ecef)
+      lat, lon, _ = ecef2geodetic_single(ecef)
+    else:
+      raise ValueError("Must provide geodetic or ecef")
+
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+
+    self.ned2ecef_matrix = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, geodetic):
+    """
+    Create a LocalCoord instance from geodetic coordinates.
+    """
+    return cls(geodetic=geodetic)
+
+  @classmethod
+  def from_ecef(cls, ecef):
+    """
+    Create a LocalCoord instance from ECEF coordinates.
+    """
+    return cls(ecef=ecef)
+
+  def ecef2ned_single(self, ecef):
+    """
+    Convert a single ECEF point to NED coordinates relative to the origin.
+    """
+    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
+
+  def ned2ecef_single(self, ned):
+    """
+    Convert a single NED point to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix @ ned + self.init_ecef
+
+  def geodetic2ned_single(self, geodetic):
+    """
+    Convert a single geodetic point to NED coordinates.
+    """
+    ecef = geodetic2ecef_single(geodetic)
+    return self.ecef2ned_single(ecef)
+
+  def ned2geodetic_single(self, ned):
+    """
+    Convert a single NED point to geodetic coordinates.
+    """
+    ecef = self.ned2ecef_single(ned)
+    return ecef2geodetic_single(ecef)
+
+  @property
+  def ned_from_ecef_matrix(self):
+    """
+    Returns the rotation matrix from ECEF to NED coordinates.
+    """
+    return self.ecef2ned_matrix
+
+  @property
+  def ecef_from_ned_matrix(self):
+    """
+    Returns the rotation matrix from NED to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix
+
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+  """
+  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent ECEF Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+  zero = np.array(ecef_init)
+
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  phi, theta, psi = ned_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
+
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+  """
+  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent NED Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  phi, theta, psi = ecef_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  zero = np.array(ecef_init)
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
deleted file mode 100644
index ae045c369d..0000000000
--- a/common/transformations/transformations.pyx
+++ /dev/null
@@ -1,173 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
-from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
-from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
-from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
-from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
-from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
-from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from openpilot.common.transformations.transformations cimport LocalCoord_c
-
-
-import numpy as np
-cimport numpy as np
-
-cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
-    return np.array([
-        [m(0, 0), m(0, 1), m(0, 2)],
-        [m(1, 0), m(1, 1), m(1, 2)],
-        [m(2, 0), m(2, 1), m(2, 2)],
-    ])
-
-cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
-    assert m.shape[0] == 3
-    assert m.shape[1] == 3
-    return Matrix3(<double*>m.data)
-
-cdef ECEF list2ecef(ecef):
-    cdef ECEF e
-    e.x = ecef[0]
-    e.y = ecef[1]
-    e.z = ecef[2]
-    return e
-
-cdef NED list2ned(ned):
-    cdef NED n
-    n.n = ned[0]
-    n.e = ned[1]
-    n.d = ned[2]
-    return n
-
-cdef Geodetic list2geodetic(geodetic):
-    cdef Geodetic g
-    g.lat = geodetic[0]
-    g.lon = geodetic[1]
-    g.alt = geodetic[2]
-    return g
-
-def euler2quat_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Quaternion q = euler2quat_c(e)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def quat2euler_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q)
-    return [e(0), e(1), e(2)]
-
-def quat2rot_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Matrix3 r = quat2rot_c(q)
-    return matrix2numpy(r)
-
-def rot2quat_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Quaternion q = rot2quat_c(r)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def euler2rot_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Matrix3 r = euler2rot_c(e)
-    return matrix2numpy(r)
-
-def rot2euler_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Vector3 e = rot2euler_c(r)
-    return [e(0), e(1), e(2)]
-
-def rot_matrix(roll, pitch, yaw):
-    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
-
-    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
-
-    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def geodetic2ecef_single(geodetic):
-    cdef Geodetic g = list2geodetic(geodetic)
-    cdef ECEF e = geodetic2ecef_c(g)
-    return [e.x, e.y, e.z]
-
-def ecef2geodetic_single(ecef):
-    cdef ECEF e = list2ecef(ecef)
-    cdef Geodetic g = ecef2geodetic_c(e)
-    return [g.lat, g.lon, g.alt]
-
-
-cdef class LocalCoord:
-    cdef LocalCoord_c * lc
-
-    def __init__(self, geodetic=None, ecef=None):
-        assert (geodetic is not None) or (ecef is not None)
-        if geodetic is not None:
-            self.lc = new LocalCoord_c(list2geodetic(geodetic))
-        elif ecef is not None:
-            self.lc = new LocalCoord_c(list2ecef(ecef))
-
-    @property
-    def ned2ecef_matrix(self):
-        return matrix2numpy(self.lc.ned2ecef_matrix)
-
-    @property
-    def ecef2ned_matrix(self):
-        return matrix2numpy(self.lc.ecef2ned_matrix)
-
-    @property
-    def ned_from_ecef_matrix(self):
-        return self.ecef2ned_matrix
-
-    @property
-    def ecef_from_ned_matrix(self):
-        return self.ned2ecef_matrix
-
-    @classmethod
-    def from_geodetic(cls, geodetic):
-        return cls(geodetic=geodetic)
-
-    @classmethod
-    def from_ecef(cls, ecef):
-        return cls(ecef=ecef)
-
-    def ecef2ned_single(self, ecef):
-        assert self.lc
-        cdef ECEF e = list2ecef(ecef)
-        cdef NED n = self.lc.ecef2ned(e)
-        return [n.n, n.e, n.d]
-
-    def ned2ecef_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef ECEF e = self.lc.ned2ecef(n)
-        return [e.x, e.y, e.z]
-
-    def geodetic2ned_single(self, geodetic):
-        assert self.lc
-        cdef Geodetic g = list2geodetic(geodetic)
-        cdef NED n = self.lc.geodetic2ned(g)
-        return [n.n, n.e, n.d]
-
-    def ned2geodetic_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef Geodetic g = self.lc.ned2geodetic(n)
-        return [g.lat, g.lon, g.alt]
-
-    def __dealloc__(self):
-        del self.lc
diff --git a/common/util.cc b/common/util.cc
index a853faed04..84b47e187e 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -1,4 +1,5 @@
 #include "common/util.h"
+#include "common/swaglog.h"
 
 #include <sys/ioctl.h>
 #include <sys/stat.h>
@@ -12,6 +13,7 @@
 #include <iomanip>
 #include <random>
 #include <sstream>
+#include <limits>
 
 #ifdef __linux__
 #include <sys/prctl.h>
@@ -78,8 +80,9 @@ std::string read_file(const std::string& fn) {
   std::ifstream f(fn, std::ios::binary | std::ios::in);
   if (f.is_open()) {
     f.seekg(0, std::ios::end);
-    int size = f.tellg();
-    if (f.good() && size > 0) {
+    std::streamsize size = f.tellg();
+    // seekg and tellg on a directory doesn't return pos_type(-1) but max(streamsize)
+    if (f.good() && size > 0 && size < std::numeric_limits<std::streamsize>::max()) {
       std::string result(size, '\0');
       f.seekg(0, std::ios::beg);
       f.read(result.data(), size);
@@ -149,11 +152,16 @@ int safe_fflush(FILE *stream) {
   return ret;
 }
 
-int safe_ioctl(int fd, unsigned long request, void *argp) {
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg) {
   int ret;
   do {
     ret = ioctl(fd, request, argp);
   } while ((ret == -1) && (errno == EINTR));
+
+  if (ret == -1 && exception_msg) {
+    LOGE("safe_ioctl error: %s %s(%d) (fd: %d request: %lx argp: %p)", exception_msg, strerror(errno), errno, fd, request, argp);
+    throw std::runtime_error(exception_msg);
+  }
   return ret;
 }
 
@@ -173,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }
 
 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& dir) -> bool {
+  auto verify_dir = [](const std::string& path) -> bool {
     struct stat st = {};
-    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
   };
   // remove trailing /'s
   while (dir.size() > 1 && dir.back() == '/') {
@@ -280,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
-  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
 
   if (!pipe) {
     return "";
@@ -295,7 +303,7 @@ std::string check_output(const std::string& command) {
 
 bool system_time_valid() {
   // Default to August 26, 2024
-  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
+  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
   time_t min_date = mktime(&min_tm);
 
   struct stat st;
diff --git a/common/util.h b/common/util.h
index 4fb4b13fae..98c2883538 100644
--- a/common/util.h
+++ b/common/util.h
@@ -36,6 +36,7 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
+const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 
@@ -88,7 +89,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
-int safe_ioctl(int fd, unsigned long request, void *argp);
+int safe_ioctl(int fd, unsigned long request, void *argp, const char* exception_msg = nullptr);
 
 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);
@@ -96,6 +97,13 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
+inline void check_system(const std::string& cmd) {
+  int ret = std::system(cmd.c_str());
+  if (ret != 0) {
+    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
+  }
+}
+
 bool system_time_valid();
 
 inline void sleep_for(const int milliseconds) {
diff --git a/common/util.py b/common/util.py
deleted file mode 100644
index 33885a9024..0000000000
--- a/common/util.py
+++ /dev/null
@@ -1,24 +0,0 @@
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
diff --git a/common/utils.py b/common/utils.py
new file mode 100644
index 0000000000..faaa96ecbc
--- /dev/null
+++ b/common/utils.py
@@ -0,0 +1,272 @@
+import io
+import os
+import tempfile
+import contextlib
+import subprocess
+import time
+import functools
+from subprocess import Popen, PIPE, TimeoutExpired
+import zstandard as zstd
+
+LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
+
+class Timer:
+  """Simple lap timer for profiling sequential operations."""
+
+  def __init__(self):
+    self._start = self._lap = time.monotonic()
+    self._sections = {}
+
+  def lap(self, name):
+    now = time.monotonic()
+    self._sections[name] = now - self._lap
+    self._lap = now
+
+  @property
+  def total(self):
+    return time.monotonic() - self._start
+
+  def fmt(self, duration):
+    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
+    total = self.total
+    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
+    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
+
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
+@contextlib.contextmanager
+def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                 overwrite: bool = False):
+  """Write to a file atomically using a temporary file in the same directory as the destination file."""
+  dir_name = os.path.dirname(path)
+
+  if not overwrite and os.path.exists(path):
+    raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
+
+  with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
+    yield tmp_file
+    tmp_file_name = tmp_file.name
+  os.replace(tmp_file_name, path)
+
+
+def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.BufferedIOBase, int]:
+  if not should_compress:
+    file_size = os.path.getsize(filepath)
+    file_stream = open(filepath, "rb")
+    return file_stream, file_size
+
+  # Compress the file on the fly
+  compressed_stream = io.BytesIO()
+  compressor = zstd.ZstdCompressor(level=LOG_COMPRESSION_LEVEL)
+
+  with open(filepath, "rb") as f:
+    compressor.copy_stream(f, compressed_stream)
+    compressed_size = compressed_stream.tell()
+    compressed_stream.seek(0)
+    return compressed_stream, compressed_size
+
+
+# remove all keys that end in DEPRECATED
+def strip_deprecated_keys(d):
+  for k in list(d.keys()):
+    if isinstance(k, str):
+      if k.endswith('DEPRECATED'):
+        d.pop(k)
+      elif isinstance(d[k], dict):
+        strip_deprecated_keys(d[k])
+  return d
+
+
+def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
+  return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
+  try:
+    return run_cmd(cmd, cwd=cwd, env=env)
+  except subprocess.CalledProcessError:
+    return default
+
+
+@contextlib.contextmanager
+def managed_proc(cmd: list[str], env: dict[str, str]):
+  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  try:
+    yield proc
+  finally:
+    if proc.poll() is None:
+      proc.terminate()
+    try:
+      proc.wait(timeout=5)
+    except TimeoutExpired:
+      proc.kill()
+
+
+def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
+  rows = [list(row) for row in tabular_data]
+
+  def fmt(val):
+    if isinstance(val, str):
+      return val
+    if isinstance(val, (bool, int)):
+      return str(val)
+    try:
+      return format(val, floatfmt)
+    except (TypeError, ValueError):
+      return str(val)
+
+  formatted = [[fmt(c) for c in row] for row in rows]
+  hdrs = [str(h) for h in headers] if headers else None
+
+  ncols = max((len(r) for r in formatted), default=0)
+  if hdrs:
+    ncols = max(ncols, len(hdrs))
+  if ncols == 0:
+    return ""
+
+  for r in formatted:
+    r.extend([""] * (ncols - len(r)))
+  if hdrs:
+    hdrs.extend([""] * (ncols - len(hdrs)))
+
+  widths = [0] * ncols
+  if hdrs:
+    for i in range(ncols):
+      widths[i] = len(hdrs[i])
+  for row in formatted:
+    for i in range(ncols):
+      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
+
+  def _align(s, w):
+    if stralign == "center":
+      return s.center(w)
+    return s.ljust(w)
+
+  if tablefmt == "html":
+    parts = ["<table>"]
+    if hdrs:
+      parts.append("<thead>")
+      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
+      parts.append("</thead>")
+    parts.append("<tbody>")
+    for row in formatted:
+      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
+    parts.append("</tbody>")
+    parts.append("</table>")
+    return "\n".join(parts)
+
+  if tablefmt == "simple_grid":
+    def _sep(left, mid, right):
+      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
+
+    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
+
+    def _fmt_row(cells):
+      split = [c.split('\n') for c in cells]
+      nlines = max(len(s) for s in split)
+      for s in split:
+        s.extend([""] * (nlines - len(s)))
+      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
+
+    lines = [top]
+    if hdrs:
+      lines.extend(_fmt_row(hdrs))
+      lines.append(mid_sep)
+    for ri, row in enumerate(formatted):
+      lines.extend(_fmt_row(row))
+      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
+    return "\n".join(lines)
+
+  # simple
+  gap = "  "
+  lines = []
+  if hdrs:
+    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
+    lines.append(gap.join("-" * w for w in widths))
+  for row in formatted:
+    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
+  return "\n".join(lines)
+
+
+def retry(attempts=3, delay=1.0, ignore_failure=False):
+  def decorator(func):
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+      for _ in range(attempts):
+        try:
+          return func(*args, **kwargs)
+        except Exception:
+          print(f"{func.__name__} failed, trying again")
+          time.sleep(delay)
+
+      if ignore_failure:
+        print(f"{func.__name__} failed after retry")
+      else:
+        raise Exception(f"{func.__name__} failed after retry")
+    return wrapper
+  return decorator
diff --git a/common/version.h b/common/version.h
index 6351a5b3ff..7e78d64b22 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.9"
+#define COMMA_VERSION "0.10.4"
diff --git a/common/watchdog.cc b/common/watchdog.cc
deleted file mode 100644
index 44e8c83e6d..0000000000
--- a/common/watchdog.cc
+++ /dev/null
@@ -1,12 +0,0 @@
-#include <string>
-
-#include "common/watchdog.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-
-const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_";  // + <pid>
-
-bool watchdog_kick(uint64_t ts) {
-  static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-  return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
-}
diff --git a/common/watchdog.h b/common/watchdog.h
deleted file mode 100644
index 12dd2ca035..0000000000
--- a/common/watchdog.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-bool watchdog_kick(uint64_t ts);
diff --git a/conftest.py b/conftest.py
index b62a88c188..0bd638b87d 100644
--- a/conftest.py
+++ b/conftest.py
@@ -2,7 +2,6 @@ import contextlib
 import gc
 import os
 import pytest
-import random
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
@@ -49,8 +48,6 @@ def clean_env():
 
 @pytest.fixture(scope="function", autouse=True)
 def openpilot_function_fixture(request):
-  random.seed(0)
-
   with clean_env():
     # setup a clean environment for each test
     with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
diff --git a/docs/CARS.md b/docs/CARS.md
index 55871eba2f..31f6f2d32b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,340 +4,363 @@
 
 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.
 
-# 311 Supported Cars
+# 336 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|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-18|Technology Plus Package or 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 2016-18">Buy Here</a></sub></details>||
-|Acura|ILX 2019|All|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 2019">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>||
-|Chevrolet|Silverado 1500 2020-21|Safety 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=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
-|Chevrolet|Trailblazer 2021-22|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=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 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 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2019-20|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 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021-23|All|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 2021-23">Buy Here</a></sub></details>||
-|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>1,16</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>||
-|Ford|Escape 2023-24|Co-Pilot360 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 Ford Q4 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=Ford&model=Escape 2023-24">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 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 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 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 Ford Q4 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=Ford&model=Escape Hybrid 2023-24">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 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 Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 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 Ford Q4 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=Ford&model=Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-24|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 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=Explorer 2020-24">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-24|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 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=Explorer Hybrid 2020-24">Buy Here</a></sub></details>||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 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=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 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=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|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=Kuga 2020-23">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|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=Kuga Hybrid 2020-23">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2024|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 Ford Q4 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=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|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=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2024|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 Ford Q4 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=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|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=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|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=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|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=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|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=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
-|Ford|Mustang Mach-E 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 Ford Q4 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=Ford&model=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|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 Ford Q4 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=Ford&model=Ranger 2024">Buy Here</a></sub></details>||
-|Genesis|G70 2018|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 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=Genesis&model=G70 2018">Buy Here</a></sub></details>||
-|Genesis|G70 2019-21|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=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
-|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>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>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>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>|
-|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>||
-|Honda|e 2020|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=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-25|All|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=Passport 2019-25">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
-|Hyundai|Azera 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 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=Azera 2022">Buy Here</a></sub></details>||
-|Hyundai|Azera Hybrid 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 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=Azera Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Azera Hybrid 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 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=Azera Hybrid 2020">Buy Here</a></sub></details>||
-|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 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=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
-|Hyundai|Elantra 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 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|Elantra GT 2017-20|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=Elantra GT 2017-20">Buy Here</a></sub></details>||
-|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>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>||
-|Hyundai|Ioniq Hybrid 2020-22|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 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 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|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 Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 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=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|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 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=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|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>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>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>||
-|Hyundai|Santa Fe Plug-in 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 Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|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>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>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>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>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>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>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>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>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>||
-|Kia|Niro Plug-in 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 Plug-in Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Kia&model=Optima 2017">Buy Here</a></sub></details>||
-|Kia|Optima 2019-20|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 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=Optima 2019-20">Buy Here</a></sub></details>||
-|Kia|Optima Hybrid 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 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=Optima Hybrid 2019">Buy Here</a></sub></details>||
-|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>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>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=ES 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 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=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-25|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=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|GS F 2016|All|Stock|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=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
-|Lexus|IS 2017-19|All|Stock|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=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|IS 2022-23|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=IS 2022-23">Buy Here</a></sub></details>||
-|Lexus|LC 2024|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=LC 2024">Buy Here</a></sub></details>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=NX 2020-21">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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=NX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|RC 2018-20|All|Stock|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=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|RC 2023|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=RC 2023">Buy Here</a></sub></details>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=RX 2016">Buy Here</a></sub></details>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX 2020-22|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=RX 2020-22">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|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=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-22|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=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|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>1,16</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>1,16</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[<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>1,16</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>1,16</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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[<sup>11</sup>](#footnotes)|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[<sup>11</sup>](#footnotes)|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[<sup>11</sup>](#footnotes)|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[<sup>11</sup>](#footnotes)|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>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2017-18">Buy Here</a></sub></details>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|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=Avalon 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon 2022|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=Avalon 2022">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|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=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2022|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=Avalon Hybrid 2022">Buy Here</a></sub></details>||
-|Toyota|C-HR 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 2017-20">Buy Here</a></sub></details>||
-|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>12</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>12</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>||
-|Toyota|Corolla 2020-22|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=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 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 Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 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 Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hatchback 2019-22|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=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|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=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 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 Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 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=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|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=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 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=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2020-23|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=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
-|Toyota|Mirai 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=Mirai 2021">Buy Here</a></sub></details>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|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=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|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=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|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=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|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=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|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=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|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=Prius v 2017">Buy Here</a></sub></details>||
-|Toyota|RAV4 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=RAV4 2016">Buy Here</a></sub></details>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2017-18">Buy Here</a></sub></details>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 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 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 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 2023-25">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 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=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>1,16</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>1,16</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>1,16</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>17</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>17</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>1,16</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>||
+|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|Setup Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-18|Technology Plus Package or 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
+|Acura|ILX 2019|All|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
+|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
+|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|TLX 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 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Silverado 1500 2020-21|Safety 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
+|Chevrolet|Trailblazer 2021-22|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2019-20|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2021-23|All|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2019-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">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|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Explorer 2020-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
+|Ford|Explorer Hybrid 2020-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2024|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Plug-in Hybrid 2024|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Maverick 2022|LARIAT Luxury|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Ford|Mustang Mach-E 2021-24|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|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 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|G70 2018|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 F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
+|Genesis|G70 2019-21|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Advanced Trim) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Performance Trim) 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 (2.5T Trim, without HDA II) 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 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Genesis|GV70 (3.5T Trim, without HDA II) 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 M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (Australia Only) 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 Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (with HDA II) 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 2017-18|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 2025-26|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|e 2020|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
+|Honda|Passport 2019-25|All|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
+|Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
+|Hyundai|Azera 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 K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid 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 C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Azera Hybrid 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 K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Custin 2023">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 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|Elantra GT 2017-20|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 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 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Hybrid 2020-22|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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2019|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2020|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 B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe Plug-in 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Hybrid 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 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Plug-in Hybrid 2024|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep 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|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
+|Kia|Carnival (China only) 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|EV6 (Southeast Asia only) 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 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (with HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (without HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K7 2017|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
+|Kia|K8 Hybrid (with HDA II) 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 (with HDA II) 2025|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 R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (without HDA II) 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 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Hybrid 2022">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
+|Kia|Niro Plug-in 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2017">Buy Here</a></sub></details>|||
+|Kia|Optima 2019-20|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 G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima 2019-20">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Hybrid 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Plug-in 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Kia|Sportage 2023-24|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
+|Kia|Sportage Hybrid 2023|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
+|Lexus|IS 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
+|Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
+|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
+|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN 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>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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>5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
+|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">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 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2017-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-18|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-17|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">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 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 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>|||
+|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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
+|Toyota|C-HR 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
+|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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Mirai 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
+|Toyota|RAV4 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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>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>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>12</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>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>16</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>17</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>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `nightly-dev`. <br />
+<sup>2</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>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</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>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>10</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>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>14</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>15</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/).
@@ -355,7 +378,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index d4a9561f2c..62468c7448 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -6,21 +6,20 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 
 ### Getting Started
 
-* Setup your [development environment](../tools/)
-* Read about the [development workflow](WORKFLOW.md)
+* Set up your [development environment](/tools/)
 * Join our [Discord](https://discord.comma.ai)
 * Docs are at https://docs.comma.ai and https://blog.comma.ai
 
 ## What contributions are we looking for?
 
 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
 
 ### What gets merged?
 
 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
 
 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -30,17 +29,17 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **style changes**: code is art, and it's up to the author to make it beautiful 
+* **style changes**: code is art, and it's up to the author to make it beautiful
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3/3X or a car.
+There are a lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 
diff --git a/docs/DEBUGGING_SAFETY.md b/docs/DEBUGGING_SAFETY.md
new file mode 100644
index 0000000000..cd0a46b446
--- /dev/null
+++ b/docs/DEBUGGING_SAFETY.md
@@ -0,0 +1,30 @@
+# Debugging Panda Safety with Replay Drive + LLDB
+
+## 1. Start the debugger in VS Code
+
+* Select **Replay drive + Safety LLDB**.
+* Enter the route or segment when prompted.
+[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
+
+## 2. Attach LLDB
+
+* When prompted, pick the running **`replay_drive` process**.
+* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
+
+> [!TIP]
+> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
+
+## 3. Set breakpoints in VS Code
+Breakpoints can be set directly in `modes/xxx.h` (or any C file).
+No extra LLDB commands are required — just place breakpoints in the editor.
+
+## 4. Resume execution
+Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
+
+> [!NOTE]
+> * Use short routes for quicker iteration.
+> * Pause `replay_drive` early to avoid wasting log messages.
+
+## Video
+
+View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578
\ No newline at end of file
diff --git a/docs/README.md b/docs/README.md
index 08dd4fa8bc..12d0b6f5dd 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -8,7 +8,7 @@ NOTE: Those commands must be run in the root directory of openpilot, **not /docs
 
 **1. Install the docs dependencies**
 ``` bash
-pip install .[docs]
+uv pip install .[docs]
 ```
 
 **2. Build the new site**
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 18a450a395..25815e3372 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -16,7 +16,7 @@ industry standards of safety for Level 2 Driver Assistance Systems. In particula
 ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
 released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
 on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
-hardware-in-the-loop and in-vehicle tests before each software release.
+hardware-in-the-loop, and in-vehicle tests before each software release.
 
 Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
 ensuring two main safety requirements.
@@ -29,8 +29,18 @@ ensuring two main safety requirements.
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
-**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
-  not fully meeting the above requirements.
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation.
 
-[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+---
 
+### Forks of openpilot
+
+* Do not disable or nerf [driver monitoring](https://github.com/commaai/openpilot/tree/master/selfdrive/monitoring)
+* Do not disable or nerf [excessive actuation checks](https://github.com/commaai/openpilot/tree/master/selfdrive/selfdrived/helpers.py)
+* If your fork modifies any of the code in `opendbc/safety/`:
+   * your fork cannot use the openpilot trademark
+   * your fork must preserve the full [safety test suite](https://github.com/commaai/opendbc/tree/master/opendbc/safety/tests) and all tests must pass, including any new coverage required by the fork's changes
+
+Failure to comply with these standards will get you and your users banned from comma.ai servers.
+
+**comma.ai strongly discourages the use of openpilot forks with safety code either missing or not fully meeting the above requirements.**
diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
deleted file mode 100644
index 1c5bbe9a63..0000000000
--- a/docs/WORKFLOW.md
+++ /dev/null
@@ -1,33 +0,0 @@
-# openpilot development workflow
-
-Aside from the ML models, most tools used for openpilot development are in this repo.
-
-Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development.
-
-## Quick start
-
-```bash
-# get the latest stuff
-git pull
-git lfs pull
-git submodule update --init --recursive
-
-# update dependencies
-tools/ubuntu_setup.sh
-
-# build everything
-scons -j$(nproc)
-
-# build just the ui with either of these
-scons -j8 selfdrive/ui/
-cd selfdrive/ui/ && scons -u -j8
-
-# test everything
-pytest
-
-# test just logging services
-cd system/loggerd && pytest .
-
-# run the linter
-op lint
-```
diff --git a/docs/assets/three-back.svg b/docs/assets/three-back.svg
new file mode 100644
index 0000000000..4dfeeeb46a
--- /dev/null
+++ b/docs/assets/three-back.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5245f9458982b608fee67fc689d899ca638a405ff62bf9db5e4978b177ef3e
+size 121394
diff --git a/docs/car-porting/car-state-signals.md b/docs/car-porting/car-state-signals.md
new file mode 100644
index 0000000000..669bd0ee23
--- /dev/null
+++ b/docs/car-porting/car-state-signals.md
@@ -0,0 +1,65 @@
+# CarState signals
+
+## Required for basic lateral control
+
+* `brakePressed`
+* `cruiseState`
+* `doorOpen`
+* `espDisabled`
+* `gasPressed`
+* `gearShifter`
+* `leftBlinker` / `rightBlinker`
+* `seatbeltUnlatched`
+* `standstill`
+* `steeringAngleDeg`
+* `steeringPressed`
+* `steeringTorque`
+* `steerFaultPermanent`
+* `steerFaultTemporary`
+* `vCruise`
+* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
+speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
+
+## Recommended / Required for openpilot longitudinal control
+
+* `accFaulted`
+* `espActive`
+* `parkingBrake`
+
+## Application Dependent
+
+* `blockPcmEnable`
+* `buttonEnable`
+* `brakeHoldActive`
+* `carFaultedNonCritical`
+* `invalidLkasSetting`
+* `lowSpeedAlert`
+* `regenBraking`
+* `steeringAngleOffsetDeg`
+* `steeringDisengage`
+* `steeringTorqueEps`
+* `stockLkas`
+* `vCruiseCluster`
+* `vEgoCluster`
+* `vehicleSensorsInvalid`
+
+## Automatically populated
+
+* `buttonEvents`
+
+These values are populated automatically by `parse_wheel_speeds`:
+
+* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
+* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
+* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
+
+## Optional
+
+* `brake`
+* `charging`
+* `fuelGauge`
+* `leftBlindspot` / `rightBlindspot`
+* `steeringRateDeg`
+* `stockAeb`
+* `stockFcw`
+* `yawRate`
diff --git a/docs/car-porting/reverse-engineering.md b/docs/car-porting/reverse-engineering.md
new file mode 100644
index 0000000000..128ec8e776
--- /dev/null
+++ b/docs/car-porting/reverse-engineering.md
@@ -0,0 +1,85 @@
+# Stimulus-Response Tests
+
+These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
+test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
+
+While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
+necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
+available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
+in loss of the last minute of testing data.
+
+## Stationary ignition-only tests, part 1
+
+1. Ignition on, but don't start engine, remain in Park
+2. Open and close each door in a defined order: driver, passenger, rear left, rear right
+3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
+4. Slowly press and release the accelerator pedal 3 times
+5. Slowly press and release the brake pedal 3 times
+6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
+7. Return to Park, ignition off
+
+Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
+pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
+the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
+
+Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
+Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
+door signal is available, the same signal may follow the driver.
+
+## Stationary ignition-only tests, part 2
+
+1. Ignition on, but don't start engine, remain in Park
+2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
+3. Set the left turn signal for about five seconds
+4. Operate the left turn signal one time in its touch-to-pass mode
+5. Set the right turn signal for about five seconds
+6. Operate the right turn signal one time in its touch-to-pass mode
+7. Set the hazard / emergency indicator switch for about five seconds
+8. Ignition off
+
+Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
+isn't necessary for purposes of detecting the ACC button presses.
+
+## Steering angle and steering torque tests
+
+Power steering should be available. On ICE cars, engine RPM may be present.
+
+1. Ignition on, start engine if applicable, remain in Park
+2. Rotate the steering wheel as follows, with a few seconds pause between each step
+   * Start as close to exact center as possible
+   * Turn to 45 degrees right and hold
+   * Turn to 90 degrees right and hold
+   * Turn to 180 degrees right and hold
+   * Turn to full lock right and hold, with firm pressure against lock
+   * Release the wheel and allow it to bounce back slightly from lock
+   * Turn to 180 degrees left and hold
+   * Return to center and release
+3. Ignition off
+
+Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
+of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
+
+## Low speed / parking lot driving tests
+
+Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
+
+1. Ignition on, start engine if applicable, prepare to drive
+2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
+3. Come to a complete stop
+4. When and where safe, drive in reverse for a short distance (10-15 feet)
+5. Park the car in a safe place, ignition off
+
+## High speed / highway driving tests
+
+Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
+traffic ahead, and safely test the response of your factory lane guidance system.
+
+1. Ignition on, start engine if applicable, prepare to drive
+2. When safely able, engage adaptive cruise control below 50 mph
+3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
+4. Disengage adaptive cruise
+5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
+
+The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
+setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
+and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md
index 55cce94da1..3480e4e5d5 100644
--- a/docs/car-porting/what-is-a-car-port.md
+++ b/docs/car-porting/what-is-a-car-port.md
@@ -21,10 +21,10 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
 * `radar_interface.py`: Interface for parsing radar points from the car, if applicable
 
-## panda
+## safety
 
-* `board/safety/safety_[brand].h`: Brand-specific safety logic
-* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
+* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 7086d85b85..1262017a0b 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -12,7 +12,7 @@ This is the roadmap for the next major openpilot releases. Also check out
 openpilot 0.10 will be the first release with a driving policy trained in
 a [learned simulator](https://youtu.be/EqQNZXqzFSI).
 
-* Driving model trained in a learned simlator
+* Driving model trained in a learned simulator
 * Always-on driver monitoring (behind a toggle)
 * GPS removed from the driving stack
 * 100KB qlogs
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 469ef81672..5f02e11599 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,11 +1,11 @@
-# connect to a comma 3/3X
+# connect to a comma 3X
 
-A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
 
 ## Serial Console
 
 On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
-Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
 
 On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
 
@@ -32,16 +32,20 @@ For doing development work on device, it's recommended to use [SSH agent forward
 
 ## ADB
 
-In order to use ADB on your device, you'll need to enable it in the device's settings.
+In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
 
+![comma 3/3x back](../assets/three-back.svg)
+
+* Plug your device into constant power using port 2, letting the device boot up
 * Enable ADB in your device's settings
+* Plug in your device to your PC using port 1
 * Connect to your device
     * `adb shell` over USB
     * `adb connect` over WiFi
     * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
 
 > [!NOTE]
-> The default port for ADB is 5555 on the comma 3/3X.
+> The default port for ADB is 5555 on the comma 3X.
 
 For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
 
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index 084b6bf825..b0db36a46f 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
 Just run `tools/replay/replay --demo`.
 
 ## Replaying CAN data
-*Hardware required: jungle and comma 3/3X*
+*Hardware required: jungle and comma 3X*
 
 1. Connect your PC to a jungle.
 2.
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index 64f4475dfa..644c35e0ab 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -1,11 +1,11 @@
 # Turn the speed blue
 *A getting started guide for openpilot development*
 
-In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+In 30 minutes, we'll get an openpilot development environment set up on your computer and make some changes to openpilot's UI.
 
-And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+And if you have a comma 3X, we'll deploy the change to your device for testing.
 
-## 1. Setup your development environment
+## 1. Set up your development environment
 
 Run this to clone openpilot and install all the dependencies:
 ```bash
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
 tools/replay/replay --demo
 
 # in terminal 2
-selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
 
 Now let’s update the speed display color in the UI.
 
-Search for the function responsible for rendering UI text:
+Search for the function responsible for rendering the current speed:
 ```bash
-git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
+git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
-```cpp
-void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
+```python
+def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+  """Draw the current vehicle speed and unit."""
+  speed_text = str(round(self.speed))
+  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
 ```
 
-Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
 
 ```diff
-- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
++ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
 ```
 
-This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
-
 ---
 
-## 4. Rebuild the UI
+## 4. Re-run the UI
 
-After making changes, rebuild Openpilot so your new UI is compiled:
+After making changes, re-run the UI to see your new UI:
 ```bash
-scons -j$(nproc) && selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
diff --git a/launch_env.sh b/launch_env.sh
index 73a7a89789..314366f429 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -6,8 +6,17 @@ export NUMEXPR_NUM_THREADS=1
 export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
+# models get lower priority than ui
+# - ui is ~5ms
+# - modeld is 20ms
+# - DM is 10ms
+# in order to run ui at 60fps (16.67ms), we need to allow
+# it to preempt the model workloads. we have enough
+# headroom for this until ui is moved to the CPU.
+export QCOM_PRIORITY=12
+
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.1"
+  export AGNOS_VERSION="16"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/launch_openpilot.sh b/launch_openpilot.sh
index d6e3424c34..d4841b601f 100755
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,3 +1,20 @@
 #!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+
+# On any failure, run the fallback launcher
+trap 'exec ./launch_chffrplus.sh' ERR
+C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
+
+MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
+export MODEL
+
+if [ "$MODEL" = "comma tici" ]; then
+  # Force a failure if the launcher doesn't exist
+  [ -x "$C3_LAUNCH_SH" ] || false
+
+  # If it exists, run it
+  exec "$C3_LAUNCH_SH"
+fi
 
 exec ./launch_chffrplus.sh
diff --git a/mkdocs.yml b/mkdocs.yml
index a66d1c76d4..550f807aca 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -21,7 +21,7 @@ nav:
     - What is openpilot?: getting-started/what-is-openpilot.md
   - How-to:
     - Turn the speed blue: how-to/turn-the-speed-blue.md
-    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    - Connect to a comma 3X: how-to/connect-to-comma.md
     # - Make your first pull request: how-to/make-first-pr.md
     #- Replay a drive: how-to/replay-a-drive.md
   - Concepts:
diff --git a/msgq_repo b/msgq_repo
index a144e41d5f..ed2777747d 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit a144e41d5ff382177b979bafeab54cf8d39f6f3e
+Subproject commit ed2777747d60de5a399b74ef1d4be4c1fb406ae1
diff --git a/panda b/panda
index 77869d76e8..f5f296c65c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 77869d76e84f381662ea893498e75e224298f7f3
+Subproject commit f5f296c65c756a9b81af845cd874ee054d9c598c
diff --git a/pyproject.toml b/pyproject.toml
index f0c3f7628a..9c43b20f12 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,11 +1,11 @@
 [project]
 name = "openpilot"
-requires-python = ">= 3.11, < 3.13"
+requires-python = ">= 3.12.3, < 3.13"
 license = {text = "MIT License"}
 version = "0.1.0"
 description = "an open source driver assistance system"
 authors = [
-  {name ="Vehicle Researcher", email="user@comma.ai"}
+  {name = "Vehicle Researcher", email="user@comma.ai"}
 ]
 
 dependencies = [
@@ -14,40 +14,44 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
+  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
-  # hardwared
-  "smbus2", # configuring amp
-
   # core
   "cffi",
   "scons",
   "pycapnp",
   "Cython",
   "setuptools",
-  "numpy >=2.0, <2.2", # Linting issues with mypy in 2.2
+  "numpy >=2.0",
+
+  # vendored native dependencies
+  "bzip2 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=bzip2",
+  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
+  "eigen @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=eigen",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
+  "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
+  "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
+  "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
+  "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
+  "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
+  "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
+  "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
 
   # body / webrtcd
+  "av",
   "aiohttp",
   "aiortc",
-  # aiortc does not put an upper bound on pyopenssl and is now incompatible
-  # with the latest release
-  "pyopenssl < 24.3.0",
-  "pyaudio",
 
   # panda
   "libusb1",
   "spidev; platform_system == 'Linux'",
 
-  # modeld
-  "onnx >= 1.14.0",
-  "llvmlite",
-
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr", # used in place of 'os.getxattr' for macos compatibility
+  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
   "PyJWT",
@@ -56,7 +60,6 @@ dependencies = [
 
   # acados deps
   "casadi >=3.6.6",  # 3.12 fixed in 3.6.6
-  "future-fstrings",
 
   # joystickd
   "inputs",
@@ -68,62 +71,47 @@ dependencies = [
 
   # logreader
   "zstandard",
+
+  # ui
+  "raylib > 5.5.0.3",
+  "qrcode",
+  "jeepney",
+  "pillow",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
-  "natsort",
   "mkdocs",
 ]
 
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "mypy",
+  "ty",
   "pytest",
-  "pytest-cov",
   "pytest-cpp",
   "pytest-subtests",
-  "pytest-xdist",
-  "pytest-timeout",
-  "pytest-randomly",
+  # https://github.com/pytest-dev/pytest-xdist/pull/1229
+  "pytest-xdist @ git+https://github.com/sshane/pytest-xdist@2b4372bd62699fb412c4fe2f95bf9f01bd2018da",
   "pytest-asyncio",
   "pytest-mock",
-  "pytest-repeat",
   "ruff",
   "codespell",
   "pre-commit-hooks",
 ]
 
 dev = [
-  "av",
-  "azure-identity",
-  "azure-storage-blob",
-  "dbus-next",
-  "dictdiffer",
-  "lru-dict",
   "matplotlib",
-  "parameterized >=0.8, <0.9",
-  "pyautogui",
-  "pygame",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
-  "pywinctl",
-  "pyprof2calltree",
-  "tabulate",
-  "types-requests",
-  "types-tabulate",
-  "raylib",
+  "opencv-python-headless",
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "rerun-sdk >= 0.18",
+  "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
 ]
 
 [project.urls]
-Homepage = "https://comma.ai"
+Homepage = "https://github.com/commaai/openpilot"
 
 [build-system]
 requires = ["hatchling"]
@@ -142,7 +130,6 @@ cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
 asyncio_default_fixture_loop_scope = "function"
-#timeout = "30"  # you get this long by default
 markers = [
   "slow: tests that take awhile to run and can be skipped with -m 'not slow'",
   "tici: tests that are only meant to run on the C3/C3X",
@@ -151,34 +138,79 @@ markers = [
 testpaths = [
   "common",
   "selfdrive",
-  "system/updated",
-  "system/athena",
-  "system/camerad",
-  "system/hardware",
-  "system/loggerd",
-  "system/proclogd",
-  "system/tests",
-  "system/ubloxd",
-  "system/webrtc",
-  "tools/lib/tests",
-  "tools/replay",
-  "tools/cabana",
-  "cereal/messaging/tests",
+  "system",
+  "tools",
+  "cereal",
   "sunnypilot",
 ]
 
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
-[tool.mypy]
-python_version = "3.11"
-plugins = [
-  "numpy.typing.mypy_plugin",
+# https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
+[tool.ruff]
+indent-width = 2
+lint.select = [
+  "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
+  "NPY", # numpy
+  "UP",  # pyupgrade
+  "TRY203", "TRY400", "TRY401", # try/excepts
+  "RUF008", "RUF100",
+  "TID251",
+  "PLE", "PLR1704",
 ]
+lint.ignore = [
+  "E741",
+  "E402",
+  "C408",
+  "ISC003",
+  "B027",
+  "B024",
+  "NPY002",  # new numpy random syntax is worse
+  "UP045", "UP007",  # these don't play nice with raylib atm
+]
+line-length = 160
+target-version ="py311"
+exclude = [
+  "body",
+  "cereal",
+  "panda",
+  "opendbc",
+  "opendbc_repo",
+  "rednose_repo",
+  "tinygrad_repo",
+  "teleoprtc",
+  "teleoprtc_repo",
+  "third_party",
+  "*.ipynb",
+  "generated",
+]
+lint.flake8-implicit-str-concat.allow-multiline = false
+
+[tool.ruff.lint.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"
+"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
+"unittest".msg = "Use pytest"
+"time.time".msg = "Use time.monotonic"
+
+# raylib banned APIs
+"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
+"pyray.is_mouse_button_pressed".msg = "This can miss events. Use Widget._handle_mouse_press"
+"pyray.is_mouse_button_released".msg = "This can miss events. Use Widget._handle_mouse_release"
+"pyray.draw_text".msg = "Use a function (such as rl.draw_font_ex) that takes font as an argument"
+
+[tool.ruff.format]
+quote-style = "preserve"
+
+[tool.ty.src]
 exclude = [
   "cereal/",
   "msgq/",
@@ -195,74 +227,25 @@ exclude = [
   "third_party/",
 ]
 
-# third-party packages
-ignore_missing_imports=true
-
-# helpful warnings
-warn_redundant_casts=true
-warn_unreachable=true
-warn_unused_ignores=true
-
-# restrict dynamic typing
-warn_return_any=true
-
-# allow implicit optionals for default args
-implicit_optional = true
-
-local_partial_types=true
-explicit_package_bases=true
-disable_error_code = "annotation-unchecked"
-
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
-[tool.ruff]
-indent-width = 2
-lint.select = [
-  "E", "F", "W", "PIE", "C4", "ISC", "A", "B",
-  "NPY", # numpy
-  "UP",  # pyupgrade
-  "TRY203", "TRY400", "TRY401", # try/excepts
-  "RUF008", "RUF100",
-  "TID251",
-  "PLR1704",
-]
-lint.ignore = [
-  "E741",
-  "E402",
-  "C408",
-  "ISC003",
-  "B027",
-  "B024",
-  "NPY002",  # new numpy random syntax is worse
-  "UP038",   # (x, y) -> x|y for isinstance
-]
-line-length = 160
-target-version ="py311"
-exclude = [
-  "body",
-  "cereal",
-  "panda",
-  "opendbc",
-  "opendbc_repo",
-  "rednose_repo",
-  "tinygrad_repo",
-  "teleoprtc",
-  "teleoprtc_repo",
-  "third_party",
-  "*.ipynb",
-]
-lint.flake8-implicit-str-concat.allow-multiline = false
-
-[tool.ruff.lint.flake8-tidy-imports.banned-api]
-"selfdrive".msg = "Use openpilot.selfdrive"
-"common".msg = "Use openpilot.common"
-"system".msg = "Use openpilot.system"
-"third_party".msg = "Use openpilot.third_party"
-"tools".msg = "Use openpilot.tools"
-"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
-"unittest".msg = "Use pytest"
-
-[tool.coverage.run]
-concurrency = ["multiprocessing", "thread"]
-
-[tool.ruff.format]
-quote-style = "preserve"
+[tool.ty.rules]
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed
diff --git a/rednose_repo b/rednose_repo
index 8b86052919..6ccb8d0556 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 8b860529199569401d5d8e105bc1be600fca49a8
+Subproject commit 6ccb8d055652cd9769b5e418edf116272fde4e09
diff --git a/release/README.md b/release/README.md
index 1d3e784936..7aeea9fe4a 100644
--- a/release/README.md
+++ b/release/README.md
@@ -1,36 +1,35 @@
 # openpilot releases
 
+```
 ## release checklist
 
-**Go to `devel-staging`**
-- [ ] update `devel-staging`: `git reset --hard origin/master-ci`
-- [ ] open a pull request from `devel-staging` to `devel`
-
-**Go to `devel`**
-- [ ] update RELEASES.md
-- [ ] close out milestone
-- [ ] post on Discord dev channel
+### Go to staging
+- [ ] make a GitHub issue to track release with this checklist
+- [ ] create release master branch
+  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
+  - [ ] revert risky commits (double check with autonomy team)
+  - [ ] push the new branch
+- [ ] push to staging:
+  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
+  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] merge the pull request
+- [ ] post on Discord, tag `@release crew`
 
-tests:
-- [ ] update from previous release -> new release
-- [ ] update from new release -> previous release
-- [ ] fresh install with `openpilot-test.comma.ai`
-- [ ] drive on fresh install
-- [ ] comma body test
-- [ ] no submodules or LFS
-- [ ] check sentry, MTBF, etc.
-
-**Go to `release3`**
+### Go to release
+- [ ] before going to release, test the following:
+  - [ ] update from previous release -> new release
+  - [ ] update from new release -> previous release
+  - [ ] fresh install with `openpilot-test.comma.ai`
+  - [ ] drive on fresh install
+  - [ ] no submodules or LFS
+  - [ ] check sentry, MTBF, etc.
+  - [ ] stress test passes in production
 - [ ] publish the blog post
-- [ ] `git reset --hard origin/release3-staging`
-- [ ] tag the release
-```
-git tag v0.X.X <commit-hash>
-git push origin v0.X.X
-```
+- [ ] `git reset --hard origin/release-mici-staging`
+- [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`
-- [ ] update production
-- [ ] Post on Discord, X, etc.
+- [ ] update factory provisioning
+- [ ] close out milestone and issue
+- [ ] post on Discord, X, etc.
+```
diff --git a/release/build_release.sh b/release/build_release.sh
index 5ada9c5ecc..22d880991f 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
@@ -72,9 +72,8 @@ find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
-rm selfdrive/modeld/models/driving_vision.onnx
-rm selfdrive/modeld/models/driving_policy.onnx
-rm sunnypilot/modeld*/models/supercombo.onnx
+rm -f selfdrive/modeld/models/*.onnx
+rm -f sunnypilot/modeld*/models/*.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +
diff --git a/release/build_devel.sh b/release/build_stripped.sh
similarity index 76%
rename from release/build_devel.sh
rename to release/build_stripped.sh
index 05dcaafcaa..df5b2a3dd6 100755
--- a/release/build_devel.sh
+++ b/release/build_stripped.sh
@@ -17,28 +17,23 @@ rm -rf $TARGET_DIR
 mkdir -p $TARGET_DIR
 cd $TARGET_DIR
 cp -r $SOURCE_DIR/.git $TARGET_DIR
-pre-commit uninstall || true
 
-echo "[-] bringing __nightly and devel in sync T=$SECONDS"
+echo "[-] setting up stripped branch sync T=$SECONDS"
 cd $TARGET_DIR
 
-git fetch --depth 1 origin __nightly
-git fetch --depth 1 origin devel
-
-git checkout -f --track origin/__nightly
-git reset --hard __nightly
-git checkout __nightly
-git reset --hard origin/devel
-git clean -xdff
-git lfs uninstall
+# tmp branch
+git checkout --orphan tmp
 
 # remove everything except .git
-echo "[-] erasing old openpilot T=$SECONDS"
+echo "[-] erasing old sunnypilot T=$SECONDS"
+git submodule deinit -f --all
+git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 
-# reset source tree
+# cleanup before the copy
 cd $SOURCE_DIR
 git clean -xdff
+git submodule foreach --recursive git clean -xdff
 
 # do the files copy
 echo "[-] copying files T=$SECONDS"
@@ -47,13 +42,14 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 
 # in the directory
 cd $TARGET_DIR
+rm -rf .git/modules/
 rm -f panda/board/obj/panda.bin.signed
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
@@ -61,7 +57,7 @@ echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git status
-git commit -a -m "openpilot v$VERSION release
+git commit -a -m "sunnypilot v$VERSION release
 
 date: $DATETIME
 master commit: $GIT_HASH
@@ -85,7 +81,7 @@ fi
 
 if [ ! -z "$BRANCH" ]; then
   echo "[-] Pushing to $BRANCH T=$SECONDS"
-  git push -f origin __nightly:$BRANCH
+  git push -f origin tmp:$BRANCH
 fi
 
 echo "[-] done T=$SECONDS, ready at $TARGET_DIR"
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 93869a7403..7120fa15d8 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,17 +1,43 @@
 #!/usr/bin/env bash
 
+has_submodule_changes() {
+  local submodule_path="$1"
+  if [ -n "$SUBMODULE_PATHS" ]; then
+    echo "$SUBMODULE_PATHS" | grep -q "$submodule_path"
+    return $?
+  fi
+  return 1
+}
+
 while read hash submodule ref; do
+  if [ -z "$hash" ] || [ -z "$submodule" ]; then
+    continue
+  fi
+
+  hash=$(echo "$hash" | sed 's/^[+-]//')
+
   if [ "$submodule" = "tinygrad_repo" ]; then
     echo "Skipping $submodule"
     continue
   fi
 
-  git -C $submodule fetch --depth 100 origin master
-  git -C $submodule branch -r --contains $hash | grep "origin/master"
-  if [ "$?" -eq 0 ]; then
-    echo "$submodule ok"
+  if [ "$CHECK_PR_REFS" = "true" ] && has_submodule_changes "$submodule"; then
+    echo "Checking $submodule (non-master): verifying hash $hash exists"
+    git -C $submodule fetch --depth 100 origin
+    if git -C $submodule cat-file -e $hash 2>/dev/null; then
+      echo "$submodule ok (hash exists)"
+    else
+      echo "$submodule: $hash does not exist in the repository"
+      exit 1
+    fi
   else
-    echo "$submodule: $hash is not on master"
-    exit 1
+    git -C $submodule fetch --depth 100 origin master
+    git -C $submodule branch -r --contains $hash | grep "origin/master"
+    if [ "$?" -eq 0 ]; then
+      echo "$submodule ok"
+    else
+      echo "$submodule: $hash is not on master"
+      exit 1
+    fi
   fi
 done <<< $(git submodule status --recursive)
diff --git a/release/ci/docker_build_sp.sh b/release/ci/docker_build_sp.sh
new file mode 100755
index 0000000000..369daf5233
--- /dev/null
+++ b/release/ci/docker_build_sp.sh
@@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+set -e
+
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
+DOCKER_IMAGE=sunnypilot
+DOCKER_FILE=Dockerfile.openpilot
+DOCKER_REGISTRY=ghcr.io/sunnypilot
+COMMIT_SHA=$(git rev-parse HEAD)
+
+if [ -n "$TARGET_ARCHITECTURE" ]; then
+  PLATFORM="linux/$TARGET_ARCHITECTURE"
+  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
+else
+  PLATFORM="linux/$(uname -m)"
+  TAG_SUFFIX=""
+fi
+
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
+
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+
+if [ -n "$PUSH_IMAGE" ]; then
+  docker push $REMOTE_TAG
+  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
+  docker push $REMOTE_SHA_TAG
+fi
diff --git a/release/ci/install_github_runner.sh b/release/ci/install_github_runner.sh
index f6b1e217c5..9f11e4841c 100755
--- a/release/ci/install_github_runner.sh
+++ b/release/ci/install_github_runner.sh
@@ -5,6 +5,7 @@ set -e
 DEFAULT_REPO_URL="https://github.com/sunnypilot"
 START_AT_BOOT=false
 RESTORE_MODE=false
+RUNNER_VERSION="2.325.0"
 
 # Parse command line arguments
 while [[ $# -gt 0 ]]; do
@@ -108,9 +109,9 @@ setup_system_configs() {
 install_runner() {
     echo "Downloading and setting up runner..."
     cd "$RUNNER_DIR"
-    curl -o actions-runner-linux-arm64-2.322.0.tar.gz -L https://github.com/actions/runner/releases/download/v2.322.0/actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-2.322.0.tar.gz
-    sudo rm ./actions-runner-linux-arm64-2.322.0.tar.gz
+    curl -o actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz -L https://github.com/actions/runner/releases/download/v${RUNNER_VERSION}/actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo -u ${RUNNER_USER} tar -xzf ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
+    sudo rm ./actions-runner-linux-arm64-${RUNNER_VERSION}.tar.gz
     sudo chmod +x ./config.sh
 }
 
@@ -149,25 +150,32 @@ EOL
 }
 
 install_service() {
+    local service_name
+    if [ -f "${RUNNER_DIR}/.service" ]; then
+        service_name=$(cat "${RUNNER_DIR}/.service")
+    else
+        service_name="actions.runner.sunnypilot.$(uname -n)"
+    fi
+  
+    create_service_template
     remount_rw
+    local service_path="/etc/systemd/system/${service_name}"
     echo "Installing systemd service..."
+    if [ -f "${service_path}" ]; then
+        echo "Service ${service_path} found in systemd, we will delete it"
+        sudo rm -f "${service_path}"
+    fi
+    
     cd "$RUNNER_DIR"
     sudo ./svc.sh install $RUNNER_USER
 
     if [ "$START_AT_BOOT" = false ]; then
-        local service_name
-        if [ -f "${RUNNER_DIR}/.service" ]; then
-            service_name=$(cat "${RUNNER_DIR}/.service")
-        else
-            service_name="actions.runner.sunnypilot.$(uname -n)"
-        fi
         sudo systemctl disable "${service_name}"
     fi
     remount_ro
 }
 
 check_restore_prerequisites() {
-    local needs_restore=false
     local can_restore=false
     local service_name=""
 
@@ -189,25 +197,16 @@ check_restore_prerequisites() {
         exit 1
     fi
 
-    # Then check if restoration is needed (if either service or user is missing)
-    if ! systemctl list-unit-files "${service_name}" &>/dev/null; then
-        echo "Service ${service_name} not found in systemd"
-        needs_restore=true
-    fi
-
     if ! id "${RUNNER_USER}" &>/dev/null; then
         echo "User ${RUNNER_USER} does not exist"
-        needs_restore=true
     fi
 
     # Only proceed if we can restore AND need to restore
-    if [ "$can_restore" = true ] && [ "$needs_restore" = true ]; then
-        echo "Restoration is needed and possible"
+    if [ "$can_restore" = true ]; then
+        echo "Restoration is possible"
         return 0
     else
-        if [ "$needs_restore" = false ]; then
-            echo "System is already properly configured (user and service exist)"
-        fi
+        echo "No restoration possible"
         exit 0
     fi
 }
@@ -226,7 +225,6 @@ perform_install() {
     setup_system_configs
     install_runner
     set_directory_permissions
-    create_service_template
     configure_runner
     install_service
     echo "Installation completed successfully"
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
new file mode 100755
index 0000000000..da6b933030
--- /dev/null
+++ b/release/ci/model_generator.py
@@ -0,0 +1,194 @@
+import os
+import pickle
+import sys
+import hashlib
+import json
+import re
+from pathlib import Path
+from datetime import datetime, UTC
+
+REQUIRED_OUTPUT_KEYS = frozenset({
+  "plan",
+  "lane_lines",
+  "road_edges",
+  "lead",
+  "desire_state",
+  "desire_pred",
+  "meta",
+  "lead_prob",
+  "lane_lines_prob",
+  "pose",
+  "wide_from_device_euler",
+  "road_transform",
+  "hidden_state",
+})
+OPTIONAL_OUTPUT_KEYS = frozenset({
+  "planplus",
+  "sim_pose",
+  "desired_curvature",
+})
+
+
+def validate_model_outputs(metadata_paths: list[Path]) -> None:
+  combined_keys: set[str] = set()
+  for path in metadata_paths:
+    with open(path, "rb") as f:
+      metadata = pickle.load(f)
+    combined_keys.update(metadata.get("output_slices", {}).keys())
+  missing = REQUIRED_OUTPUT_KEYS - combined_keys
+  if missing:
+    raise ValueError(f"Combined model metadata is missing required output keys: {sorted(missing)}")
+  detected_optional = sorted(OPTIONAL_OUTPUT_KEYS & combined_keys)
+  if detected_optional:
+    print(f"Optional output keys detected: {detected_optional}")
+
+
+def create_short_name(full_name):
+  # Remove parentheses and extract alphanumeric words
+  clean_name = re.sub(r'\([^)]*\)', '', full_name)
+  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
+
+  if len(words) == 1:
+    return words[0][:8].upper()
+
+  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
+  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
+    return (words[0] + words[1])[:8].upper()
+
+  result = ""
+  for word in words:
+    # Version or number patterns
+    if (re.match(r'^\d+[a-zA-Z]+$', word) or
+        re.match(r'^\d+[vVbB]\d+$', word) or
+        re.match(r'^[vVbB]\d+$', word) or
+        re.match(r'^\d{4}$', word)):
+      result += word.upper()
+    # All uppercase abbreviations (2-3 letters)
+    elif re.match(r'^[A-Z]{2,3}$', word):
+      result += word
+    # Letters+digits (for example tr15 rev2)
+    elif re.match(r'^[a-zA-Z]+[0-9]+$', word):
+      result += word[0].upper() + ''.join(re.findall(r'\d+', word))
+    elif word.isalpha():
+      result += word[0].upper()
+    elif word.isdigit():
+      result += word
+    else:
+      result += word[0].upper()
+  return result[:8]
+
+
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
+  model_path = model_path
+  output_path = output_dir
+  base = model_path.stem
+
+  # Define output files for tinygrad and metadata
+  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
+  metadata_file = output_path / f"{base}_metadata.pkl"
+
+  if not tinygrad_file.exists() or not metadata_file.exists():
+    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
+    return
+
+  # Calculate the sha256 hashes
+  with open(tinygrad_file, 'rb') as f:
+    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
+
+  with open(metadata_file, 'rb') as f:
+    metadata_hash = hashlib.sha256(f.read()).hexdigest()
+
+  # Rename the files if a custom file name is provided
+  if short_name:
+    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
+    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
+
+  # Build the metadata structure
+  model_type = "offPolicy" if "off_policy" in base else base.split("_")[-1]
+
+  model_metadata = {
+    "type": model_type,
+    "artifact": {
+      "file_name": tinygrad_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
+        "sha256": tinygrad_hash
+      }
+    },
+    "metadata": {
+      "file_name": metadata_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/",
+        "sha256": metadata_hash
+      }
+    }
+  }
+
+  # Return model metadata
+  return model_metadata
+
+
+def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
+  metadata_json = {
+    "short_name": short_name,
+    "display_name": custom_name or upstream_branch,
+    "is_20hz": is_20hz,
+    "ref": upstream_branch,
+    "environment": "development",
+    "runner": "tinygrad",
+    "index": -1,
+    "minimum_selector_version": "-1",
+    "generation": "-1",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "overrides": {},
+    "models": models,
+  }
+
+  # Write metadata to output_dir
+  with open(output_dir / "metadata.json", "w") as f:
+    json.dump(metadata_json, f, indent=2)
+
+  print(f"Generated metadata.json with {len(models)} models.")
+
+
+if __name__ == "__main__":
+  import argparse
+  import glob
+
+  parser = argparse.ArgumentParser(description="Generate metadata for model files")
+  parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files")
+  parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
+  parser.add_argument("--custom-name", help="Custom display name for the model")
+  parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
+  parser.add_argument("--validate-only", action="store_true")
+  parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
+  args = parser.parse_args()
+
+  if args.validate_only:
+    metadata_paths = glob.glob(os.path.join(args.model_dir, "*_metadata.pkl"))
+    if not metadata_paths:
+      print(f"No metadata files found in {args.model_dir}", file=sys.stderr)
+      sys.exit(1)
+    validate_model_outputs([Path(p) for p in metadata_paths])
+    print(f"Validated {len(metadata_paths)} metadata files successfully.")
+    sys.exit(0)
+
+  # Find all ONNX files in the given directory
+  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
+  if not model_paths:
+    print(f"No ONNX files found in {args.model_dir}", file=sys.stderr)
+    sys.exit(1)
+
+  _output_dir = Path(args.output_dir)
+  _output_dir.mkdir(exist_ok=True, parents=True)
+  _models = []
+
+  for _model_path in model_paths:
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
+    if _model_metadata:
+      _models.append(_model_metadata)
+
+  if _models:
+    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
+  else:
+    print("No models processed.", file=sys.stderr)
diff --git a/release/ci/publish.sh b/release/ci/publish.sh
index d723782934..315ae22bfe 100755
--- a/release/ci/publish.sh
+++ b/release/ci/publish.sh
@@ -30,7 +30,7 @@ if [ -z "$GIT_ORIGIN" ]; then
 fi
 
 # "Tagging"
-echo "#define COMMA_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/common/version.h
+echo "#define SUNNYPILOT_VERSION \"$VERSION\"" > ${OUTPUT_DIR}/sunnypilot/common/version.h
 
 ## set git identity
 #source $DIR/identity.sh
@@ -51,26 +51,19 @@ git fetch origin $DEV_BRANCH || (git checkout -b $DEV_BRANCH && git commit --all
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
-git commit -a -m "sunnypilot v$VERSION release"
-git branch --set-upstream-to=origin/$DEV_BRANCH
 
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-SP_VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
+SP_VERSION=$(awk -F\" '{print $2}' $SOURCE_DIR/sunnypilot/common/version.h)
 
-# Add built files to git
-git add -f .
-if [ "$EXTRA_VERSION_IDENTIFIER" = "-release" ] || [ "$EXTRA_VERSION_IDENTIFIER" = "-staging" ]; then
-  export VERSION=${VERSION%"$EXTRA_VERSION_IDENTIFIER"}
-  git commit --amend -m "sunnypilot v$VERSION"
-else
-  git commit --amend -m "sunnypilot v$VERSION
-  version: sunnypilot v$SP_VERSION release
-  date: $DATETIME
-  master commit: $GIT_HASH
-  "
-fi
+# Commit with detailed message
+git commit -a -m "sunnypilot v$VERSION
+version: sunnypilot v$SP_VERSION (${EXTRA_VERSION_IDENTIFIER})
+date: $DATETIME
+master commit: $GIT_HASH
+"
+git branch --set-upstream-to=origin/$DEV_BRANCH
 git branch -m $DEV_BRANCH
 
 # Push!
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index b26b08d500..24922288be 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -12,9 +12,9 @@ TRUST_FORK_LABEL = "trust-fork-pr"
 def setup_argument_parser():
   parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
   parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
-  parser.add_argument('--source-branch', type=str, default='master-new',
+  parser.add_argument('--source-branch', type=str, default='master',
                       help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-test',
                       help='Target branch for merging')
   parser.add_argument('--squash-script-path', type=str, required=True,
                       help='Path to the squash_and_merge.py script')
diff --git a/release/identity.sh b/release/identity.sh
index c699c94650..1913df3c5b 100644
--- a/release/identity.sh
+++ b/release/identity.sh
@@ -1,4 +1,4 @@
-export GIT_COMMITTER_NAME="Vehicle Researcher"
-export GIT_COMMITTER_EMAIL="user@comma.ai"
-export GIT_AUTHOR_NAME="Vehicle Researcher"
-export GIT_AUTHOR_EMAIL="user@comma.ai"
+export GIT_COMMITTER_NAME="github-actions[bot]"
+export GIT_COMMITTER_EMAIL="github-actions[bot]@users.noreply.github.com"
+export GIT_AUTHOR_NAME="github-actions[bot]"
+export GIT_AUTHOR_EMAIL="github-actions[bot]@users.noreply.github.com"
diff --git a/release/pack.py b/release/pack.py
new file mode 100755
index 0000000000..8979e0e618
--- /dev/null
+++ b/release/pack.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import importlib
+import shutil
+import sys
+import tempfile
+import zipapp
+from argparse import ArgumentParser
+from pathlib import Path
+
+from openpilot.common.basedir import BASEDIR
+
+
+DIRS = ['cereal', 'openpilot']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
+INTERPRETER = '/usr/bin/env python3'
+
+
+def copy(src, dest):
+  if any(src.endswith(ext) for ext in EXTS):
+    shutil.copy2(src, dest, follow_symlinks=True)
+
+
+if __name__ == '__main__':
+  parser = ArgumentParser(prog='pack.py', description="package script into a portable executable", epilog='comma.ai')
+  parser.add_argument('-e', '--entrypoint', help="function to call in module, default is 'main'", default='main')
+  parser.add_argument('-o', '--output', help='output file')
+  parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
+  args = parser.parse_args()
+
+  if not args.output:
+    args.output = args.module
+
+  try:
+    mod = importlib.import_module(args.module)
+  except ModuleNotFoundError:
+    print(f'{args.module} not found, typo?')
+    sys.exit(1)
+
+  if not hasattr(mod, args.entrypoint):
+    print(f'{args.module} does not have a {args.entrypoint}() function, typo?')
+    sys.exit(1)
+
+  with tempfile.TemporaryDirectory() as tmp:
+    for directory in DIRS:
+      shutil.copytree(BASEDIR + '/' + directory, tmp + '/' + directory, symlinks=False, dirs_exist_ok=True, copy_function=copy)
+    entry = f'{args.module}:{args.entrypoint}'
+    zipapp.create_archive(tmp, target=args.output, interpreter=INTERPRETER, main=entry)
+
+  print(f'created executable {Path(args.output).resolve()}')
diff --git a/release/release_files.py b/release/release_files.py
index 98b88293b9..0b9e034bf1 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -17,6 +17,8 @@ blacklist = [
   ".gitattributes",
   ".git$",
   ".gitmodules",
+  ".run/",
+  ".idea/",
 ]
 
 # gets you through the blacklist
diff --git a/scripts/ci_results.py b/scripts/ci_results.py
new file mode 100755
index 0000000000..a133541c69
--- /dev/null
+++ b/scripts/ci_results.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+"""Fetch CI results from GitHub Actions and Jenkins."""
+
+import argparse
+import json
+import subprocess
+import time
+import urllib.error
+import urllib.request
+from datetime import datetime
+
+JENKINS_URL = "https://jenkins.comma.life"
+DEFAULT_TIMEOUT = 1800  # 30 minutes
+POLL_INTERVAL = 30  # seconds
+LOG_TAIL_LINES = 10  # lines of log to include for failed jobs
+
+
+def get_git_info():
+  branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"], text=True).strip()
+  commit = subprocess.check_output(["git", "rev-parse", "HEAD"], text=True).strip()
+  return branch, commit
+
+
+def get_github_actions_status(commit_sha):
+  result = subprocess.run(
+    ["gh", "run", "list", "--commit", commit_sha, "--workflow", "tests.yaml", "--json", "databaseId,status,conclusion"],
+    capture_output=True, text=True, check=True
+  )
+  runs = json.loads(result.stdout)
+  if not runs:
+    return None, None
+
+  run_id = runs[0]["databaseId"]
+  result = subprocess.run(
+    ["gh", "run", "view", str(run_id), "--json", "jobs"],
+    capture_output=True, text=True, check=True
+  )
+  data = json.loads(result.stdout)
+  jobs = {job["name"]: {"status": job["status"], "conclusion": job["conclusion"],
+                        "duration": format_duration(job) if job["conclusion"] not in ("skipped", None) and job.get("startedAt") else "",
+                        "id": job["databaseId"]}
+          for job in data.get("jobs", [])}
+  return jobs, run_id
+
+
+def get_github_job_log(run_id, job_id):
+  result = subprocess.run(
+    ["gh", "run", "view", str(run_id), "--job", str(job_id), "--log-failed"],
+    capture_output=True, text=True
+  )
+  lines = result.stdout.strip().split('\n')
+  return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else result.stdout.strip()
+
+
+def format_duration(job):
+  start = datetime.fromisoformat(job["startedAt"].replace("Z", "+00:00"))
+  end = datetime.fromisoformat(job["completedAt"].replace("Z", "+00:00"))
+  secs = int((end - start).total_seconds())
+  return f"{secs // 60}m {secs % 60}s"
+
+
+def get_jenkins_status(branch, commit_sha):
+  base_url = f"{JENKINS_URL}/job/openpilot/job/{branch}"
+  try:
+    # Get list of recent builds
+    with urllib.request.urlopen(f"{base_url}/api/json?tree=builds[number,url]", timeout=10) as resp:
+      builds = json.loads(resp.read().decode()).get("builds", [])
+
+    # Find build matching commit
+    for build in builds[:20]:  # check last 20 builds
+      with urllib.request.urlopen(f"{build['url']}api/json", timeout=10) as resp:
+        data = json.loads(resp.read().decode())
+        for action in data.get("actions", []):
+          if action.get("_class") == "hudson.plugins.git.util.BuildData":
+            build_sha = action.get("lastBuiltRevision", {}).get("SHA1", "")
+            if build_sha.startswith(commit_sha) or commit_sha.startswith(build_sha):
+              # Get stages info
+              stages = []
+              try:
+                with urllib.request.urlopen(f"{build['url']}wfapi/describe", timeout=10) as resp2:
+                  wf_data = json.loads(resp2.read().decode())
+                  stages = [{"name": s["name"], "status": s["status"]} for s in wf_data.get("stages", [])]
+              except urllib.error.HTTPError:
+                pass
+              return {
+                "number": data["number"],
+                "in_progress": data.get("inProgress", False),
+                "result": data.get("result"),
+                "url": data.get("url", ""),
+                "stages": stages,
+              }
+    return None  # no build found for this commit
+  except urllib.error.HTTPError:
+    return None  # branch doesn't exist on Jenkins
+
+
+def get_jenkins_log(build_url):
+  url = f"{build_url}consoleText"
+  with urllib.request.urlopen(url, timeout=30) as resp:
+    text = resp.read().decode(errors='replace')
+    lines = text.strip().split('\n')
+    return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else text.strip()
+
+
+def is_complete(gh_status, jenkins_status):
+  gh_done = gh_status is None or all(j["status"] == "completed" for j in gh_status.values())
+  jenkins_done = jenkins_status is None or not jenkins_status.get("in_progress", True)
+  return gh_done and jenkins_done
+
+
+def status_icon(status, conclusion=None):
+  if status == "completed":
+    return ":white_check_mark:" if conclusion == "success" else ":x:"
+  return ":hourglass:" if status == "in_progress" else ":grey_question:"
+
+
+def format_markdown(gh_status, gh_run_id, jenkins_status, commit_sha, branch):
+  lines = ["# CI Results", "",
+           f"**Branch**: {branch}",
+           f"**Commit**: {commit_sha[:7]}",
+           f"**Generated**: {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}", ""]
+
+  lines.extend(["## GitHub Actions", "", "| Job | Status | Duration |", "|-----|--------|----------|"])
+  failed_gh_jobs = []
+  if gh_status:
+    for job_name, job in gh_status.items():
+      icon = status_icon(job["status"], job.get("conclusion"))
+      conclusion = job.get("conclusion") or job["status"]
+      lines.append(f"| {job_name} | {icon} {conclusion} | {job.get('duration', '')} |")
+      if job.get("conclusion") == "failure":
+        failed_gh_jobs.append((job_name, job.get("id")))
+  else:
+    lines.append("| - | No workflow runs found | |")
+
+  lines.extend(["", "## Jenkins", "", "| Stage | Status |", "|-------|--------|"])
+  failed_jenkins_stages = []
+  if jenkins_status:
+    stages = jenkins_status.get("stages", [])
+    if stages:
+      for stage in stages:
+        icon = ":white_check_mark:" if stage["status"] == "SUCCESS" else (
+          ":x:" if stage["status"] == "FAILED" else ":hourglass:")
+        lines.append(f"| {stage['name']} | {icon} {stage['status'].lower()} |")
+        if stage["status"] == "FAILED":
+          failed_jenkins_stages.append(stage["name"])
+      # Show overall build status if still in progress
+      if jenkins_status["in_progress"]:
+        lines.append("| (build in progress) | :hourglass: in_progress |")
+    else:
+      icon = ":hourglass:" if jenkins_status["in_progress"] else (
+        ":white_check_mark:" if jenkins_status["result"] == "SUCCESS" else ":x:")
+      status = "in progress" if jenkins_status["in_progress"] else (jenkins_status["result"] or "unknown")
+      lines.append(f"| #{jenkins_status['number']} | {icon} {status.lower()} |")
+    if jenkins_status.get("url"):
+      lines.append(f"\n[View build]({jenkins_status['url']})")
+  else:
+    lines.append("| - | No builds found for branch |")
+
+  if failed_gh_jobs or failed_jenkins_stages:
+    lines.extend(["", "## Failure Logs", ""])
+
+  for job_name, job_id in failed_gh_jobs:
+    lines.append(f"### GitHub Actions: {job_name}")
+    log = get_github_job_log(gh_run_id, job_id)
+    lines.extend(["", "```", log, "```", ""])
+
+  for stage_name in failed_jenkins_stages:
+    lines.append(f"### Jenkins: {stage_name}")
+    log = get_jenkins_log(jenkins_status["url"])
+    lines.extend(["", "```", log, "```", ""])
+
+  return "\n".join(lines) + "\n"
+
+
+def main():
+  parser = argparse.ArgumentParser(description="Fetch CI results from GitHub Actions and Jenkins")
+  parser.add_argument("--wait", action="store_true", help="Wait for CI to complete")
+  parser.add_argument("--timeout", type=int, default=DEFAULT_TIMEOUT, help="Timeout in seconds (default: 1800)")
+  parser.add_argument("-o", "--output", default="ci_results.md", help="Output file (default: ci_results.md)")
+  parser.add_argument("--branch", help="Branch to check (default: current branch)")
+  parser.add_argument("--commit", help="Commit SHA to check (default: HEAD)")
+  args = parser.parse_args()
+
+  branch, commit = get_git_info()
+  branch = args.branch or branch
+  commit = args.commit or commit
+  print(f"Fetching CI results for {branch} @ {commit[:7]}")
+
+  start_time = time.monotonic()
+  while True:
+    gh_status, gh_run_id = get_github_actions_status(commit)
+    jenkins_status = get_jenkins_status(branch, commit) if branch != "HEAD" else None
+
+    if not args.wait or is_complete(gh_status, jenkins_status):
+      break
+
+    elapsed = time.monotonic() - start_time
+    if elapsed >= args.timeout:
+      print(f"Timeout after {int(elapsed)}s")
+      break
+
+    print(f"CI still running, waiting {POLL_INTERVAL}s... ({int(elapsed)}s elapsed)")
+    time.sleep(POLL_INTERVAL)
+
+  content = format_markdown(gh_status, gh_run_id, jenkins_status, commit, branch)
+  with open(args.output, "w") as f:
+    f.write(content)
+  print(f"Results written to {args.output}")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index ebbc6cbaba..3255c9eb82 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -55,7 +55,7 @@ function run_tests() {
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
-    run "mypy" mypy $PYTHON_FILES
+    run "ty" ty check
     run "codespell" codespell $ALL_FILES --ignore-words=$ROOT/.codespellignore
   fi
 
@@ -69,7 +69,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
-  echo -e "  ${BOLD}mypy${NC}"
+  echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"
   echo -e "  ${BOLD}check_shebang_scripts_are_executable${NC}"
@@ -81,11 +81,11 @@ function help() {
   echo "          Specify tests to skip separated by spaces"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
-  echo "  op lint mypy ruff"
-  echo "          Only run the mypy and ruff tests"
+  echo "  op lint ty ruff"
+  echo "          Only run the ty and ruff tests"
   echo ""
-  echo "  op lint --skip mypy ruff"
-  echo "          Skip the mypy and ruff tests"
+  echo "  op lint --skip ty ruff"
+  echo "          Skip the ty and ruff tests"
   echo ""
   echo "  op lint"
   echo "          Run all the tests"
diff --git a/scripts/reporter.py b/scripts/reporter.py
index 903fcc8911..d894b8af48 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -1,17 +1,33 @@
 #!/usr/bin/env python3
 import os
 import glob
-import onnx
+
+from tinygrad.nn.onnx import OnnxPBParser
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+
 MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
 MODEL_PATH = "/selfdrive/modeld/models/"
 
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj = {"metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
 def get_checkpoint(f):
-  model = onnx.load(f)
-  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  model = MetadataOnnxPBParser(f).parse()
+  metadata = {prop["key"]: prop["value"] for prop in model["metadata_props"]}
   return metadata['model_checkpoint'].split('/')[0]
 
+
 if __name__ == "__main__":
   print("| | master | PR branch |")
   print("|-| -----  | --------- |")
@@ -24,8 +40,4 @@ if __name__ == "__main__":
     fn = os.path.basename(f)
     master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
     pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
-    print(
-      "|", fn, "|",
-      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
-      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
-    )
+    print("|", fn, "|", f"[{master}](https://reporter.comma.life/experiment/{master})", "|", f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|")
diff --git a/scripts/usb.sh b/scripts/usb.sh
new file mode 100755
index 0000000000..5796cfa028
--- /dev/null
+++ b/scripts/usb.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+# testing the GPU box
+
+export XDG_CACHE_HOME=/data/tinycache
+mkdir -p $XDG_CACHE_HOME
+
+cd /data/openpilot/tinygrad_repo/examples
+while true; do
+  AMD=1 AMD_IFACE=usb python ./beautiful_cartpole.py
+  sleep 1
+done
diff --git a/scripts/usbgpu/benchmark.sh b/scripts/usbgpu/benchmark.sh
new file mode 100755
index 0000000000..04a76d054e
--- /dev/null
+++ b/scripts/usbgpu/benchmark.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../../tinygrad_repo
+
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+
+#export DEBUG=2
+export PYTHONPATH=.
+export AM_RESET=1
+export AMD=1
+export AMD_IFACE=USB
+export AMD_LLVM=1
+
+python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
+  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
+printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
+printf "${GREEN}=============${NC}\n"
+
+printf "\n\n"
+printf "${GREEN}Transfer speeds:${NC}\n"
+printf "${GREEN}================${NC}\n"
+python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
index 0b49e69116..55f347c44e 100644
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -3,4 +3,4 @@ SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
 SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
\ No newline at end of file
+SConscript(['ui/SConscript'])
diff --git a/selfdrive/assets/.gitignore b/selfdrive/assets/.gitignore
index 1f90a2a932..fffd4b4ed9 100644
--- a/selfdrive/assets/.gitignore
+++ b/selfdrive/assets/.gitignore
@@ -1,2 +1,4 @@
 *.cc
+fonts/*.fnt
+fonts/*.png
 translations_assets.qrc
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
index 6d8d8df334..26a7d998ed 100644
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -1,19 +1,19 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
   <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
-  <file>img_continue_triangle.svg</file>
-  <file>img_circled_check.svg</file>
-  <file>img_circled_slash.svg</file>
-  <file>img_eye_open.svg</file>
-  <file>img_eye_closed.svg</file>
+  <file>images/button_continue_triangle.svg</file>
+  <file>icons/circled_check.svg</file>
+  <file>icons/circled_slash.svg</file>
+  <file>icons/eye_open.svg</file>
+  <file>icons/eye_closed.svg</file>
   <file>icons/close.svg</file>
-  <file>offroad/icon_lock_closed.svg</file>
-  <file>offroad/icon_checkmark.svg</file>
-  <file>offroad/icon_warning.png</file>
-  <file>offroad/icon_wifi_strength_low.svg</file>
-  <file>offroad/icon_wifi_strength_medium.svg</file>
-  <file>offroad/icon_wifi_strength_high.svg</file>
-  <file>offroad/icon_wifi_strength_full.svg</file>
+  <file>icons/lock_closed.svg</file>
+  <file>icons/checkmark.svg</file>
+  <file>icons/warning.png</file>
+  <file>icons/wifi_strength_low.svg</file>
+  <file>icons/wifi_strength_medium.svg</file>
+  <file>icons/wifi_strength_high.svg</file>
+  <file>icons/wifi_strength_full.svg</file>
 
   <file alias="languages.json">../ui/translations/languages.json</file>
 </qresource>
diff --git a/selfdrive/assets/fonts/Audiowide-Regular.ttf b/selfdrive/assets/fonts/Audiowide-Regular.ttf
new file mode 100644
index 0000000000..1b6913947b
--- /dev/null
+++ b/selfdrive/assets/fonts/Audiowide-Regular.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:434a720871336d359378beff5ebff3f9fd654d958693d272c7c6f2e271c7e41c
+size 47676
diff --git a/selfdrive/assets/fonts/NotoColorEmoji.ttf b/selfdrive/assets/fonts/NotoColorEmoji.ttf
new file mode 100644
index 0000000000..778e821ce3
--- /dev/null
+++ b/selfdrive/assets/fonts/NotoColorEmoji.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93cdc4ee9aa40e2afceecc63da0ca05ec7aab4bec991ece51a6b52389f48a477
+size 10788068
diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py
new file mode 100755
index 0000000000..30ccf9ca55
--- /dev/null
+++ b/selfdrive/assets/fonts/process.py
@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+from pathlib import Path
+import json
+
+import pyray as rl
+
+FONT_DIR = Path(__file__).resolve().parent
+SELFDRIVE_DIR = FONT_DIR.parents[1]
+TRANSLATIONS_DIR = SELFDRIVE_DIR / "ui" / "translations"
+LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"
+
+GLYPH_PADDING = 6
+EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
+UNIFONT_LANGUAGES = {"th", "zh-CHT", "zh-CHS", "ko", "ja"}
+
+
+def _languages():
+  if not LANGUAGES_FILE.exists():
+    return {}
+  with LANGUAGES_FILE.open(encoding="utf-8") as f:
+    return json.load(f)
+
+
+def _char_sets():
+  base = set(map(chr, range(32, 127))) | set(EXTRA_CHARS)
+  unifont = set(base)
+
+  for language, code in _languages().items():
+    unifont.update(language)
+    po_path = TRANSLATIONS_DIR / f"app_{code}.po"
+    try:
+      chars = set(po_path.read_text(encoding="utf-8"))
+    except FileNotFoundError:
+      continue
+    (unifont if code in UNIFONT_LANGUAGES else base).update(chars)
+
+  return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
+
+
+def _glyph_metrics(glyphs, rects, codepoints):
+  entries = []
+  min_offset_y, max_extent = None, 0
+  for idx, codepoint in enumerate(codepoints):
+    glyph = glyphs[idx]
+    rect = rects[idx]
+    width = int(round(rect.width))
+    height = int(round(rect.height))
+    offset_y = int(round(glyph.offsetY))
+    min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
+    max_extent = max(max_extent, offset_y + height)
+    entries.append({
+      "id": codepoint,
+      "x": int(round(rect.x)),
+      "y": int(round(rect.y)),
+      "width": width,
+      "height": height,
+      "xoffset": int(round(glyph.offsetX)),
+      "yoffset": offset_y,
+      "xadvance": int(round(glyph.advanceX)),
+    })
+
+  if min_offset_y is None:
+    raise RuntimeError("No glyphs were generated")
+
+  line_height = int(round(max_extent - min_offset_y))
+  base = int(round(max_extent))
+  return entries, line_height, base
+
+
+def _write_bmfont(path: Path, font_size: int, face: str, atlas_name: str, line_height: int, base: int, atlas_size, entries):
+  # TODO: why doesn't raylib calculate these metrics correctly?
+  if line_height != font_size:
+    print("using font size for line height", atlas_name)
+    line_height = font_size
+  lines = [
+    f"info face=\"{face}\" size=-{font_size} bold=0 italic=0 charset=\"\" unicode=1 stretchH=100 smooth=0 aa=1 padding=0,0,0,0 spacing=0,0 outline=0",
+    f"common lineHeight={line_height} base={base} scaleW={atlas_size[0]} scaleH={atlas_size[1]} pages=1 packed=0 alphaChnl=0 redChnl=4 greenChnl=4 blueChnl=4",
+    f"page id=0 file=\"{atlas_name}\"",
+    f"chars count={len(entries)}",
+  ]
+  for entry in entries:
+    lines.append(
+      ("char id={id:<4} x={x:<5} y={y:<5} width={width:<5} height={height:<5} " +
+       "xoffset={xoffset:<5} yoffset={yoffset:<5} xadvance={xadvance:<5} page=0  chnl=15").format(**entry)
+    )
+  path.write_text("\n".join(lines) + "\n")
+
+
+def _process_font(font_path: Path, codepoints: tuple[int, ...]):
+  print(f"Processing {font_path.name}...")
+
+  font_size = {
+    "unifont.otf": 16,  # unifont is only 16x8 or 16x16 pixels per glyph
+  }.get(font_path.name, 200)
+
+  data = font_path.read_bytes()
+  file_buf = rl.ffi.new("unsigned char[]", data)
+  cp_buffer = rl.ffi.new("int[]", codepoints)
+  cp_ptr = rl.ffi.cast("int *", cp_buffer)
+  glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
+  if glyphs == rl.ffi.NULL:
+    raise RuntimeError("raylib failed to load font data")
+
+  rects_ptr = rl.ffi.new("Rectangle **")
+  image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
+  if image.width == 0 or image.height == 0:
+    raise RuntimeError("raylib returned an empty atlas")
+
+  rects = rects_ptr[0]
+  atlas_name = f"{font_path.stem}.png"
+  atlas_path = FONT_DIR / atlas_name
+  entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
+
+  if not rl.export_image(image, atlas_path.as_posix()):
+    raise RuntimeError("Failed to export atlas image")
+
+  _write_bmfont(FONT_DIR / f"{font_path.stem}.fnt", font_size, font_path.stem, atlas_name, line_height, base, (image.width, image.height), entries)
+
+
+def main():
+  base_cp, unifont_cp = _char_sets()
+  fonts = sorted(FONT_DIR.glob("*.ttf")) + sorted(FONT_DIR.glob("*.otf"))
+  for font in fonts:
+    if "emoji" in font.name.lower():
+      continue
+    glyphs = unifont_cp if font.stem.lower().startswith("unifont") else base_cp
+    _process_font(font, glyphs)
+  return 0
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/selfdrive/assets/fonts/unifont.otf b/selfdrive/assets/fonts/unifont.otf
new file mode 100644
index 0000000000..b85597b1f4
--- /dev/null
+++ b/selfdrive/assets/fonts/unifont.otf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9712a9bc089af7ddc06e0826aa84f2ee23ed2f1a1dddaf2a89c2483e753a8475
+size 5321484
diff --git a/selfdrive/assets/icons/arrow-right.png b/selfdrive/assets/icons/arrow-right.png
new file mode 100644
index 0000000000..b275134f64
--- /dev/null
+++ b/selfdrive/assets/icons/arrow-right.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a999d5f3e616eeafc310689accdd26efb90769596604a62c460ef8acece18bc
+size 1734
diff --git a/selfdrive/assets/icons/backspace.png b/selfdrive/assets/icons/backspace.png
new file mode 100644
index 0000000000..16686be6f5
--- /dev/null
+++ b/selfdrive/assets/icons/backspace.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576da562df8eb513e64ccb614ec727b257cbca8b5507974d01efc0f64c5382c2
+size 6267
diff --git a/selfdrive/assets/offroad/icon_calibration.png b/selfdrive/assets/icons/calibration.png
similarity index 100%
rename from selfdrive/assets/offroad/icon_calibration.png
rename to selfdrive/assets/icons/calibration.png
diff --git a/selfdrive/assets/icons/capslock-fill.png b/selfdrive/assets/icons/capslock-fill.png
new file mode 100644
index 0000000000..66854e78f2
--- /dev/null
+++ b/selfdrive/assets/icons/capslock-fill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6872a1047f1a534a037be7b1367640fe1bfb205a6e1c50420a2d1a946cda78ed
+size 4397
diff --git a/selfdrive/assets/icons/checkmark.png b/selfdrive/assets/icons/checkmark.png
new file mode 100644
index 0000000000..0f9a802a35
--- /dev/null
+++ b/selfdrive/assets/icons/checkmark.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc472f0e575e314c4006cb6e9845fb9fb9a13cf08fe74fbe1593dee53c20d977
+size 4329
diff --git a/selfdrive/assets/icons/checkmark.svg b/selfdrive/assets/icons/checkmark.svg
new file mode 100644
index 0000000000..26480698cd
--- /dev/null
+++ b/selfdrive/assets/icons/checkmark.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a135c18634647a73734300f5d0ad98082b07779b5553e72b99686857380ee7
+size 244
diff --git a/selfdrive/assets/offroad/icon_chevron_right.png b/selfdrive/assets/icons/chevron_right.png
similarity index 100%
rename from selfdrive/assets/offroad/icon_chevron_right.png
rename to selfdrive/assets/icons/chevron_right.png
diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/icons/chffr_wheel.png
similarity index 100%
rename from selfdrive/assets/img_chffr_wheel.png
rename to selfdrive/assets/icons/chffr_wheel.png
diff --git a/selfdrive/assets/icons/circled_check.png b/selfdrive/assets/icons/circled_check.png
new file mode 100644
index 0000000000..7611bc821f
--- /dev/null
+++ b/selfdrive/assets/icons/circled_check.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb0be280ac3a78bf95f5b92fafe94de5084ecc06836459c3a9fe1912a5b2454
+size 10479
diff --git a/selfdrive/assets/icons/circled_check.svg b/selfdrive/assets/icons/circled_check.svg
new file mode 100644
index 0000000000..aab06ec1e0
--- /dev/null
+++ b/selfdrive/assets/icons/circled_check.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c88458f6326265965626cbc97c2219bd513b15a6468b08f80b43ef014b7904b
+size 372
diff --git a/selfdrive/assets/icons/circled_slash.png b/selfdrive/assets/icons/circled_slash.png
new file mode 100644
index 0000000000..74a9b342f6
--- /dev/null
+++ b/selfdrive/assets/icons/circled_slash.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2a992a83eaa87762e12dc226f36af48e1cdbfc3b83ef75b6a2fc4103e3697a0
+size 9120
diff --git a/selfdrive/assets/icons/circled_slash.svg b/selfdrive/assets/icons/circled_slash.svg
new file mode 100644
index 0000000000..89c6e2b1ae
--- /dev/null
+++ b/selfdrive/assets/icons/circled_slash.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d91c86028af58cbe2770799d0fe7e55d143f9b3f67fdebcb47d328d6e410285
+size 223
diff --git a/selfdrive/assets/icons/close.png b/selfdrive/assets/icons/close.png
new file mode 100644
index 0000000000..66d1545632
--- /dev/null
+++ b/selfdrive/assets/icons/close.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c11f831c17080a8ffaa8469cf91a079a4abfb72e5238afe02b92bceb3442db0
+size 2656
diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg
index 33f68f02bc..e6db01321a 100644
--- a/selfdrive/assets/icons/close.svg
+++ b/selfdrive/assets/icons/close.svg
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:84c6b23bd3245954b86f80278511186fca4ddfa70d87c8b25e8f9fb76f9af758
-size 379
+oid sha256:a28a4dcaba33d800d109cc5f9a810065203d3bfccd104b2e503f6fe3fc5b6f91
+size 250
diff --git a/selfdrive/assets/icons/close2.png b/selfdrive/assets/icons/close2.png
new file mode 100644
index 0000000000..4497c97547
--- /dev/null
+++ b/selfdrive/assets/icons/close2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbfed12ddb5731b7b568539fe59f382356b46fdd146a9e0a1b768d3e5efd0378
+size 4350
diff --git a/selfdrive/assets/icons/close2.svg b/selfdrive/assets/icons/close2.svg
new file mode 100644
index 0000000000..56a36cecd5
--- /dev/null
+++ b/selfdrive/assets/icons/close2.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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   <h5>Quectel/EG25-G</h5>
   <p>FCC ID: XMR201903EG25G</p>
-  <p>
-  This device complies with Part 15 of the FCC Rules.
-  Operation is subject to the following two conditions:
+  <p>This device complies with Part 15 of the FCC Rules.</p>
+  <p>Operation is subject to the following two conditions:</p>
 
-  <p>(1) this device may not cause harmful interference, and
+  <p>(1) this device may not cause harmful interference, and</p>
   <p>(2) this device must accept any interference received, including interference that may cause undesired operation.</p>
 
   The following test reports are subject to this declaration:
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diff --git a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg
deleted file mode 100644
index e14ebd238f..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:52113c14656483854a814c50c93770f5e6ab7d63b2b5048ddd6fd47fdfd4a7de
-size 1659
diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg
deleted file mode 100644
index b9392dfe7c..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_uploading.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bedd579f56c65fffe2ad571f92843b6d103826fe173f8f5b58fc2200d2ad8850
-size 1663
diff --git a/selfdrive/assets/offroad/mici_fcc.html b/selfdrive/assets/offroad/mici_fcc.html
new file mode 100644
index 0000000000..e6e4189128
--- /dev/null
+++ b/selfdrive/assets/offroad/mici_fcc.html
@@ -0,0 +1,16 @@
+<h3>HVIN: comma four</h3>
+<h3>FCC ID: 2BFC6-MICI</h3>
+<h3>IC: 32232-MICI</h3>
+<h3>Contains FCC ID: XMR2023EG916QGL</h3>
+<h3>Contains IC: 10224A-023EG916QGL</h3>
+<br><br>
+This device contains licence-exempt transmitter(s)/receiver(s) that comply with Innovation, Science and Economic Development
+Canada's licence-exempt RSS(s) and complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:<br>
+1. This device may not cause harmful interference.<br>
+2. This device must accept any interference received, including interference that may cause undesired operation of the device.<br>
+<br><br>
+L'émetteur/récepteur exempt de licence contenu dans le présent appareil est conforme aux CNR d'Innovation, Sciences
+et Développement économique Canada applicables aux appareils radio exempts de licence. L'exploitation est autorisée
+aux deux conditions suivantes :<br>
+1. L'appareil ne doit pas produire de brouillage.<br>
+2. L'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre<br>
diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh
new file mode 100755
index 0000000000..2332cd25c5
--- /dev/null
+++ b/selfdrive/assets/prep-svg.sh
@@ -0,0 +1,46 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ICONS_DIR="$DIR/icons"
+BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"
+
+ICON_IDS=(
+  arrow-right
+  backspace
+  capslock-fill
+  shift
+  shift-fill
+)
+ICON_FILL_COLOR="#fff"
+
+# extract bootstrap icons
+for id in "${ICON_IDS[@]}"; do
+  svg="${ICONS_DIR}/${id}.svg"
+  perl -0777 -ne "print \$& if /<symbol[^>]*id=\"$id\"[^>]*>.*?<\/symbol>/s" "$BOOTSTRAP_SVG" \
+  | sed "s/<symbol/<svg fill=\"$ICON_FILL_COLOR\"/; s/<\/symbol>/<\/svg>/" > "$svg"
+done
+
+# sudo apt install inkscape
+
+for svg in $(find $DIR -type f | grep svg$); do
+  bunx svgo $svg --multipass --pretty --indent 2
+
+  # convert to PNG
+  png="${svg%.svg}.png"
+  width=$(inkscape --query-width "$svg")
+  height=$(inkscape --query-height "$svg")
+  if (( $(echo "$width > $height" | bc -l) )); then
+    export_dim="--export-width=512"
+  else
+    export_dim="--export-height=512"
+  fi
+  inkscape "$svg" --export-filename="$png" "$export_dim"
+
+  optipng -o7 -strip all "$png"
+done
+
+# cleanup bootstrap SVGs
+for id in "${ICON_IDS[@]}"; do
+  rm "${ICONS_DIR}/${id}.svg"
+done
diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav
index f3b5f21a27..7bfd97ad71 100644
--- a/selfdrive/assets/sounds/disengage.wav
+++ b/selfdrive/assets/sounds/disengage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1f061777d66d8d856a5fcb17378416f959088885ed770181355195ad15de881b
-size 68628
+oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
+size 48044
diff --git a/selfdrive/assets/sounds/disengage_tizi.wav b/selfdrive/assets/sounds/disengage_tizi.wav
new file mode 100644
index 0000000000..f3b5f21a27
--- /dev/null
+++ b/selfdrive/assets/sounds/disengage_tizi.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f061777d66d8d856a5fcb17378416f959088885ed770181355195ad15de881b
+size 68628
diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav
index fc24a23c2f..8633b5ac2d 100644
--- a/selfdrive/assets/sounds/engage.wav
+++ b/selfdrive/assets/sounds/engage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6b54a85cc09b8ee79fce23d48209205d2e70510eed4c5a86fa400fe3f7caebfd
-size 63120
+oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
+size 48044
diff --git a/selfdrive/assets/sounds/engage_tizi.wav b/selfdrive/assets/sounds/engage_tizi.wav
new file mode 100644
index 0000000000..fc24a23c2f
--- /dev/null
+++ b/selfdrive/assets/sounds/engage_tizi.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b54a85cc09b8ee79fce23d48209205d2e70510eed4c5a86fa400fe3f7caebfd
+size 63120
diff --git a/selfdrive/assets/sounds/make_beeps.py b/selfdrive/assets/sounds/make_beeps.py
new file mode 100644
index 0000000000..6161e80e74
--- /dev/null
+++ b/selfdrive/assets/sounds/make_beeps.py
@@ -0,0 +1,19 @@
+import numpy as np
+from scipy.io import wavfile
+
+
+sr = 48000
+max_int16 = 2**15 - 1
+
+def harmonic_beep(freq, duration_seconds):
+    n_total = int(sr * duration_seconds)
+
+    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
+    x = np.arange(n_total)
+    exp_scale = np.exp(-x/5.5e3)
+    return max_int16 * signal * exp_scale
+
+engage_beep = harmonic_beep(1661.219, 0.5)
+wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
+disengage_beep = harmonic_beep(1318.51, 0.5)
+wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
diff --git a/selfdrive/assets/sounds/prompt_single_high.wav b/selfdrive/assets/sounds/prompt_single_high.wav
new file mode 100644
index 0000000000..202483d17f
--- /dev/null
+++ b/selfdrive/assets/sounds/prompt_single_high.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa5858c0a672411ffdc691efdecb06d01ae458cc1df409bcf3fdeaa4756f72
+size 34638
diff --git a/selfdrive/assets/sounds/prompt_single_low.wav b/selfdrive/assets/sounds/prompt_single_low.wav
new file mode 100644
index 0000000000..925401ea27
--- /dev/null
+++ b/selfdrive/assets/sounds/prompt_single_low.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db9671bb03e01f119bba1eb6cc0507e0f039ac4e5b7f9f839a87071c52e86e56
+size 44416
diff --git a/selfdrive/assets/strip-svg-metadata.sh b/selfdrive/assets/strip-svg-metadata.sh
deleted file mode 100755
index e51dc9481d..0000000000
--- a/selfdrive/assets/strip-svg-metadata.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# sudo apt install scour
-
-for svg in $(find icons/ -type f | grep svg$); do
-  # scour doesn't support overwriting input file
-  scour $svg --remove-metadata $svg.tmp
-  mv $svg.tmp $svg
-done
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 463683fd3c..cd352b2ede 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index dc37519be1..86494afc7a 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,11 +1,8 @@
-from collections import deque
 from cereal import car, log
-import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
+from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED
-from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
-from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
-from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
+from opendbc.car.toyota.values import ToyotaFlags
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -15,21 +12,6 @@ EventName = log.OnroadEvent.EventName
 NetworkLocation = structs.CarParams.NetworkLocation
 
 
-# TODO: the goal is to abstract this file into the CarState struct and make events generic
-class MockCarState:
-  def __init__(self):
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
-  def update(self, CS: car.CarState):
-    self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-
-    CS.vEgo = self.sm[gps_sock].speed
-    CS.vEgoRaw = self.sm[gps_sock].speed
-
-    return CS
-
-
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -39,21 +21,13 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
-    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
-
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     if self.CP.brand in ('body', 'mock'):
-      events = Events()
+      return Events()
 
-    elif self.CP.brand == 'ford':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
-
-    elif self.CP.brand == 'nissan':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
-
-    elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
+    events = self.create_common_events(CS, CS_prev)
 
+    if self.CP.brand == 'chrysler':
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
         self.low_speed_alert = True
@@ -63,8 +37,6 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, pcm_enable=False)
-
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
 
@@ -84,10 +56,10 @@ class CarSpecificEvents:
         events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'toyota':
-      events = self.create_common_events(CS, CS_prev)
-
+      # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
       if self.CP.openpilotLongitudinalControl:
-        if CS.cruiseState.standstill and not CS.brakePressed:
+        # Only can leave standstill when planner wants to move
+        if CS.cruiseState.standstill and not CS.brakePressed and (CC.cruiseControl.resume or self.CP.flags & ToyotaFlags.HYBRID.value):
           events.add(EventName.resumeRequired)
         if CS.vEgo < self.CP.minEnableSpeed:
           events.add(EventName.belowEngageSpeed)
@@ -99,10 +71,6 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                   GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
-
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -110,21 +78,8 @@ class CarSpecificEvents:
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill:
         events.add(EventName.resumeRequired)
-      if CS.vEgo < self.CP.minSteerSpeed:
-        events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
-
-      # Low speed steer alert hysteresis logic
-      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
-        self.low_speed_alert = True
-      elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
-        self.low_speed_alert = False
-      if self.low_speed_alert:
-        events.add(EventName.belowSteerSpeed)
-
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
@@ -132,40 +87,26 @@ class CarSpecificEvents:
           events.add(EventName.speedTooLow)
 
       # TODO: this needs to be implemented generically in carState struct
-      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
+      # if CC.eps_timer_soft_disable_alert:
       #   events.add(EventName.steerTimeLimit)
 
-    elif self.CP.brand == 'hyundai':
-      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
-      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
-      # Main button also can trigger an engagement on these cars
-      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
-
-      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
-        self.low_speed_alert = True
-      if CS.vEgo > (self.CP.minSteerSpeed + 4.):
-        self.low_speed_alert = False
-      if self.low_speed_alert:
-        events.add(EventName.belowSteerSpeed)
-
-    else:
-      events = self.create_common_events(CS, CS_prev)
-
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True):
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
     events = Events()
 
+    CI = interfaces[self.CP.carFingerprint]
+    # TODO: cleanup the honda-specific logic
+    pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
+    # TODO: on some hyundai cars, the cancel button is also the pause/resume button,
+    # so only use it for cancel when running openpilot longitudinal
+    allow_button_cancel = self.CP.brand != 'hyundai'
+
     if CS.doorOpen:
       events.add(EventName.doorOpen)
     if CS.seatbeltUnlatched:
       events.add(EventName.seatbeltNotLatched)
-    if CS.gearShifter != GearShifter.drive and (extra_gears is None or
-       CS.gearShifter not in extra_gears):
+    if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
       events.add(EventName.wrongGear)
     if CS.gearShifter == GearShifter.reverse:
       events.add(EventName.reverseGear)
@@ -179,6 +120,8 @@ class CarSpecificEvents:
       events.add(EventName.stockFcw)
     if CS.stockAeb:
       events.add(EventName.stockAeb)
+    if CS.stockLkas:
+      events.add(EventName.stockLkas)
     if CS.vEgo > MAX_CTRL_SPEED:
       events.add(EventName.speedTooHigh)
     if CS.cruiseState.nonAdaptive:
@@ -236,7 +179,7 @@ class CarSpecificEvents:
     # we engage when pcm is active (rising edge)
     # enabling can optionally be blocked by the car interface
     if pcm_enable:
-      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
+      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and not CS.blockPcmEnable:
         events.add(EventName.pcmEnable)
       elif not CS.cruiseState.enabled:
         events.add(EventName.pcmDisable)
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index fa4b10e0d1..f9ddbde213 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import json
 import os
 import time
 import threading
@@ -18,10 +17,8 @@ from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
-from openpilot.selfdrive.car.car_specific import MockCarState
 from openpilot.selfdrive.car.helpers import convert_carControlSP, convert_to_capnp
 
 from openpilot.sunnypilot.mads.helpers import set_alternative_experience, set_car_specific_params
@@ -73,13 +70,14 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
+    self.CS_SP_prev = custom.CarStateSP.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -88,6 +86,9 @@ class Car:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
+    is_release = self.params.get_bool("IsReleaseBranch")
+    is_release_sp = self.params.get_bool("IsReleaseSpBranch")
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
@@ -105,9 +106,11 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
+      fixed_fingerprint = (self.params.get("CarPlatformBundle") or {}).get("platform", None)
+      init_params_list_sp = sunnypilot_interfaces.initialize_params(self.params)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params, fixed_fingerprint)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params,
+                        fixed_fingerprint, init_params_list_sp, is_release_sp)
       sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
@@ -119,30 +122,23 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
-    # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
     # mads
-    set_alternative_experience(self.CP, self.params)
+    set_alternative_experience(self.CP, self.CP_SP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
 
     # Dynamic Experimental Control
     self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
-
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = structs.CarParams.SafetyConfig()
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+    if self.CP.secOcRequired:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -152,7 +148,7 @@ class Car:
       except Exception:
         pass
 
-      secoc_key = self.params.get("SecOCKey", encoding='utf8')
+      secoc_key = self.params.get("SecOCKey")
       if secoc_key is not None:
         saved_secoc_key = bytes.fromhex(secoc_key.strip())
         if len(saved_secoc_key) == 16:
@@ -182,8 +178,7 @@ class Car:
     self.params.put_nonblocking("CarParamsSPCache", cp_sp_bytes)
     self.params.put_nonblocking("CarParamsSPPersistent", cp_sp_bytes)
 
-    self.mock_carstate = MockCarState()
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
@@ -194,16 +189,15 @@ class Car:
     # log fingerprint in sentry
     sunnypilot_interfaces.log_fingerprint(self.CP)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
+  def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = self.CI.update(can_list)
-    if self.CP.brand == 'mock':
-      CS = self.mock_carstate.update(CS)
+    CS, CS_SP = self.CI.update(can_list)
+    CS_SP = convert_to_capnp(CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
@@ -219,6 +213,7 @@ class Car:
     if can_rcv_valid and REPLAY:
       self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
+    self.v_cruise_helper.update_speed_limit_assist(self.is_metric, self.sm['longitudinalPlanSP'])
     self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
     if self.sm['carControl'].enabled and not self.CC_prev.enabled:
       # Use CarState w/ buttons from the step selfdrived enables on
@@ -228,9 +223,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    return CS, RD
+    return CS, CS_SP, RD
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
+  def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -267,6 +262,11 @@ class Car:
       cp_sp_send.carParamsSP = self.CP_SP_capnp
       self.pm.send('carParamsSP', cp_sp_send)
 
+    cs_sp_send = messaging.new_message('carStateSP')
+    cs_sp_send.valid = CS.canValid
+    cs_sp_send.carStateSP = CS_SP
+    self.pm.send('carStateSP', cs_sp_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
 
@@ -274,7 +274,6 @@ class Car:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
@@ -287,9 +286,9 @@ class Car:
       self.CC_prev = CC
 
   def step(self):
-    CS, RD = self.state_update()
+    CS, CS_SP, RD = self.state_update()
 
-    self.state_publish(CS, RD)
+    self.state_publish(CS, CS_SP, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
@@ -298,6 +297,7 @@ class Car:
 
     self.initialized_prev = initialized
     self.CS_prev = CS
+    self.CS_SP_prev = CS_SP
 
   def params_thread(self, evt):
     while not evt.is_set():
@@ -306,6 +306,7 @@ class Car:
 
       # sunnypilot
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+      self.v_cruise_helper.read_custom_set_speed_params()
 
       time.sleep(0.1)
 
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index d696566ba5..572dfabc02 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -2,7 +2,8 @@ import math
 import numpy as np
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -28,8 +29,9 @@ CRUISE_INTERVAL_SIGN = {
 }
 
 
-class VCruiseHelper:
-  def __init__(self, CP):
+class VCruiseHelper(VCruiseHelperSP):
+  def __init__(self, CP, CP_SP):
+    VCruiseHelperSP.__init__(self, CP, CP_SP)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -44,12 +46,16 @@ class VCruiseHelper:
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
 
+    self.get_minimum_set_speed(is_metric)
+
+    _enabled = self.update_enabled_state(CS, enabled)
+
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      if not self.CP.pcmCruise or (not self.CP_SP.pcmCruiseSpeed and _enabled):
         # if stock cruise is completely disabled, then we can use our own set speed logic
-        self._update_v_cruise_non_pcm(CS, enabled, is_metric)
+        self._update_v_cruise_non_pcm(CS, _enabled, is_metric)
+        self.update_speed_limit_assist_v_cruise_non_pcm()
         self.v_cruise_cluster_kph = self.v_cruise_kph
-        self.update_button_timers(CS, enabled)
       else:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
@@ -63,6 +69,9 @@ class VCruiseHelper:
       self.v_cruise_kph = V_CRUISE_UNSET
       self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
+    if not self.CP.pcmCruise or not self.CP_SP.pcmCruiseSpeed:
+      self.update_button_timers(CS, enabled)
+
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
     # would have the effect of both enabling and changing speed is checked after the state transition
@@ -99,7 +108,13 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+    # Speed Limit Assist for Non PCM long cars.
+    # True: Disallow set speed changes when user confirmed the target set speed during preActive state
+    # False: Allow set speed changes as SLA is not requesting user confirmation
+    if self.update_speed_limit_assist_pre_active_confirmed(button_type):
+      return
+
+    long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
@@ -109,7 +124,7 @@ class VCruiseHelper:
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 3f7a322c08..384152c71b 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -35,11 +35,13 @@ def asdictref(obj) -> dict[str, Any]:
   return _asdictref_inner(obj)
 
 
-def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
+def convert_to_capnp(struct: structs.CarParamsSP | structs.CarStateSP) -> capnp.lib.capnp._DynamicStructBuilder:
   struct_dict = asdictref(struct)
 
   if isinstance(struct, structs.CarParamsSP):
     struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
+  elif isinstance(struct, structs.CarStateSP):
+    struct_capnp = custom.CarStateSP.new_message(**struct_dict)
   else:
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 
@@ -55,5 +57,11 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+  # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
+  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
+  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
+  struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
+    **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
+  )
 
   return struct_dataclass
diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
index 863b8bead0..bb6e82dd0e 100755
--- a/selfdrive/car/tests/big_cars_test.sh
+++ b/selfdrive/car/tests/big_cars_test.sh
@@ -6,7 +6,6 @@ cd $BASEDIR
 
 export MAX_EXAMPLES=300
 export INTERNAL_SEG_CNT=300
-export FILEREADER_CACHE=1
 export INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
 
 cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 75e5467b7e..cd44759cbf 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -1,15 +1,12 @@
 import os
-import math
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import car, custom
 from opendbc.car import DT_CTRL
-from opendbc.car.car_helpers import interfaces
 from opendbc.car.structs import CarParams
-from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface_args
-from opendbc.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
+from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.values import PLATFORMS
 from openpilot.selfdrive.car.helpers import convert_carControlSP
@@ -21,11 +18,6 @@ from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
-ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}
-ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus}
-
-ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
-
 MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
@@ -37,43 +29,10 @@ class TestCarInterfaces:
             phases=(Phase.reuse, Phase.generate, Phase.shrink))
   @given(data=st.data())
   def test_car_interfaces(self, car_name, data):
-    CarInterface = interfaces[car_name]
-
-    args = get_fuzzy_car_interface_args(data.draw)
-
-    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         alpha_long=args['alpha_long'], docs=False)
-    car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                               alpha_long=args['alpha_long'], docs=False)
-    car_params = car_params.as_reader()
-    car_interface = CarInterface(car_params, car_params_sp)
+    car_interface = get_fuzzy_car_interface(car_name, data.draw)
+    car_params = car_interface.CP.as_reader()
+    car_params_sp = car_interface.CP_SP
     sunnypilot_interfaces.setup_interfaces(car_interface)
-    assert car_params
-    assert car_params_sp
-    assert car_interface
-
-    assert car_params.mass > 1
-    assert car_params.wheelbase > 0
-    # centerToFront is center of gravity to front wheels, assert a reasonable range
-    assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7
-    assert car_params.maxLateralAccel > 0
-
-    # Longitudinal sanity checks
-    assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
-    assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-
-    # Lateral sanity checks
-    if car_params.steerControlType != CarParams.SteerControlType.angle:
-      tune = car_params.lateralTuning
-      if tune.which() == 'pid':
-        if car_name != MOCK.MOCK:
-          assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0
-          assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)
-          assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
-
-      elif tune.which() == 'torque':
-        assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
-        assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
 
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.CarControlSP, real_floats=True)
@@ -101,10 +60,10 @@ class TestCarInterfaces:
     # Test controller initialization
     # TODO: wait until card refactor is merged to run controller a few times,
     #  hypothesis also slows down significantly with just one more message draw
-    LongControl(car_params)
+    LongControl(car_params, car_params_sp)
     if car_params.steerControlType == CarParams.SteerControlType.angle:
-      LatControlAngle(car_params, car_params_sp, car_interface)
+      LatControlAngle(car_params, car_params_sp, car_interface, DT_CTRL)
     elif car_params.lateralTuning.which() == 'pid':
-      LatControlPID(car_params, car_params_sp, car_interface)
+      LatControlPID(car_params, car_params_sp, car_interface, DT_CTRL)
     elif car_params.lateralTuning.which() == 'torque':
-      LatControlTorque(car_params, car_params_sp, car_interface)
+      LatControlTorque(car_params, car_params_sp, car_interface, DT_CTRL)
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index dd78b77680..d3ca6eed4f 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -2,11 +2,11 @@ import pytest
 import itertools
 import numpy as np
 
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from cereal import car, custom
+from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 ButtonEvent = car.CarState.ButtonEvent
@@ -44,12 +44,13 @@ class TestCruiseSpeed:
     assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s'
 
 
-# TODO: test pcmCruise
-@parameterized_class(('pcm_cruise',), [(False,)])
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
 class TestVCruiseHelper:
   def setup_method(self):
     self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
-    self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.CP_SP = custom.CarParamsSP(pcmCruiseSpeed=self.pcm_cruise_speed)
+    self.v_cruise_helper = VCruiseHelper(self.CP, self.CP_SP)
     self.reset_cruise_speed_state()
 
   def reset_cruise_speed_state(self):
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ae5f57db9d..209df3b159 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -5,10 +5,9 @@ import pytest
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
-from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 
 from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
@@ -23,8 +22,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source_zst, openpilotci_source, internal_source, \
-                                          internal_source_zst, comma_api_source, auto_source
+from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
 from openpilot.tools.lib.route import SegmentName
 
 SafetyModel = car.CarParams.SafetyModel
@@ -126,9 +124,8 @@ class TestCarModelBase(unittest.TestCase):
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        source = partial(auto_source, sources=[internal_source, internal_source_zst] if len(INTERNAL_SEG_LIST) else \
-                                              [openpilotci_source_zst, openpilotci_source, comma_api_source])
-        lr = LogReader(segment_range, source=source, sort_by_time=True)
+        sources = [internal_source] if len(INTERNAL_SEG_LIST) else [openpilotci_source, comma_api_source]
+        lr = LogReader(segment_range, sources=sources, sort_by_time=True)
         return cls.get_testing_data_from_logreader(lr)
       except (LogsUnavailable, AssertionError):
         pass
@@ -153,8 +150,8 @@ class TestCarModelBase(unittest.TestCase):
     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, alpha_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, False, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
@@ -192,26 +189,22 @@ class TestCarModelBase(unittest.TestCase):
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
-        self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
+        self.assertTrue(self.CP.lateralTuning.torque.latAccelFactor > 0)
       else:
         raise Exception("unknown tuning")
 
   def test_car_interface(self):
     # TODO: also check for checksum violations from can parser
     can_invalid_cnt = 0
-    can_valid = False
     CC = structs.CarControl().as_reader()
     CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(msg)
+      CS, _ = self.CI.update(msg)
       self.CI.apply(CC, CC_SP, msg[0])
 
-      if CS.canValid:
-        can_valid = True
-
       # wait max of 2s for low frequency msgs to be seen
-      if i > 200 or can_valid:
+      if i > 250:
         can_invalid_cnt += not CS.canValid
 
     self.assertEqual(can_invalid_cnt, 0)
@@ -331,7 +324,7 @@ class TestCarModelBase(unittest.TestCase):
 
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
 
-    for dat in msgs:
+    for n, dat in enumerate(msgs):
       # due to panda updating state selectively, only edges are expected to match
       # TODO: warm up CarState with real CAN messages to check edge of both sources
       #  (eg. toyota's gasPressed is the inverse of a signal being set)
@@ -349,7 +342,9 @@ class TestCarModelBase(unittest.TestCase):
       self.safety.safety_rx_hook(to_send)
 
       can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS = self.CI.update(can)
+      CS, _ = self.CI.update(can)
+      if n < 5:  # CANParser warmup time
+        continue
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -369,7 +364,7 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
         self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
 
-      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
+      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving and not self.CP.notCar:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
       # check vehicle speed if angle control car or available
@@ -409,7 +404,8 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can).as_reader()
+      CS, _ = self.CI.update(can)
+      CS = CS.as_reader()
       for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
@@ -426,7 +422,7 @@ class TestCarModelBase(unittest.TestCase):
       # TODO: check rest of panda's carstate (steering, ACC main on, etc.)
 
       checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
-      checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
+      checks['standstill'] += (CS.standstill == self.safety.get_vehicle_moving()) and not self.CP.notCar
 
       # check vehicle speed if angle control car or available
       if self.safety.get_vehicle_speed_min() > 0 or self.safety.get_vehicle_speed_max() > 0:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 69f468e4cd..1c8e9f76b1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 import math
-from typing import SupportsFloat
+from numbers import Number
 
-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
+from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import interfaces
@@ -17,8 +17,11 @@ from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
+
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -26,41 +29,42 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls:
+class Controls(ControlsExt):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
+    # Initialize sunnypilot controlsd extension and base model state
+    ControlsExt.__init__(self, self.CP, self.params)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
-    self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
+    self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
                                   poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
-    self.steer_limited_by_controls = False
+    self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
 
-    self.LoC = LongControl(self.CP)
+    self.LoC = LongControl(self.CP, self.CP_SP)
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
+      self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'pid':
-      self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)
+      self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI, DT_CTRL)
     elif self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI)
+      self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI, DT_CTRL)
+
+    self.LaC = ControlsExt.initialize_lateral_control(self, self.LaC, self.CI, DT_CTRL)
 
   def update(self):
     self.sm.update(15)
@@ -89,8 +93,12 @@ class Controls:
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)
 
+        self.LaC.extension.update_limits()
+
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
 
+      self.LaC.extension.update_lateral_lag(self.lat_delay)
+
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
 
@@ -100,15 +108,13 @@ class Controls:
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
 
-    ss_sp = self.sm['selfdriveStateSP']
-    if ss_sp.mads.available:
-      _lat_active = ss_sp.mads.active
-    else:
-      _lat_active = self.sm['selfdriveState'].active
+    # Get which state to use for active lateral control
+    _lat_active = self.get_lat_active(self.sm)
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
+    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and \
+                    (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -124,36 +130,34 @@ class Controls:
       self.LoC.reset()
 
     # accel PID loop
-    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
+    pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage
     new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
+    lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                       self.steer_limited_by_controls, self.desired_curvature,
-                                                       self.calibrated_pose, curvature_limited)  # TODO what if not available
+                                                       self.steer_limited_by_safety, self.desired_curvature,
+                                                       self.calibrated_pose, curvature_limited, lat_delay)
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
-      if not isinstance(attr, SupportsFloat):
+      if not isinstance(attr, Number):
         continue
 
       if not math.isfinite(attr):
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log
 
-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
@@ -163,12 +167,9 @@ class Controls:
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
 
-    CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
+    CC.cruiseControl.override = CC.enabled and not CC.longActive and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
-
-    speeds = self.sm['longitudinalPlan'].speeds
-    if len(speeds):
-      CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+    CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
 
     hudControl = CC.hudControl
     hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
@@ -184,13 +185,13 @@ class Controls:
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.sm['selfdriveState'].active:
+    if self.get_lat_active(self.sm):
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
@@ -227,18 +228,14 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
-
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
     while True:
       self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
+      CC, lac_log = self.state_control()
+      self.publish(CC, lac_log)
+      self.get_params_sp(self.sm)
+      self.run_ext(self.sm, self.pm)
       rk.monitor_time()
 
 
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 23386e2ad7..16908fa3e3 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,10 +1,12 @@
-from cereal import log
-from openpilot.common.conversions import Conversions as CV
+from cereal import log, custom
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
@@ -30,6 +32,12 @@ DESIRES = {
   },
 }
 
+TURN_DESIRES = {
+  TurnDirection.none: log.Desire.none,
+  TurnDirection.turnLeft: log.Desire.turnLeft,
+  TurnDirection.turnRight: log.Desire.turnRight,
+}
+
 
 class DesireHelper:
   def __init__(self):
@@ -41,13 +49,25 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
     self.alc = AutoLaneChangeController(self)
+    self.lane_turn_controller = LaneTurnController(self)
+    self.lane_turn_direction = TurnDirection.none
+
+  @staticmethod
+  def get_lane_change_direction(CS):
+    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
 
   def update(self, carstate, lateral_active, lane_change_prob):
     self.alc.update_params()
+    self.lane_turn_controller.update_params()
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
+    # Lane turn controller update
+    self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
+                                               left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
+    self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
+
     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
@@ -56,12 +76,13 @@ class DesireHelper:
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0
+        # Initialize lane change direction to prevent UI alert flicker
+        self.lane_change_direction = self.get_lane_change_direction(carstate)
 
       # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
-        # Set lane change direction
-        self.lane_change_direction = LaneChangeDirection.left if \
-          carstate.leftBlinker else LaneChangeDirection.right
+        # Update lane change direction
+        self.lane_change_direction = self.get_lane_change_direction(carstate)
 
         torque_applied = carstate.steeringPressed and \
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
@@ -106,7 +127,10 @@ class DesireHelper:
 
     self.prev_one_blinker = one_blinker
 
-    self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
+    if self.lane_turn_direction != TurnDirection.none:
+      self.desire = TURN_DESIRES[self.lane_turn_direction]
+    else:
+      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
 
     # Send keep pulse once per second during LaneChangeStart.preLaneChange
     if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 56eeac3bdf..bf6dd04f60 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,6 +1,5 @@
 import numpy as np
-from cereal import log
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
@@ -23,7 +22,7 @@ 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):
+def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, bool]:
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
   v_ego = max(v_ego, MIN_SPEED)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2)  # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
@@ -40,14 +39,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   return float(new_curvature), limited_accel or limited_max_curv
 
 
-def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
-  # ToDo: Try relative error, and absolute speed
-  if len(modelV2.temporalPose.trans):
-    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]
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index a2c28ed8ce..4207a188f4 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,31 +1,31 @@
 import numpy as np
 from abc import abstractmethod, ABC
-
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.helpers import Pose
 
 
 class LatControl(ABC):
-  def __init__(self, CP, CP_SP, CI):
-    self.sat_count_rate = 1.0 * DT_CTRL
+  def __init__(self, CP, CP_SP, CI, dt):
+    self.dt = dt
     self.sat_limit = CP.steerLimitTimer
-    self.sat_count = 0.
+    self.sat_time = 0.
     self.sat_check_min_speed = 10.
 
     # we define the steer torque scale as [-1.0...1.0]
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, calibrated_pose: Pose,
+             curvature_limited: bool, lat_delay: float):
     pass
 
   def reset(self):
-    self.sat_count = 0.
+    self.sat_time = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
-      self.sat_count += self.sat_count_rate
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
+      self.sat_time += self.dt
     else:
-      self.sat_count -= self.sat_count_rate
-    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
-    return self.sat_count > (self.sat_limit - 1e-3)
+      self.sat_time -= self.dt
+    self.sat_time = np.clip(self.sat_time, 0.0, self.sat_limit)
+    return self.sat_time > (self.sat_limit - 1e-3)
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 7bd0abc115..116d62f85c 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -3,15 +3,17 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
+# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
-  def __init__(self, CP, CP_SP, CI):
-    super().__init__(CP, CP_SP, CI)
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
     self.sat_check_min_speed = 5.
+    self.use_steer_limited_by_safety = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -22,7 +24,13 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
+    if self.use_steer_limited_by_safety:
+      # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
+      angle_control_saturated = steer_limited_by_safety
+    else:
+      # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
+      # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
+      angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
     angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index eb8a1ed5f9..25b2c8d87e 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -6,18 +6,15 @@ from openpilot.common.pid import PIDController
 
 
 class LatControlPID(LatControl):
-  def __init__(self, CP, CP_SP, CI):
-    super().__init__(CP, CP_SP, CI)
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
-                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+                             pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.ff_factor = CP.lateralTuning.pid.kf
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def reset(self):
-    super().reset()
-    self.pid.reset()
-
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -29,20 +26,24 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_steer = 0.0
+      output_torque = 0.0
       pid_log.active = False
-      self.pid.reset()
+
     else:
       # offset does not contribute to resistive torque
-      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+
+      output_torque = self.pid.update(error,
+                                feedforward=ff,
+                                speed=CS.vEgo,
+                                freeze_integrator=freeze_integrator)
 
-      output_steer = self.pid.update(error, override=CS.steeringPressed,
-                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.output = float(output_torque)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
-    return output_steer, angle_steers_des, pid_log
+    return output_torque, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 5edf4cf91b..d0eb40d096 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -1,9 +1,11 @@
 import math
 import numpy as np
+from collections import deque
 
 from cereal import log
-from opendbc.car.interfaces import LatControlInputs
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
@@ -15,89 +17,106 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
 # wheel slip, or to speed.
 
 # This controller applies torque to achieve desired lateral
-# accelerations. To compensate for the low speed effects we
-# use a LOW_SPEED_FACTOR in the error. Additionally, there is
-# friction in the steering wheel that needs to be overcome to
-# move it at all, this is compensated for too.
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
 
-LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
+KP = 0.8
+KI = 0.15
 
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 1
 
 class LatControlTorque(LatControl):
-  def __init__(self, CP, CP_SP, CI):
-    super().__init__(CP, CP_SP, CI)
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
     self.torque_params = CP.lateralTuning.torque.as_builder()
-    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.use_steering_angle = self.torque_params.useSteeringAngle
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
+    self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
-    self.extension = LatControlTorqueExt(self, CP, CP_SP)
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
+    measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+    measurement = measured_curvature * CS.vEgo ** 2
+    future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+    self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+
+    roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+    curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+    lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+    delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
+    expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+    setpoint = expected_lateral_accel
+    error = setpoint - measurement
+
+    lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+    raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+    desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+    gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+    ff = gravity_adjusted_future_lateral_accel
+    # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+    ff -= self.torque_params.latAccelOffset
+    ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
     if not active:
       output_torque = 0.0
       pid_log.active = False
     else:
-      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
-      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-      if self.use_steering_angle:
-        actual_curvature = actual_curvature_vm
-        curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
-      else:
-        assert calibrated_pose is not None
-        actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
-        curvature_deadzone = 0.0
-      desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(error)
 
-      # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
-      # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
-      actual_lateral_accel = actual_curvature * CS.vEgo ** 2
-      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
-
-      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
-      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
-      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
-      torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                                               measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
-      ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
-                                          desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
-                                          gravity_adjusted=True)
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # 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_curvature, actual_curvature)
-
-      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(pid_log.error,
-                                      feedforward=ff,
-                                      speed=CS.vEgo,
-                                      freeze_integrator=freeze_integrator)
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     future_desired_lateral_accel, measurement, lateral_accel_deadzone, gravity_adjusted_future_lateral_accel,
+                                                     desired_curvature, measured_curvature, steer_limited_by_safety, output_torque)
 
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)
-      pid_log.actualLateralAccel = float(actual_lateral_accel)
-      pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 2c03da06a6..c9ebf89207 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -55,18 +55,23 @@ source_list = ['lat_mpc.py',
 ]
 
 lenv = env.Clone()
+acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
 
 generated_lat = lenv.Command(generated_files,
                              source_list,
                              f"cd {Dir('.').abspath} && python3 lat_mpc.py")
-lenv.Depends(generated_lat, [msgq_python, common_python, opendbc_python])
+lenv.Depends(generated_lat, [msgq_python, common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
 if arch != "Darwin":
   lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+else:
+  lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_lat.dylib")
+  lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
@@ -78,7 +83,8 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
 lenv2 = envCython.Clone()
-lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
+lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')]
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \
@@ -86,6 +92,6 @@ lenv2.Command(libacados_ocp_solver_c,
   f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
   f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
   f' {acados_ocp_solver_pyx.get_labspath()}')
-lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_lat'])
 lenv2.Depends(lib_cython, lib_solver)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/ldw.py b/selfdrive/controls/lib/ldw.py
index caf03fec73..78a6d6cf6e 100644
--- a/selfdrive/controls/lib/ldw.py
+++ b/selfdrive/controls/lib/ldw.py
@@ -1,6 +1,6 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 
 
 CAMERA_OFFSET = 0.04
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 6d4f922461..ec714f452e 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -10,8 +10,11 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego,
+def long_control_state_trans(CP, CP_SP, active, long_control_state, v_ego,
                              should_stop, brake_pressed, cruise_standstill):
+  # Gas Interceptor
+  cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
+
   stopping_condition = should_stop
   starting_condition = (not should_stop and
                         not cruise_standstill and
@@ -45,12 +48,13 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
   return long_control_state
 
 class LongControl:
-  def __init__(self, CP):
+  def __init__(self, CP, CP_SP):
     self.CP = CP
+    self.CP_SP = CP_SP
     self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
-                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
+                             rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
 
   def reset(self):
@@ -61,7 +65,7 @@ class LongControl:
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(self.CP, self.CP_SP, active, self.long_control_state, CS.vEgo,
                                                        should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
     if self.long_control_state == LongCtrlState.off:
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 2a155717c0..7a6c02a538 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -61,12 +61,13 @@ source_list = ['long_mpc.py',
 ]
 
 lenv = env.Clone()
+acados_rel_path = Dir(gen).rel_path(Dir(f"#third_party/acados/{arch}/lib"))
+lenv["RPATH"] += [lenv.Literal(f'\\$$ORIGIN/{acados_rel_path}')]
 lenv.Clean(generated_files, Dir(gen))
-
 generated_long = lenv.Command(generated_files,
                               source_list,
                               f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python])
+lenv.Depends(generated_long, [msgq_python, common_python])
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
@@ -75,6 +76,7 @@ if arch != "Darwin":
   lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
 else:
   lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib")
+  lenv["LINKFLAGS"].append(f"-Wl,-rpath,@loader_path/{acados_rel_path}")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
@@ -86,7 +88,8 @@ libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
 lenv2 = envCython.Clone()
-lenv2["LINKFLAGS"] += [lib_solver[0].get_labspath()]
+lenv2["LIBPATH"] += [lib_solver[0].dir.abspath]
+lenv2["RPATH"] += [lenv2.Literal('\\$$ORIGIN')]
 lenv2.Command(libacados_ocp_solver_c,
   [acados_ocp_solver_pyx, acados_ocp_solver_common, libacados_ocp_solver_pxd],
   f'cython' + \
@@ -94,6 +97,6 @@ lenv2.Command(libacados_ocp_solver_c,
   f' -I {libacados_ocp_solver_pxd.get_dir().get_labspath()}' + \
   f' -I {acados_ocp_solver_common.get_dir().get_labspath()}' + \
   f' {acados_ocp_solver_pyx.get_labspath()}')
-lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
+lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c], LIBS=['acados_ocp_solver_long'])
 lenv2.Depends(lib_cython, lib_solver)
 lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 3f9d8245bd..efdef9dd71 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
 
-SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
+LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
+MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
 
 X_DIM = 3
 U_DIM = 1
@@ -35,7 +36,7 @@ X_EGO_OBSTACLE_COST = 3.
 X_EGO_COST = 0.
 V_EGO_COST = 0.
 A_EGO_COST = 0.
-J_EGO_COST = 5.0
+J_EGO_COST = 5.
 A_CHANGE_COST = 200.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .25
@@ -43,7 +44,6 @@ LEAD_DANGER_FACTOR = 0.75
 LIMIT_COST = 1e6
 ACADOS_SOLVER_TYPE = 'SQP_RTI'
 
-
 # Fewer timestamps don't hurt performance and lead to
 # much better convergence of the MPC with low iterations
 N = 12
@@ -57,6 +57,7 @@ COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
 CRUISE_MIN_ACCEL = -1.2
 CRUISE_MAX_ACCEL = 1.6
+MIN_X_LEAD_FACTOR = 0.5
 
 def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
   if personality==log.LongitudinalPersonality.relaxed:
@@ -85,20 +86,12 @@ def get_stopped_equivalence_factor(v_lead):
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
-def desired_follow_distance(v_ego, v_lead, t_follow=None):
-  if t_follow is None:
-    t_follow = get_T_FOLLOW()
-  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
-
-
 def gen_long_model():
   model = AcadosModel()
   model.name = MODEL_NAME
 
-  # set up states & controls
-  x_ego = SX.sym('x_ego')
-  v_ego = SX.sym('v_ego')
-  a_ego = SX.sym('a_ego')
+  # states
+  x_ego, v_ego, a_ego = SX.sym('x_ego'), SX.sym('v_ego'), SX.sym('a_ego')
   model.x = vertcat(x_ego, v_ego, a_ego)
 
   # controls
@@ -115,10 +108,10 @@ def gen_long_model():
   a_min = SX.sym('a_min')
   a_max = SX.sym('a_max')
   x_obstacle = SX.sym('x_obstacle')
-  prev_a = SX.sym('prev_a')
+  a_prev = SX.sym('a_prev')
   lead_t_follow = SX.sym('lead_t_follow')
   lead_danger_factor = SX.sym('lead_danger_factor')
-  model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor)
+  model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor)
 
   # dynamics model
   f_expl = vertcat(v_ego, a_ego, j_ego)
@@ -126,7 +119,6 @@ def gen_long_model():
   model.f_expl_expr = f_expl
   return model
 
-
 def gen_long_ocp():
   ocp = AcadosOcp()
   ocp.model = gen_long_model()
@@ -151,7 +143,7 @@ def gen_long_ocp():
 
   a_min, a_max = ocp.model.p[0], ocp.model.p[1]
   x_obstacle = ocp.model.p[2]
-  prev_a = ocp.model.p[3]
+  a_prev = ocp.model.p[3]
   lead_t_follow = ocp.model.p[4]
   lead_danger_factor = ocp.model.p[5]
 
@@ -168,7 +160,7 @@ def gen_long_ocp():
            x_ego,
            v_ego,
            a_ego,
-           a_ego - prev_a,
+           a_ego - a_prev,
            j_ego]
   ocp.model.cost_y_expr = vertcat(*costs)
   ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
@@ -222,30 +214,31 @@ def gen_long_ocp():
 
 
 class LongitudinalMpc:
-  def __init__(self, mode='acc', dt=DT_MDL):
-    self.mode = mode
+  def __init__(self, dt=DT_MDL):
     self.dt = dt
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset()
-    self.source = SOURCES[2]
+    self.source = LongitudinalPlanSource.cruise
 
   def reset(self):
-    # self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.solver.reset()
-    # self.solver.options_set('print_level', 2)
+
+    self.x_sol = np.zeros((N+1, X_DIM))
+    self.u_sol = np.zeros((N, 1))
     self.v_solution = np.zeros(N+1)
     self.a_solution = np.zeros(N+1)
-    self.prev_a = np.array(self.a_solution)
     self.j_solution = np.zeros(N)
+    self.a_prev = np.array(self.a_solution)
     self.yref = np.zeros((N+1, COST_DIM))
+
     for i in range(N):
       self.solver.cost_set(i, "yref", self.yref[i])
     self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
-    self.x_sol = np.zeros((N+1, X_DIM))
-    self.u_sol = np.zeros((N,1))
+
     self.params = np.zeros((N+1, PARAM_DIM))
     for i in range(N+1):
       self.solver.set(i, 'x', np.zeros(X_DIM))
+
     self.last_cloudlog_t = 0
     self.status = False
     self.crash_cnt = 0.0
@@ -276,16 +269,9 @@ class LongitudinalMpc:
 
   def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
     jerk_factor = get_jerk_factor(personality)
-    if self.mode == 'acc':
-      a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
-    elif self.mode == 'blended':
-      a_change_cost = 40.0 if prev_accel_constraint else 0
-      cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
-      constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
-    else:
-      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
+    a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
+    cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
+    constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     self.set_cost_weights(cost_weights, constraint_cost_weights)
 
   def set_cur_state(self, v, a):
@@ -320,14 +306,14 @@ class LongitudinalMpc:
 
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
+    min_x_lead = MIN_X_LEAD_FACTOR * (v_ego + v_lead) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
     x_lead = np.clip(x_lead, min_x_lead, 1e8)
     v_lead = np.clip(v_lead, 0.0, 1e8)
     a_lead = np.clip(a_lead, -10., 5.)
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+  def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
     t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
@@ -341,56 +327,28 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = ACCEL_MAX
+    # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
+    # when the leads are no factor.
+    v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
+    # TODO does this make sense when max_a is negative?
+    v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
+    v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper)
+    cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
 
-    # Update in ACC mode or ACC/e2e blend
-    if self.mode == 'acc':
-      self.params[:,5] = LEAD_DANGER_FACTOR
+    x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
+    self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
 
-      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
-      # when the leads are no factor.
-      v_lower = v_ego + (T_IDXS * CRUISE_MIN_ACCEL * 1.05)
-      # TODO does this make sense when max_a is negative?
-      v_upper = v_ego + (T_IDXS * CRUISE_MAX_ACCEL * 1.05)
-      v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
-                                 v_lower,
-                                 v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
-      x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
-      self.source = SOURCES[np.argmin(x_obstacles[0])]
-
-      # These are not used in ACC mode
-      x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0
-
-    elif self.mode == 'blended':
-      self.params[:,5] = 1.0
-
-      x_obstacles = np.column_stack([lead_0_obstacle,
-                                     lead_1_obstacle])
-      cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
-      xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
-      x = np.cumsum(np.insert(xforward, 0, x[0]))
-
-      x_and_cruise = np.column_stack([x, cruise_target])
-      x = np.min(x_and_cruise, axis=1)
-
-      self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise'
-
-    else:
-      raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')
-
-    self.yref[:,1] = x
-    self.yref[:,2] = v
-    self.yref[:,3] = a
-    self.yref[:,5] = j
+    self.yref[:,:] = 0.0
     for i in range(N):
       self.solver.set(i, "yref", self.yref[i])
     self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
 
+    self.params[:,0] = ACCEL_MIN
+    self.params[:,1] = ACCEL_MAX
     self.params[:,2] = np.min(x_obstacles, axis=1)
-    self.params[:,3] = np.copy(self.prev_a)
+    self.params[:,3] = np.copy(self.a_prev)
     self.params[:,4] = t_follow
+    self.params[:,5] = LEAD_DANGER_FACTOR
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
@@ -399,18 +357,7 @@ class LongitudinalMpc:
     else:
       self.crash_cnt = 0
 
-    # Check if it got within lead comfort range
-    # TODO This should be done cleaner
-    if self.mode == 'blended':
-      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
-        self.source = 'lead0'
-      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
-         (lead_1_obstacle[0] - lead_0_obstacle[0]):
-        self.source = 'lead1'
-
   def run(self):
-    # t0 = time.monotonic()
-    # reset = 0
     for i in range(N+1):
       self.solver.set(i, 'p', self.params[i])
     self.solver.constraints_set(0, "lbx", self.x0)
@@ -422,13 +369,6 @@ class LongitudinalMpc:
     self.time_linearization = float(self.solver.get_stats('time_lin')[0])
     self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
-    # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
-    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
-    # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
-    # res = self.solver.get_residuals()
-    # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
-    # self.solver.print_statistics()
-
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')
     for i in range(N):
@@ -438,7 +378,7 @@ class LongitudinalMpc:
     self.a_solution = self.x_sol[:,2]
     self.j_solution = self.u_sol[:,0]
 
-    self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
+    self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
 
     t = time.monotonic()
     if self.solution_status != 0:
@@ -446,12 +386,8 @@ class LongitudinalMpc:
         self.last_cloudlog_t = t
         cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
-      # reset = 1
-    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \
-    # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
 
 
 if __name__ == "__main__":
   ocp = gen_long_ocp()
   AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
-  # AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 377ce7c2cb..e02b02d2e0 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -4,38 +4,35 @@ import numpy as np
 
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 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 LongitudinalMpc, LongitudinalPlanSource
 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, get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
 
-LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
-ALLOW_THROTTLE_THRESHOLD = 0.5
+ALLOW_THROTTLE_THRESHOLD = 0.4
 MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
-
 def get_max_accel(v_ego):
   return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
 
-
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
@@ -51,11 +48,10 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 
 
 class LongitudinalPlanner(LongitudinalPlannerSP):
-  def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
+  def __init__(self, CP, CP_SP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
-    self.mpc.mode = 'acc'
-    LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
+    LongitudinalPlannerSP.__init__(self, self.CP, CP_SP, self.mpc)
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -63,22 +59,20 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.a_desired = init_a
     self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt)
     self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX]
-    self.v_model_error = 0.0
     self.output_a_target = 0.0
     self.output_should_stop = False
 
     self.v_desired_trajectory = np.zeros(CONTROL_N)
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
-    self.solverExecutionTime = 0.0
 
   @staticmethod
-  def parse_model(model_msg, model_error):
+  def parse_model(model_msg):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
       len(model_msg.velocity.x) == ModelConstants.IDX_N and
       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
+      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
+      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
       j = np.zeros(len(T_IDXS_MPC))
     else:
@@ -93,10 +87,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     LongitudinalPlannerSP.update(self, sm)
-    if dec_mpc_mode := self.get_mpc_mode():
-      self.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -119,12 +110,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    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)
-    else:
-      accel_clip = [ACCEL_MIN, ACCEL_MAX]
+    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)
 
     if reset_state:
       self.v_desired_filter.x = v_ego
@@ -133,9 +121,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
 
     # Prevent divergence, smooth in current v_ego
     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)
+    _, _, _, _, throttle_prob = self.parse_model(sm['modelV2'])
     # 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
 
@@ -144,12 +130,15 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
       clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
       accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
 
+    # Get new v_cruise and a_desired from Smart Cruise Control and Speed Limit Assist
+    v_cruise, self.a_desired = LongitudinalPlannerSP.update_targets(self, sm, self.v_desired_filter.x, self.a_desired, v_cruise)
+
     if force_slow_decel:
       v_cruise = 0.0
 
     self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
+    self.mpc.update(sm['radarState'], v_cruise, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -171,16 +160,14 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
 
-    if self.mode == 'acc':
+    if self.is_e2e(sm):
+      output_a_target = min(output_a_target_e2e, output_a_target_mpc)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
+      if output_a_target < output_a_target_mpc:
+        self.mpc.source = LongitudinalPlanSource.e2e
+    else:
       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
-
-    if not self.is_stock:
-      # To support non Tomb Raider models
-      output_a_target, self.output_should_stop = output_a_target_mpc, 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)
@@ -190,7 +177,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 60036c3082..f7d3370f90 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
+from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -16,14 +17,22 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.brand)
 
+  cloudlog.info("plannerd is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("plannerd got CarParamsSP")
+
+  gps_location_service = get_gps_location_service(params)
+
   ldw = LaneDepartureWarning()
-  longitudinal_planner = LongitudinalPlanner(CP)
+  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
-                           poll='modelV2')
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                           poll='carState')
 
   while True:
     sm.update()
+    longitudinal_planner.sla.update_car_state(sm['carState'])
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 0fd543dd60..1eb88d7206 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -1,13 +1,18 @@
 import pytest
 import itertools
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 
 from cereal import log
 
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
+def desired_follow_distance(v_ego, v_lead, t_follow=None):
+  if t_follow is None:
+    t_follow = get_T_FOLLOW()
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
+
 def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0):
   man = Maneuver(
     '',
@@ -37,4 +42,5 @@ class TestFollowingDistance:
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)
     correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality))
     err_ratio = 0.2 if self.e2e else 0.1
-    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5)
+    abs_err_margin = 0.5 if v_lead > 0.0 else 1.15
+    assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + abs_err_margin)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
similarity index 83%
rename from selfdrive/controls/lib/tests/test_latcontrol.py
rename to selfdrive/controls/tests/test_latcontrol.py
index 727f68195f..d36ed52192 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -1,11 +1,13 @@
-from parameterized import parameterized
+from openpilot.common.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.toyota.values import CAR as TOYOTA
 from opendbc.car.nissan.values import CAR as NISSAN
+from opendbc.car.gm.values import CAR as GM
 from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
@@ -17,7 +19,8 @@ from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfac
 
 class TestLatControl:
 
-  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),  (NISSAN.NISSAN_LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
+                         (NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
   def test_saturation(self, car_name, controller):
     CarInterface = interfaces[car_name]
     CP = CarInterface.get_non_essential_params(car_name)
@@ -27,7 +30,7 @@ class TestLatControl:
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
-    controller = controller(CP.as_reader(), CP_SP.as_reader(), CI)
+    controller = controller(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -40,13 +43,13 @@ class TestLatControl:
 
     # Saturate for curvature limited and controller limited
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
     assert lac_log.saturated
 
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
     assert not lac_log.saturated
 
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
     assert lac_log.saturated
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
new file mode 100644
index 0000000000..b13576a6cf
--- /dev/null
+++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -0,0 +1,47 @@
+from openpilot.common.parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
+
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+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
+
+def get_controller(car_name):
+  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(CI)
+  CP_SP = convert_to_capnp(CP_SP)
+  VM = VehicleModel(CP)
+  controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
+  return controller, VM
+
+class TestLatControlTorqueBuffer:
+
+  @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
+  def test_request_buffer_consistency(self, car_name):
+    buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL)
+    controller, VM = get_controller(car_name)
+
+    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)
+
+    for _ in range(buffer_steps):
+      controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
+    assert all(val != 0 for val in controller.lat_accel_request_buffer)
+
+    for _ in range(buffer_steps):
+      controller.update(False, CS, VM, params, False, 0.0, pose, False, 0.2)
+    assert all(val == 0 for val in controller.lat_accel_request_buffer)
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index ab50810d89..cf0ab24e0b 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -1,4 +1,4 @@
-from cereal import car
+from cereal import car, custom
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 
@@ -8,49 +8,52 @@ class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
     CP = car.CarParams.new_message()
+    CP_SP = custom.CarParamsSP.new_message()
     active = True
     current_state = LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
     assert next_state == LongCtrlState.stopping
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.pid
     active = False
-    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+    next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
     assert next_state == LongCtrlState.off
 
 def test_engage():
   CP = car.CarParams.new_message()
+  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.off
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=True, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=True, cruise_standstill=False)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=True)
   assert next_state == LongCtrlState.stopping
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
 
 def test_starting():
   CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  CP_SP = custom.CarParamsSP.new_message()
   active = True
   current_state = LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=0.1,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.starting
-  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+  next_state = long_control_state_trans(CP, CP_SP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
diff --git a/selfdrive/controls/tests/test_torqued_lat_accel_offset.py b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
new file mode 100644
index 0000000000..84389856b6
--- /dev/null
+++ b/selfdrive/controls/tests/test_torqued_lat_accel_offset.py
@@ -0,0 +1,70 @@
+import numpy as np
+from cereal import car, messaging
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car import structs
+from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BUCKET_POINTS, POINTS_PER_BUCKET, STEER_BUCKET_BOUNDS
+
+np.random.seed(0)
+
+LA_ERR_STD = 1.0
+INPUT_NOISE_STD = 0.08
+V_EGO = 30.0
+
+WARMUP_BUCKET_POINTS = (1.5*MIN_BUCKET_POINTS).astype(int)
+STRAIGHT_ROAD_LA_BOUNDS = (0.02, 0.03)
+
+ROLL_BIAS_DEG = 2.0
+ROLL_COMPENSATION_BIAS = ACCELERATION_DUE_TO_GRAVITY*float(np.sin(np.deg2rad(ROLL_BIAS_DEG)))
+TORQUE_TUNE = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=0.0, friction=0.2)
+TORQUE_TUNE_BIASED = structs.CarParams.LateralTorqueTuning(latAccelFactor=2.0, latAccelOffset=-ROLL_COMPENSATION_BIAS, friction=0.2)
+
+def generate_inputs(torque_tune, la_err_std, input_noise_std=None):
+  rng = np.random.default_rng(0)
+  steer_torques = np.concat([rng.uniform(bnd[0], bnd[1], pts) for bnd, pts in zip(STEER_BUCKET_BOUNDS, WARMUP_BUCKET_POINTS, strict=True)])
+  la_errs = rng.normal(scale=la_err_std, size=steer_torques.size)
+  frictions = np.array([get_friction(la_err, 0.0, FRICTION_THRESHOLD, torque_tune) for la_err in la_errs])
+  lat_accels = torque_tune.latAccelFactor*steer_torques + torque_tune.latAccelOffset + frictions
+  if input_noise_std is not None:
+    steer_torques += rng.normal(scale=input_noise_std, size=steer_torques.size)
+    lat_accels += rng.normal(scale=input_noise_std, size=steer_torques.size)
+  return steer_torques, lat_accels
+
+def get_warmed_up_estimator(steer_torques, lat_accels):
+  est = TorqueEstimator(car.CarParams())
+  for steer_torque, lat_accel in zip(steer_torques, lat_accels, strict=True):
+    est.filtered_points.add_point(steer_torque, lat_accel)
+  return est
+
+def simulate_straight_road_msgs(est):
+  carControl = messaging.new_message('carControl').carControl
+  carOutput = messaging.new_message('carOutput').carOutput
+  carState = messaging.new_message('carState').carState
+  livePose = messaging.new_message('livePose').livePose
+  carControl.latActive = True
+  carState.vEgo = V_EGO
+  carState.steeringPressed = False
+  ts = DT_MDL*np.arange(2*POINTS_PER_BUCKET)
+  steer_torques = np.concat((np.linspace(-0.03, -0.02, POINTS_PER_BUCKET), np.linspace(0.02, 0.03, POINTS_PER_BUCKET)))
+  lat_accels = TORQUE_TUNE.latAccelFactor * steer_torques
+  for t, steer_torque, lat_accel in zip(ts, steer_torques, lat_accels, strict=True):
+    carOutput.actuatorsOutput.torque = float(-steer_torque)
+    livePose.orientationNED.x = float(np.deg2rad(ROLL_BIAS_DEG))
+    livePose.angularVelocityDevice.z = float(lat_accel / V_EGO)
+    for which, msg in (('carControl', carControl), ('carOutput', carOutput), ('carState', carState), ('livePose', livePose)):
+      est.handle_log(t, which, msg)
+
+def test_estimated_offset():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE_BIASED, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  msg = est.get_msg()
+  # TODO add lataccelfactor and friction check when we have more accurate estimates
+  assert abs(msg.liveTorqueParameters.latAccelOffsetRaw - TORQUE_TUNE_BIASED.latAccelOffset) < 0.1
+
+def test_straight_road_roll_bias():
+  steer_torques, lat_accels = generate_inputs(TORQUE_TUNE, la_err_std=LA_ERR_STD, input_noise_std=INPUT_NOISE_STD)
+  est = get_warmed_up_estimator(steer_torques, lat_accels)
+  simulate_straight_road_msgs(est)
+  msg = est.get_msg()
+  assert (msg.liveTorqueParameters.latAccelOffsetRaw < -0.05) and np.isfinite(msg.liveTorqueParameters.latAccelOffsetRaw)
diff --git a/selfdrive/debug/analyze-msg-size.py b/selfdrive/debug/analyze-msg-size.py
new file mode 100755
index 0000000000..69015a6be2
--- /dev/null
+++ b/selfdrive/debug/analyze-msg-size.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import argparse
+from tqdm import tqdm
+
+from cereal.services import SERVICE_LIST, QueueSize
+from openpilot.tools.lib.logreader import LogReader
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze message sizes from a log route")
+  parser.add_argument("route", nargs="?", default="98395b7c5b27882e/000000a8--f87e7cd255",
+                      help="Log route to analyze (default: 98395b7c5b27882e/000000a8--f87e7cd255)")
+  args = parser.parse_args()
+
+  lr = LogReader(args.route)
+
+  szs = {}
+  for msg in tqdm(lr):
+    sz = len(msg.as_builder().to_bytes())
+    msg_type = msg.which()
+    if msg_type not in szs:
+      szs[msg_type] = {'min': sz, 'max': sz, 'sum': sz, 'count': 1}
+    else:
+      szs[msg_type]['min'] = min(szs[msg_type]['min'], sz)
+      szs[msg_type]['max'] = max(szs[msg_type]['max'], sz)
+      szs[msg_type]['sum'] += sz
+      szs[msg_type]['count'] += 1
+
+  print()
+  print(f"{'Service':<36} {'Min (KB)':>12} {'Max (KB)':>12} {'Avg (KB)':>12} {'KB/min':>12} {'KB/sec':>12} {'Minutes in 10MB':>18} {'Seconds in Queue':>18}")
+  print("-" * 132)
+  def sort_key(x):
+    k, v = x
+    avg = v['sum'] / v['count']
+    freq = SERVICE_LIST.get(k, None)
+    freq_val = freq.frequency if freq else 0.0
+    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
+    return kb_per_min
+  total_kb_per_min = 0.0
+  RINGBUFFER_SIZE_KB = 10 * 1024  # 10MB old default
+  for k, v in sorted(szs.items(), key=sort_key, reverse=True):
+    avg = v['sum'] / v['count']
+    service = SERVICE_LIST.get(k, None)
+    freq_val = service.frequency if service else 0.0
+    queue_size_kb = (service.queue_size / 1024) if service else 250  # default to SMALL
+    kb_per_min = (avg * freq_val * 60) / 1024 if freq_val > 0 else 0.0
+    kb_per_sec = kb_per_min / 60
+    minutes_in_buffer = RINGBUFFER_SIZE_KB / kb_per_min if kb_per_min > 0 else float('inf')
+    seconds_in_queue = (queue_size_kb / kb_per_sec) if kb_per_sec > 0 else float('inf')
+    total_kb_per_min += kb_per_min
+    min_str = f"{minutes_in_buffer:.2f}" if minutes_in_buffer != float('inf') else "inf"
+    sec_queue_str = f"{seconds_in_queue:.2f}" if seconds_in_queue != float('inf') else "inf"
+    print(f"{k:<36} {v['min']/1024:>12.2f} {v['max']/1024:>12.2f} {avg/1024:>12.2f} {kb_per_min:>12.2f} {kb_per_sec:>12.2f} {min_str:>18} {sec_queue_str:>18}")
+
+  # Summary section
+  print()
+  print(f"Total usage: {total_kb_per_min / 1024:.2f} MB/min")
+
+  # Calculate memory usage: old (10MB for all) vs new (from services.py)
+  OLD_SIZE = 10 * 1024 * 1024  # 10MB was the old default
+  old_total = len(SERVICE_LIST) * OLD_SIZE
+
+  new_total = sum(s.queue_size for s in SERVICE_LIST.values())
+
+  # Count by queue size
+  size_counts = {QueueSize.BIG: 0, QueueSize.MEDIUM: 0, QueueSize.SMALL: 0}
+  for s in SERVICE_LIST.values():
+    size_counts[s.queue_size] += 1
+
+  savings_pct = (1 - new_total / old_total) * 100
+
+  print()
+  print(f"{'Queue Size Comparison':<40}")
+  print("-" * 60)
+  print(f"{'Old (10MB default):':<30} {old_total / 1024 / 1024:>10.2f} MB")
+  print(f"{'New (from services.py):':<30} {new_total / 1024 / 1024:>10.2f} MB")
+  print(f"{'Savings:':<30} {savings_pct:>10.1f}%")
+  print()
+  print(f"{'Breakdown:':<30}")
+  print(f"  BIG (10MB):    {size_counts[QueueSize.BIG]:>3} services")
+  print(f"  MEDIUM (2MB):  {size_counts[QueueSize.MEDIUM]:>3} services")
+  print(f"  SMALL (250KB): {size_counts[QueueSize.SMALL]:>3} services")
diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/car/clear_dtc.py
similarity index 100%
rename from selfdrive/debug/clear_dtc.py
rename to selfdrive/debug/car/clear_dtc.py
diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py
index 03d066cdcb..6ae10d2fb2 100755
--- a/selfdrive/debug/car/fw_versions.py
+++ b/selfdrive/debug/car/fw_versions.py
@@ -47,15 +47,15 @@ if __name__ == "__main__":
 
   num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
 
-  t = time.time()
+  t = time.monotonic()
   print("Getting vin...")
   set_obd_multiplexing(True)
   vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
   print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
-  print(f"Getting VIN took {time.time() - t:.3f} s")
+  print(f"Getting VIN took {time.monotonic() - t:.3f} s")
   print()
 
-  t = time.time()
+  t = time.monotonic()
   fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
   _, candidates = match_fw_to_car(fw_vers, vin)
 
@@ -71,4 +71,4 @@ if __name__ == "__main__":
 
   print()
   print("Possible matches:", candidates)
-  print(f"Getting fw took {time.time() - t:.3f} s")
+  print(f"Getting fw took {time.monotonic() - t:.3f} s")
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/car/hyundai_enable_radar_points.py
similarity index 92%
rename from selfdrive/debug/hyundai_enable_radar_points.py
rename to selfdrive/debug/car/hyundai_enable_radar_points.py
index 93f5949eac..1cab7b0270 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/car/hyundai_enable_radar_points.py
@@ -71,6 +71,13 @@ SUPPORTED_FW_VERSIONS = {
   b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2022 Niro EV
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600\x01\x42      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600 \x07\x03\t%      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":
@@ -101,11 +108,11 @@ if __name__ == "__main__":
   uds_client = UdsClient(panda, 0x7D0, bus=args.bus)
 
   print("\n[START DIAGNOSTIC SESSION]")
-  session_type : SESSION_TYPE = 0x07 # type: ignore
+  session_type : SESSION_TYPE = 0x07
   uds_client.diagnostic_session_control(session_type)
 
   print("[HARDWARE/SOFTWARE VERSION]")
-  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore
+  fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100
   fw_version = uds_client.read_data_by_identifier(fw_version_data_id)
   print(fw_version)
   if fw_version not in SUPPORTED_FW_VERSIONS.keys():
@@ -113,7 +120,7 @@ if __name__ == "__main__":
     sys.exit(1)
 
   print("[GET CONFIGURATION]")
-  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore
+  config_data_id : DATA_IDENTIFIER_TYPE = 0x0142
   current_config = uds_client.read_data_by_identifier(config_data_id)
   config_values = SUPPORTED_FW_VERSIONS[fw_version]
   new_config = config_values.default_config if args.default else config_values.tracks_enabled
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/car/toyota_eps_factor.py
similarity index 100%
rename from selfdrive/debug/toyota_eps_factor.py
rename to selfdrive/debug/car/toyota_eps_factor.py
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/car/vw_mqb_config.py
similarity index 96%
rename from selfdrive/debug/vw_mqb_config.py
rename to selfdrive/debug/car/vw_mqb_config.py
index 7ff5774a71..13ee7786d9 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/car/vw_mqb_config.py
@@ -40,8 +40,7 @@ if __name__ == "__main__":
 
   panda = Panda()
   panda.set_safety_mode(CarParams.SafetyModel.elm327)
-  bus = 1 if panda.has_obd() else 0
-  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2)
+  uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, 1, timeout=0.2)
 
   try:
     uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC)
@@ -56,7 +55,7 @@ if __name__ == "__main__":
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
     odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
-    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
+    current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)
     coding_text = current_coding.hex()
 
     print("\nEPS diagnostic data\n")
@@ -127,9 +126,9 @@ if __name__ == "__main__":
     new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:]
 
     try:
-      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)  # type: ignore
+      seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED)
       key = struct.unpack("!I", seed)[0] + 28183  # yeah, it's like that
-      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
+      uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
       print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
@@ -149,7 +148,7 @@ if __name__ == "__main__":
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num)
-      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)  # type: ignore
+      uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding)
     except (NegativeResponseError, MessageTimeoutError):
       print("Writing new configuration failed!")
       print("Make sure the comma processes are stopped: tmux kill-session -t comma")
@@ -157,7 +156,7 @@ if __name__ == "__main__":
 
     try:
       # Read back result just to make 100% sure everything worked
-      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()  # type: ignore
+      current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex()
       print(f"   New coding:   {current_coding_text}")
     except (NegativeResponseError, MessageTimeoutError):
       print("Reading back updated coding failed!")
diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py
index 234dfea3cc..089685103f 100755
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/selfdrive/debug/cpu_usage_stat.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:
@@ -37,8 +36,6 @@ monitored_proc_names = [
 
 cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
-timer = getattr(time, 'monotonic', time.time)
-
 
 def get_arg_parser():
   parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@@ -72,7 +69,7 @@ if __name__ == "__main__":
       print('Add monitored proc:', k)
       stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
                   'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
-      stats[k]['last_sys_time'] = timer()
+      stats[k]['last_sys_time'] = time.monotonic()
       stats[k]['last_cpu_times'] = p.cpu_times()
       monitored_procs.append(p)
   i = 0
@@ -80,7 +77,7 @@ if __name__ == "__main__":
   while True:
     for p in monitored_procs:
       k = ' '.join(p.cmdline())
-      cur_sys_time = timer()
+      cur_sys_time = time.monotonic()
       cur_cpu_times = p.cpu_times()
       cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
       stats[k]['last_sys_time'] = cur_sys_time
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index 11e75a7a8e..00fa33ac63 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -99,8 +99,7 @@ def cycle_alerts(duration=200, is_metric=False):
       alert = AM.process_alerts(frame, [])
       print(alert)
       for _ in range(duration):
-        dat = messaging.new_message()
-        dat.init('selfdriveState')
+        dat = messaging.new_message('selfdriveState')
         dat.selfdriveState.enabled = False
 
         if alert:
@@ -112,8 +111,7 @@ def cycle_alerts(duration=200, is_metric=False):
           dat.selfdriveState.alertSound = alert.audible_alert
         pm.send('selfdriveState', dat)
 
-        dat = messaging.new_message()
-        dat.init('deviceState')
+        dat = messaging.new_message('deviceState')
         dat.deviceState.started = True
         pm.send('deviceState', dat)
 
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 179ff4c838..5fd46f5b76 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -28,11 +28,12 @@ def get_fingerprint(lr):
 
   # TODO: also print the fw fingerprint merged with the existing ones
   # show FW fingerprint
-  print("\nFW fingerprint:\n")
-  for f in fw:
-    print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
-    print(f"      {f.fwVersion},")
-    print("    ],")
+  if fw:
+    print("\nFW fingerprint:\n")
+    for f in fw:
+      print(f"    (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [")
+      print(f"      {f.fwVersion},")
+      print("    ],")
   print()
   print(f"VIN: {vin}")
 
diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py
deleted file mode 100755
index 7207bd1ef1..0000000000
--- a/selfdrive/debug/format_fingerprints.py
+++ /dev/null
@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-import jinja2
-import os
-
-from cereal import car
-from openpilot.common.basedir import BASEDIR
-from opendbc.car.interfaces import get_interface_attr
-
-Ecu = car.CarParams.Ecu
-
-CARS = get_interface_attr('CAR')
-FW_VERSIONS = get_interface_attr('FW_VERSIONS')
-FINGERPRINTS = get_interface_attr('FINGERPRINTS')
-ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-
-FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
-{%- if FINGERPRINTS[brand] %}
-# ruff: noqa: E501
-{% endif %}
-{% if FW_VERSIONS[brand] %}
-from opendbc.car.structs import CarParams
-{% endif %}
-from opendbc.car.{{brand}}.values import CAR
-{% if FW_VERSIONS[brand] %}
-
-Ecu = CarParams.Ecu
-{% endif %}
-{% if comments +%}
-{{ comments | join() }}
-{% endif %}
-{% if FINGERPRINTS[brand] %}
-
-FINGERPRINTS = {
-{% for car, fingerprints in FINGERPRINTS[brand].items() %}
-  CAR.{{car.name}}: [{
-{% for fingerprint in fingerprints %}
-{% if not loop.first %}
-  {{ "{" }}
-{% endif %}
-    {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
-
-  }{% if loop.last %}]{% endif %},
-{% endfor %}
-{% endfor %}
-}
-{% endif %}
-
-FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
-{% for car, _ in FW_VERSIONS[brand].items() %}
-  CAR.{{car.name}}: {
-{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
-    (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
-{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
-  {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
-    {{fw_version}},
-  {% endfor %}
-  ],
-{% endfor %}
-  },
-{% endfor %}
-}
-
-""", trim_blocks=True)
-
-
-def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
-  extra_fw_versions = extra_fw_versions or {}
-
-  fingerprints_file = os.path.join(BASEDIR, f"opendbc/car/{brand}/fingerprints.py")
-  with open(fingerprints_file) as f:
-    comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
-
-  with open(fingerprints_file, "w") as f:
-    f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
-                                            FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
-                                            extra_fw_versions=extra_fw_versions))
-
-
-if __name__ == "__main__":
-  for brand in FW_VERSIONS.keys():
-    format_brand_fw_versions(brand)
diff --git a/selfdrive/debug/fuzz_fw_fingerprint.py b/selfdrive/debug/fuzz_fw_fingerprint.py
index fa99e6bfbe..b4276c0c1a 100755
--- a/selfdrive/debug/fuzz_fw_fingerprint.py
+++ b/selfdrive/debug/fuzz_fw_fingerprint.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 import random
 from collections import defaultdict
 
diff --git a/selfdrive/debug/measure_modeld_packet_drop.py b/selfdrive/debug/measure_modeld_packet_drop.py
deleted file mode 100755
index 9814942ce2..0000000000
--- a/selfdrive/debug/measure_modeld_packet_drop.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-
-if __name__ == "__main__":
-  modeld_sock = messaging.sub_sock("modelV2")
-
-  last_frame_id = None
-  start_t: int | None = None
-  frame_cnt = 0
-  dropped = 0
-
-  while True:
-    m = messaging.recv_one(modeld_sock)
-    if m is None:
-      continue
-
-    frame_id = m.modelV2.frameId
-    t = m.logMonoTime / 1e9
-    frame_cnt += 1
-
-    if start_t is None:
-      start_t = t
-      last_frame_id = frame_id
-      continue
-
-    d_frame = frame_id - last_frame_id
-    dropped += d_frame - 1
-
-    expected_num_frames = int((t - start_t) * 20)
-    frame_drop = 100 * (1 - (expected_num_frames / frame_cnt))
-    print(f"Num dropped {dropped}, Drop compared to 20Hz: {frame_drop:.2f}%")
-
-    last_frame_id = frame_id
diff --git a/selfdrive/debug/measure_torque_time_to_max.py b/selfdrive/debug/measure_torque_time_to_max.py
index 7052dccf7d..e99aeae464 100755
--- a/selfdrive/debug/measure_torque_time_to_max.py
+++ b/selfdrive/debug/measure_torque_time_to_max.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import argparse
diff --git a/selfdrive/debug/mem_usage.py b/selfdrive/debug/mem_usage.py
new file mode 100755
index 0000000000..bc0e97e7ca
--- /dev/null
+++ b/selfdrive/debug/mem_usage.py
@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+import argparse
+import os
+from collections import defaultdict
+
+import numpy as np
+
+from openpilot.common.utils import tabulate
+from openpilot.tools.lib.logreader import LogReader
+
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
+MB = 1024 * 1024
+TABULATE_OPTS = dict(tablefmt="simple_grid", stralign="center", numalign="center")
+
+
+def _get_procs():
+  from openpilot.selfdrive.test.test_onroad import PROCS
+  return PROCS
+
+
+def is_openpilot_proc(name):
+  if any(p in name for p in _get_procs()):
+    return True
+  # catch openpilot processes not in PROCS (athenad, manager, etc.)
+  return 'openpilot' in name or name.startswith(('selfdrive.', 'system.'))
+
+
+def get_proc_name(proc):
+  if len(proc.cmdline) > 0:
+    return list(proc.cmdline)[0]
+  return proc.name
+
+
+def pct(val_mb, total_mb):
+  return val_mb / total_mb * 100 if total_mb else 0
+
+
+def has_pss(proc_logs):
+  """Check if logs contain PSS data (new field, not in old logs)."""
+  try:
+    for proc in proc_logs[-1].procLog.procs:
+      if proc.memPss > 0:
+        return True
+  except AttributeError:
+    pass
+  return False
+
+
+def print_summary(proc_logs, device_states):
+  mem = proc_logs[-1].procLog.mem
+  total = mem.total / MB
+  used = (mem.total - mem.available) / MB
+  cached = mem.cached / MB
+  shared = mem.shared / MB
+  buffers = mem.buffers / MB
+
+  lines = [
+    f"  Total: {total:.0f} MB",
+    f"  Used (total-avail): {used:.0f} MB ({pct(used, total):.0f}%)",
+    f"  Cached: {cached:.0f} MB ({pct(cached, total):.0f}%)    Buffers: {buffers:.0f} MB ({pct(buffers, total):.0f}%)",
+    f"  Shared/MSGQ: {shared:.0f} MB ({pct(shared, total):.0f}%)",
+  ]
+
+  if device_states:
+    mem_pcts = [m.deviceState.memoryUsagePercent for m in device_states]
+    lines.append(f"  deviceState memory: {np.min(mem_pcts)}-{np.max(mem_pcts)}% (avg {np.mean(mem_pcts):.0f}%)")
+
+  print("\n-- Memory Summary --")
+  print("\n".join(lines))
+  return total
+
+
+def collect_per_process_mem(proc_logs, use_pss):
+  """Collect per-process memory samples. Returns {name: {metric: [values_per_sample_in_MB]}}."""
+  by_proc = defaultdict(lambda: defaultdict(list))
+
+  for msg in proc_logs:
+    sample = defaultdict(lambda: defaultdict(float))
+    for proc in msg.procLog.procs:
+      name = get_proc_name(proc)
+      sample[name]['rss'] += proc.memRss / MB
+      if use_pss:
+        sample[name]['pss'] += proc.memPss / MB
+        sample[name]['pss_anon'] += proc.memPssAnon / MB
+        sample[name]['pss_shmem'] += proc.memPssShmem / MB
+
+    for name, metrics in sample.items():
+      for metric, val in metrics.items():
+        by_proc[name][metric].append(val)
+
+  return by_proc
+
+
+def _has_pss_detail(by_proc) -> bool:
+  """Check if any process has non-zero pss_anon/pss_shmem (unavailable on some kernels)."""
+  return any(sum(v.get('pss_anon', [])) > 0 or sum(v.get('pss_shmem', [])) > 0 for v in by_proc.values())
+
+
+def process_table_rows(by_proc, total_mb, use_pss, show_detail):
+  """Build table rows. Returns (rows, total_row)."""
+  mem_key = 'pss' if use_pss else 'rss'
+  rows = []
+  for name in sorted(by_proc, key=lambda n: np.mean(by_proc[n][mem_key]), reverse=True):
+    m = by_proc[name]
+    vals = m[mem_key]
+    avg = round(np.mean(vals))
+    row = [name, f"{avg} MB", f"{round(np.max(vals))} MB", f"{round(pct(avg, total_mb), 1)}%"]
+    if show_detail:
+      row.append(f"{round(np.mean(m['pss_anon']))} MB")
+      row.append(f"{round(np.mean(m['pss_shmem']))} MB")
+    rows.append(row)
+
+  # Total row
+  total_row = None
+  if by_proc:
+    max_samples = max(len(v[mem_key]) for v in by_proc.values())
+    totals = []
+    for i in range(max_samples):
+      s = sum(v[mem_key][i] for v in by_proc.values() if i < len(v[mem_key]))
+      totals.append(s)
+    avg_total = round(np.mean(totals))
+    total_row = ["TOTAL", f"{avg_total} MB", f"{round(np.max(totals))} MB", f"{round(pct(avg_total, total_mb), 1)}%"]
+    if show_detail:
+      total_row.append(f"{round(sum(np.mean(v['pss_anon']) for v in by_proc.values()))} MB")
+      total_row.append(f"{round(sum(np.mean(v['pss_shmem']) for v in by_proc.values()))} MB")
+
+  return rows, total_row
+
+
+def print_process_tables(op_procs, other_procs, total_mb, use_pss):
+  all_procs = {**op_procs, **other_procs}
+  show_detail = use_pss and _has_pss_detail(all_procs)
+
+  header = ["process", "avg", "max", "%"]
+  if show_detail:
+    header += ["anon", "shmem"]
+
+  op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail)
+  # filter other: >5MB avg and not bare interpreter paths (test infra noise)
+  other_filtered = {n: v for n, v in other_procs.items()
+                    if np.mean(v['pss' if use_pss else 'rss']) > 5.0
+                    and os.path.basename(n.split()[0]) not in ('python', 'python3')}
+  other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail)
+
+  rows = op_rows
+  if op_total:
+    rows.append(op_total)
+  if other_rows:
+    sep_width = len(header)
+    rows.append([""] * sep_width)
+    rows.extend(other_rows)
+    if other_total:
+      other_total[0] = "TOTAL (other)"
+      rows.append(other_total)
+
+  metric = "PSS (no shared double-count)" if use_pss else "RSS (includes shared, overcounts)"
+  print(f"\n-- Per-Process Memory: {metric} --")
+  print(tabulate(rows, header, **TABULATE_OPTS))
+
+
+def print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss):
+  last = proc_logs[-1].procLog.mem
+  used = (last.total - last.available) / MB
+  shared = last.shared / MB
+  cached_buf = (last.buffers + last.cached) / MB - shared  # shared (MSGQ) is in Cached; separate it
+  msgq = shared
+
+  mem_key = 'pss' if use_pss else 'rss'
+  op_total = sum(v[mem_key][-1] for v in op_procs.values()) if op_procs else 0
+  other_total = sum(v[mem_key][-1] for v in other_procs.values()) if other_procs else 0
+  proc_sum = op_total + other_total
+  remainder = used - (cached_buf + msgq) - proc_sum
+
+  if not use_pss:
+    # RSS double-counts shared; add back once to partially correct
+    remainder += shared
+
+  header = ["", "MB", "%", ""]
+  label = "PSS" if use_pss else "RSS*"
+  rows = [
+    ["Used (total - avail)", f"{used:.0f}", f"{pct(used, total_mb):.1f}", "memory in use by the system"],
+    ["  Cached + Buffers", f"{cached_buf:.0f}", f"{pct(cached_buf, total_mb):.1f}", "pagecache + fs metadata, reclaimable"],
+    ["  MSGQ (shared)", f"{msgq:.0f}", f"{pct(msgq, total_mb):.1f}", "/dev/shm tmpfs, also in process PSS"],
+    [f"  openpilot {label}", f"{op_total:.0f}", f"{pct(op_total, total_mb):.1f}", "sum of openpilot process memory"],
+    [f"  other {label}", f"{other_total:.0f}", f"{pct(other_total, total_mb):.1f}", "sum of non-openpilot process memory"],
+    ["  kernel/ION/GPU", f"{remainder:.0f}", f"{pct(remainder, total_mb):.1f}", "slab, ION/DMA-BUF, GPU, page tables"],
+  ]
+  note = "" if use_pss else " (*RSS overcounts shared mem)"
+  print(f"\n-- Memory Accounting (last sample){note} --")
+  print(tabulate(rows, header, tablefmt="simple_grid", stralign="right"))
+
+
+def print_report(proc_logs, device_states=None):
+  """Print full memory analysis report. Can be called from tests or CLI."""
+  if not proc_logs:
+    print("No procLog messages found")
+    return
+
+  print(f"{len(proc_logs)} procLog samples, {len(device_states or [])} deviceState samples")
+
+  use_pss = has_pss(proc_logs)
+  if not use_pss:
+    print("  (no PSS data — re-record with updated proclogd for accurate numbers)")
+
+  total_mb = print_summary(proc_logs, device_states or [])
+
+  by_proc = collect_per_process_mem(proc_logs, use_pss)
+  op_procs = {n: v for n, v in by_proc.items() if is_openpilot_proc(n)}
+  other_procs = {n: v for n, v in by_proc.items() if not is_openpilot_proc(n)}
+
+  print_process_tables(op_procs, other_procs, total_mb, use_pss)
+  print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Analyze memory usage from route logs")
+  parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path")
+  parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})")
+  args = parser.parse_args()
+
+  if args.demo:
+    route = DEMO_ROUTE
+  elif args.route:
+    route = args.route
+  else:
+    parser.error("provide a route or use --demo")
+
+  print(f"Reading logs from: {route}")
+
+  proc_logs = []
+  device_states = []
+  for msg in LogReader(route):
+    if msg.which() == 'procLog':
+      proc_logs.append(msg)
+    elif msg.which() == 'deviceState':
+      device_states.append(msg)
+
+  print_report(proc_logs, device_states)
diff --git a/selfdrive/debug/qlog_size.py b/selfdrive/debug/qlog_size.py
index 6d494b6f75..2b54cfeebf 100755
--- a/selfdrive/debug/qlog_size.py
+++ b/selfdrive/debug/qlog_size.py
@@ -6,7 +6,7 @@ from collections import defaultdict
 import matplotlib.pyplot as plt
 
 from cereal.services import SERVICE_LIST
-from openpilot.common.file_helpers import LOG_COMPRESSION_LEVEL
+from openpilot.common.utils import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 2ccb0fb3e7..d6743fedcb 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -1,23 +1,25 @@
 #!/usr/bin/env python3
-
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from openpilot.selfdrive.test.process_replay.test_processes import EXCLUDED_PROCS
 from openpilot.tools.lib.logreader import LogReader, save_log
 
+ALLOW_PROCS = {c.proc_name for c in CONFIGS}
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--fingerprint", help="The fingerprint to use")
   parser.add_argument("route", help="The route name to use")
-  parser.add_argument("process", nargs='+', help="The process(s) to run")
+  parser.add_argument("--fingerprint", help="The fingerprint to use")
+  parser.add_argument("--whitelist-procs", nargs='*', default=ALLOW_PROCS, help="Whitelist given processes (e.g. controlsd)")
+  parser.add_argument("--blacklist-procs", nargs='*', default=EXCLUDED_PROCS, help="Blacklist given processes (e.g. controlsd)")
   args = parser.parse_args()
 
-  cfgs = [c for c in CONFIGS if c.proc_name in args.process]
-
-  lr = LogReader(args.route)
-  inputs = list(lr)
+  allowed_procs = set(args.whitelist_procs) - set(args.blacklist_procs)
+  cfgs = [c for c in CONFIGS if c.proc_name in allowed_procs]
 
+  inputs = list(LogReader(args.route))
   outputs = replay_process(cfgs, inputs, fingerprint=args.fingerprint)
 
   # Remove message generated by the process under test and merge in the new messages
@@ -25,6 +27,6 @@ if __name__ == "__main__":
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
-  fn = f"{args.route.replace('/', '_')}_{'_'.join(args.process)}.zst"
+  fn = f"{args.route.replace('/', '_')}_{'_'.join(allowed_procs)}.zst"
   print(f"Saving log to {fn}")
   save_log(fn, outputs)
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
deleted file mode 100755
index bc13772977..0000000000
--- a/selfdrive/debug/show_matching_cars.py
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-import cereal.messaging as messaging
-
-
-# rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
-
-candidate_cars = all_legacy_fingerprint_cars()
-
-
-for addr, l in fingerprint.items():
-  dat = messaging.new_message('can', 1)
-
-  msg = dat.can[0]
-  msg.address = addr
-  msg.dat = " " * l
-
-  candidate_cars = eliminate_incompatible_cars(msg, candidate_cars)
-  print(candidate_cars)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 1216b7299f..ab539e4feb 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 from collections import defaultdict
 import argparse
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index ad3ccea036..eac1f8fbf4 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -3,7 +3,7 @@ import time
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
+from openpilot.system.manager.process_config import managed_processes, is_tinygrad_model, is_stock_model
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
@@ -11,8 +11,6 @@ if __name__ == "__main__":
   params = Params()
   params.put("CarParams", CP.to_bytes())
 
-  if use_snpe_modeld := is_snpe_model(False, params, CP):
-    print("Using SNPE modeld")
   if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
     print("Using TinyGrad modeld")
   if use_stock_modeld := is_stock_model(False, params, CP):
@@ -21,7 +19,7 @@ if __name__ == "__main__":
   HARDWARE.set_power_save(False)
 
   procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
-  procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
+  procs += ["modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
   for p in procs:
     managed_processes[p].start()
 
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index e265b70f1a..036f5822d2 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -13,7 +13,8 @@ from typing import NoReturn
 
 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
@@ -36,14 +37,17 @@ RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
 HEIGHT_INIT = np.array([1.22])
 
-# These values are needed to accommodate the model frame in the narrow cam of the C3
-PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
+# These values are needed to accommodate the model frame in the narrow cam
+if HARDWARE.get_device_type() == 'mici':
+  PITCH_LIMITS = np.array([-0.143101, 0.22235988])
+else:
+  PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:
@@ -88,7 +92,7 @@ class Calibrator:
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray = None) -> None:
+                  smooth_from: np.ndarray | None = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index a3e3ae4a8c..73c4d8bf35 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -82,13 +82,19 @@ class PointBuckets:
     total_points_valid = self.__len__() >= self.min_points_total
     return individual_buckets_valid and total_points_valid
 
+  def get_valid_percent(self) -> int:
+    total_points_perc = min(self.__len__() / self.min_points_total * 100, 100)
+    individual_buckets_perc = min(min(len(v) / min_pts * 100 for v, min_pts in
+                                      zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)), 100)
+    return int((total_points_perc + individual_buckets_perc) / 2)
+
   def is_calculable(self) -> bool:
     return all(len(v) > 0 for v in self.buckets.values())
 
   def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int = None) -> Any:
+  def get_points(self, num_points: int | None = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points
@@ -166,7 +172,7 @@ class PoseCalibrator:
     ned_from_calib_euler = self._ned_from_calib(pose.orientation)
     angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
     acceleration_calib = self._transform_calib_from_device(pose.acceleration)
-    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
+    velocity_calib = self._transform_calib_from_device(pose.velocity)
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index f4f46b7469..f432eb88bb 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -12,21 +12,26 @@ 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
+from openpilot.sunnypilot.livedelay.lagd_toggle import LagdToggle
 
 BLOCK_SIZE = 100
 BLOCK_NUM = 50
 BLOCK_NUM_NEEDED = 5
-MOVING_WINDOW_SEC = 300.0
+MOVING_WINDOW_SEC = 60.0
 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_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
 MAX_LAG = 1.0
+MIN_LAG = 0.15
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
+MIN_CONFIDENCE = 0.7
+CORR_BORDER_OFFSET = 5
+LAG_CANDIDATE_CORR_THRESHOLD = 0.9
 
 
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
@@ -154,7 +159,7 @@ class LateralLagEstimator:
                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,
-               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF):
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE):
     self.dt = dt
     self.window_sec = window_sec
     self.okay_window_sec = okay_window_sec
@@ -166,6 +171,7 @@ class LateralLagEstimator:
     self.min_vego = min_vego
     self.min_yr = min_yr
     self.min_ncc = min_ncc
+    self.min_confidence = min_confidence
     self.max_lat_accel = max_lat_accel
     self.max_lat_accel_diff = max_lat_accel_diff
 
@@ -211,7 +217,7 @@ class LateralLagEstimator:
       liveDelay.status = log.LiveDelayData.Status.unestimated
 
     if liveDelay.status == log.LiveDelayData.Status.estimated:
-      liveDelay.lateralDelay = valid_mean_lag
+      liveDelay.lateralDelay = min(MAX_LAG, max(MIN_LAG, valid_mean_lag))
     else:
       liveDelay.lateralDelay = self.initial_lag
 
@@ -223,6 +229,8 @@ class LateralLagEstimator:
       liveDelay.lateralDelayEstimateStd = 0.0
 
     liveDelay.validBlocks = self.block_avg.valid_blocks
+    liveDelay.calPerc = min(100 * (self.block_avg.valid_blocks * self.block_size + self.block_avg.idx) //
+                            (self.min_valid_block_count * self.block_size), 100)
     if debug:
       liveDelay.points = self.block_avg.values.flatten().tolist()
 
@@ -292,33 +300,48 @@ class LateralLagEstimator:
       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:
+    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MIN_LAG, MAX_LAG)
+    if corr < self.min_ncc or confidence < self.min_confidence 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]:
+  @staticmethod
+  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray,
+                     dt: float, min_lag: float, max_lag: float) -> tuple[float, float, float]:
     assert len(expected_sig) == len(actual_sig)
-    max_lag_samples = int(max_lag / dt)
+    min_lag_samples, max_lag_samples = int(round(min_lag / dt)), int(round(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]
+    # only consider lags from min_lag to max_lag
+    roi = np.s_[len(expected_sig) - 1 + min_lag_samples: len(expected_sig) - 1 + max_lag_samples]
+    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
+    roi_ncc = ncc[roi]
+    extended_roi_ncc = ncc[extended_roi]
 
     max_corr_index = np.argmax(roi_ncc)
     corr = roi_ncc[max_corr_index]
-    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt + min_lag
 
-    return lag, corr
+    # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
+    # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
+    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
+    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
+    starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
+    run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
+    width = ends[run_idx] - starts[run_idx] + 1
+    confidence = np.clip(1 - width * dt, 0, 1)
+
+    return lag, corr, confidence
 
 
-def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
-  last_lag_data = params_reader.get("LiveDelay")
-  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+def retrieve_initial_lag(params: Params, CP: car.CarParams):
+  last_lag_data = params.get("LiveDelay")
+  last_carparams_data = params.get("CarParamsPrevRoute")
 
   if last_lag_data is not None:
     try:
@@ -333,6 +356,7 @@ def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
         return lag, valid_blocks
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial lag: {e}")
+      params.remove("LiveDelay")
 
   return None
 
@@ -345,14 +369,16 @@ def main():
   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)
+  params = Params()
+  CP = messaging.log_from_bytes(params.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:
+  if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
+  lagd_toggle = LagdToggle(CP)
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -370,4 +396,7 @@ def main():
       pm.send('liveDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
-        params_reader.put_nonblocking("LiveDelay", lag_msg_dat)
+        params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+      if sm.frame % 60 == 0:  # read from and write to params every 3 seconds
+        lagd_toggle.update(lag_msg)
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 349897f371..27cc4ef9c9 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -5,7 +5,7 @@ from typing import Any
 
 import numpy as np
 
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog
 
@@ -93,8 +93,9 @@ class CarKalman(KalmanFilter):
     dim_state = CarKalman.initial_x.shape[0]
     name = CarKalman.name
 
-    # vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
-    # Model used is in 6.15 with formula from 6.198
+    # Linearized single-track lateral dynamics, equations 7.211-7.213
+    # Massimo Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
+    # Springer Cham, 2023. doi: https://doi.org/10.1007/978-3-031-06461-6
 
     # globals
     global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index a7712ba1d9..fd03d3d093 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import json
 import numpy as np
 import capnp
 
@@ -128,8 +127,8 @@ class VehicleParamsLearner:
 
     if not self.active:
       # Reset time when stopped so uncertainty doesn't grow
-      self.kf.filter.set_filter_time(t)  # type: ignore
-      self.kf.filter.reset_rewind()      # type: ignore
+      self.kf.filter.set_filter_time(t)
+      self.kf.filter.reset_rewind()
 
   def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
     x = self.kf.x
@@ -207,12 +206,11 @@ def migrate_cached_vehicle_params_if_needed(params: Params):
     return
 
   try:
-    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']
+    last_parameters_msg.liveParameters.steerRatio = last_parameters_data_old['steerRatio']
+    last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_data_old['stiffnessFactor']
+    last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_data_old['angleOffsetAverageDeg']
     params.put("LiveParametersV2", last_parameters_msg.to_bytes())
   except Exception as e:
     cloudlog.error(f"Failed to perform parameter migration: {e}")
@@ -248,6 +246,7 @@ def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: b
         retrieve_success = True
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial values: {e}")
+      params.remove("LiveParametersV2")
 
   if not replay:
     # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 13aea60a26..4728413d9d 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, log
+from cereal import messaging, log, car
 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
@@ -16,34 +16,26 @@ 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
-
+def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
   for i in range(n_frames):
     t = i * estimator.dt
-    desired_la = np.cos(t) * 0.1
-    actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1
+    desired_la = np.cos(10 * t) * 0.1
+    actual_la = np.cos(10 * (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
     if rejected:
       actual_la = desired_la
 
-    desired_cuvature = desired_la / (vego ** 2)
-    actual_yr = actual_la / vego
+    desired_cuvature = float(desired_la / (vego ** 2))
+    actual_yr = float(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, valid=True),
-                                posenetOK=True, inputsOK=True)),
-      (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
+      (t, "carControl", car.CarControl(latActive=not rejected)),
+      (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
+      (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True),
+                                   posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
     ]
     for t, w, m in msgs:
       estimator.handle_log(t, w, m)
@@ -94,40 +86,42 @@ class TestLagd:
     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)
+  def test_empty_estimator(self):
+    mocked_CP = car.CarParams(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
+    assert msg.liveDelay.calPerc == 0
 
-  def test_estimator_basics(self, mocker, subtests):
-    for lag_frames in range(5):
+  def test_estimator_basics(self, subtests):
+    for lag_frames in range(3, 10):
       with subtests.test(msg=f"lag_frames={lag_frames}"):
-        mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+        mocked_CP = car.CarParams(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)
+        process_messages(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 np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
         assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+        assert msg.liveDelay.calPerc == 100
 
-  def test_estimator_masking(self, mocker):
-    mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
+  def test_estimator_masking(self):
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(3, 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)
+    process_messages(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)
+    assert msg.liveDelay.calPerc == 100
 
   @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)
+  def test_estimator_performance(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
     estimator = LateralLagEstimator(mocked_CP, DT)
 
     ds = []
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index 2129bf4386..dd496b7675 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -1,6 +1,5 @@
 import random
 import numpy as np
-import json
 
 from cereal import messaging
 from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
@@ -47,7 +46,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
+    params.put("LiveParameters", msg.liveParameters.to_dict())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
     params.remove("LiveParametersV2")
 
@@ -60,7 +59,7 @@ class TestParamsd:
 
   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.put("LiveParameters", {})
     params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
diff --git a/selfdrive/locationd/test/test_torqued.py b/selfdrive/locationd/test/test_torqued.py
new file mode 100644
index 0000000000..53f3120c36
--- /dev/null
+++ b/selfdrive/locationd/test/test_torqued.py
@@ -0,0 +1,25 @@
+from cereal import car
+from openpilot.selfdrive.locationd.torqued import TorqueEstimator
+
+
+def test_cal_percent():
+  est = TorqueEstimator(car.CarParams())
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 0
+
+  for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
+                                  est.filtered_points.buckets_min_points.values(), strict=True):
+    for _ in range(int(min_pts)):
+      est.filtered_points.add_point((low + high) / 2.0, 0.0)
+
+  # enough bucket points, but not enough total points
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == (len(est.filtered_points) / est.min_points_total * 100 + 100) / 2
+
+  # add enough points to bucket with most capacity
+  key = list(est.filtered_points.buckets)[0]
+  for _ in range(est.min_points_total - len(est.filtered_points)):
+    est.filtered_points.add_point((key[0] + key[1]) / 2.0, 0.0)
+
+  msg = est.get_msg()
+  assert msg.liveTorqueParameters.calPerc == 100
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 5ed86e457f..2140ee603c 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -1,15 +1,18 @@
 #!/usr/bin/env python3
+import os
 import numpy as np
 from collections import deque, defaultdict
 
 import cereal.messaging as messaging
 from cereal import car, log
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.selfdrive.locationd.torqued_ext import TorqueEstimatorExt
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -32,7 +35,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
-ALLOWED_CARS = ['toyota', 'hyundai', 'rivian']
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda', 'volkswagen']
 
 
 def slope2rot(slope):
@@ -49,8 +52,11 @@ class TorqueBuckets(PointBuckets):
         break
 
 
-class TorqueEstimator(ParameterEstimator):
+class TorqueEstimator(ParameterEstimator, TorqueEstimatorExt):
   def __init__(self, CP, decimated=False, track_all_points=False):
+    ParameterEstimator.__init__(self)
+    TorqueEstimatorExt.__init__(self, CP)
+    self.CP = CP
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
@@ -79,6 +85,8 @@ class TorqueEstimator(ParameterEstimator):
 
     self.calibrator = PoseCalibrator()
 
+    TorqueEstimatorExt.initialize_custom_params(self, decimated)
+
     self.reset()
 
     initial_params = {
@@ -95,6 +103,7 @@ class TorqueEstimator(ParameterEstimator):
 
     # try to restore cached params
     params = Params()
+    self.params = params
     params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
@@ -176,7 +185,7 @@ class TorqueEstimator(ParameterEstimator):
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "liveDelay":
-      self.lag = msg.lateralDelay
+      self.lag = get_lat_delay(self.params, msg.lateralDelay)
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -233,6 +242,7 @@ class TorqueEstimator(ParameterEstimator):
     liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
     liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
     liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
+    liveTorqueParameters.calPerc = self.filtered_points.get_valid_percent()
     liveTorqueParameters.decay = self.decay
     liveTorqueParameters.maxResets = self.resets
     return msg
@@ -241,6 +251,8 @@ class TorqueEstimator(ParameterEstimator):
 def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+
   pm = messaging.PubMaster(['liveTorqueParameters'])
   sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
 
@@ -255,9 +267,11 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
+    TorqueEstimatorExt.update_use_params(estimator)
+
     # 4Hz driven by livePose
     if sm.frame % 5 == 0:
-      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
+      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=DEBUG))
 
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 0c04ec2823..ff63b644d5 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,56 +1,73 @@
+import os
 import glob
+from openpilot.common.file_chunker import chunk_file, get_chunk_paths
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+Import('env', 'arch')
+chunker_file = File("#common/file_chunker.py")
 lenv = env.Clone()
-lenvCython = envCython.Clone()
 
-libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
-frameworks = []
+tinygrad_root = env.Dir("#").abspath
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
+                  if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
 
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
+def estimate_pickle_max_size(onnx_size):
+  return 1.2 * onnx_size  + 10 * 1024 * 1024  # 20% + 10MB is plenty
 
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+# compile warp
+# THREADS=0 is need to prevent bug: https://github.com/tinygrad/tinygrad/issues/14689
+tg_flags = {
+    'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+    'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")} IMAGE=0', # tinygrad calls brew which needs a $HOME in the env
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0 IMAGE=0')
 
 # Get model metadata
-for model_name in ['driving_vision', 'driving_policy']:
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
   fn = File(f"models/{model_name}").abspath
   script_files = [File(Dir("#selfdrive/modeld").File("get_model_metadata.py").abspath)]
-  cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
+  cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
   lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
 
-# Compile tinygrad model
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-elif arch == 'Darwin':
-  device_string = 'CLANG=1 IMAGE=0'
-else:
-  device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
+image_flag = {
+     'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
+compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+warp_targets = []
+for cam in [_ar_ox_fisheye, _os_fisheye]:
+  w, h = cam.width, cam.height
+  warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath]
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
 
-# TODO-SP: after 15.4 it's not possible to compile models locally on mac https://discord.com/channels/469524606043160576/1362735424644055230
-if arch != 'Darwin':
-  for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
-    fn = File(f"models/{model_name}").abspath
-    cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-    lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  fn = File(f"models/{model_name}").abspath
+  pkl = fn + "_tinygrad.pkl"
+  onnx_path = fn + ".onnx"
+  chunk_targets = get_chunk_paths(pkl, estimate_pickle_max_size(os.path.getsize(onnx_path)))
+  def do_chunk(target, source, env):
+    chunk_file(pkl, chunk_targets)
+  return lenv.Command(
+    chunk_targets,
+    [onnx_path] + tinygrad_files + [chunker_file],
+    [f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+     do_chunk]
+  )
 
+# Compile small models
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  tg_compile(tg_flags, model_name)
+
+# Compile BIG model if USB GPU is available
+if "USBGPU" in os.environ:
+  import subprocess
+  # because tg doesn't support multi-process
+  devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True, cwd=env.Dir('#').abspath)
+  if b"AMD" in devs:
+    print("USB GPU detected... building")
+    flags = "DEV=AMD AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+    bp = tg_compile(flags, "big_driving_policy")
+    bv = tg_compile(flags, "big_driving_vision")
+    lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+  else:
+    print("USB GPU not detected... skipping")
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
new file mode 100755
index 0000000000..75cc65f84c
--- /dev/null
+++ b/selfdrive/modeld/compile_warp.py
@@ -0,0 +1,209 @@
+#!/usr/bin/env python3
+import time
+import pickle
+import numpy as np
+from pathlib import Path
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+
+MODELS_DIR = Path(__file__).parent / 'models'
+
+CAMERA_CONFIGS = [
+  (_ar_ox_fisheye.width, _ar_ox_fisheye.height),  # tici: 1928x1208
+  (_os_fisheye.width, _os_fisheye.height),        # mici: 1344x760
+]
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
+
+
+def warp_pkl_path(w, h):
+  return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+
+
+def dm_warp_pkl_path(w, h):
+  return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+  w_dst, h_dst = dst_shape
+  h_src, w_src = src_shape
+
+  x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst).reshape(-1)
+  y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst).reshape(-1)
+
+  # inline 3x3 matmul as elementwise to avoid reduce op (enables fusion with gather)
+  src_x = M_inv[0, 0] * x + M_inv[0, 1] * y + M_inv[0, 2]
+  src_y = M_inv[1, 0] * x + M_inv[1, 1] * y + M_inv[1, 2]
+  src_w = M_inv[2, 0] * x + M_inv[2, 1] * y + M_inv[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
+  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped
+
+  return src_flat[idx]
+
+
+def frames_to_tensor(frames, model_w, model_h):
+  H = (frames.shape[0] * 2) // 3
+  W = frames.shape[1]
+  in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+                       frames[1:H:2, 0::2],
+                       frames[0:H:2, 1::2],
+                       frames[1:H:2, 1::2],
+                       frames[H:H+H//4].reshape((H//2, W//2)),
+                       frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+  return in_img1
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+  stride, y_height, uv_height, _ = get_nv12_info(cam_w, cam_h)
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, M_inv):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling
+    M_inv_uv = M_inv * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]])
+    # deinterleave NV12 UV plane (UVUV... -> separate U, V)
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+                                    M_inv, (model_w, model_h),
+                                    (cam_h, cam_w), stride_pad).realize()
+      u = warp_perspective_tinygrad(uv[:cam_h//2, :cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+      v = warp_perspective_tinygrad(uv[:cam_h//2, 1:cam_w:2].flatten(),
+                                    M_inv_uv, (model_w//2, model_h//2),
+                                    (cam_h//2, cam_w//2), 0).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    tensor = frames_to_tensor(yuv, model_w, model_h)
+    return tensor
+  return frame_prepare_tinygrad
+
+
+def make_update_img_input(frame_prepare, model_w, model_h):
+  def update_img_input_tinygrad(tensor, frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    new_img = frame_prepare(frame, M_inv)
+    full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
+    return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+  return update_img_input_tinygrad
+
+
+def make_update_both_imgs(frame_prepare, model_w, model_h):
+  update_img = make_update_img_input(frame_prepare, model_w, model_h)
+
+  def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
+                                calib_big_img_buffer, new_big_img, M_inv_big):
+    calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+    calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+    return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
+  return update_both_imgs_tinygrad
+
+
+def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
+  stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
+  stride_pad = stride - cam_w
+
+  def warp_dm(input_frame, M_inv):
+    M_inv = M_inv.to(Device.DEFAULT)
+    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+    return result
+  return warp_dm
+
+
+def compile_modeld_warp(cam_w, cam_h):
+  model_w, model_h = MEDMODEL_INPUT_SIZE
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+
+  print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
+
+  frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
+  update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
+  update_img_jit = TinyJit(update_both_imgs, prune=True)
+
+  full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
+  big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
+  full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+  big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+
+  for i in range(10):
+    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+    img_inputs = [full_buffer,
+                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+    big_img_inputs = [big_full_buffer,
+                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    inputs = img_inputs + big_img_inputs
+    Device.default.synchronize()
+
+    inputs_np = [x.numpy() for x in inputs]
+    inputs_np[0] = full_buffer_np
+    inputs_np[3] = big_full_buffer_np
+
+    st = time.perf_counter()
+    out = update_img_jit(*inputs)
+    full_buffer = out[0].contiguous().realize().clone()
+    big_full_buffer = out[2].contiguous().realize().clone()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  pkl_path = warp_pkl_path(cam_w, cam_h)
+  with open(pkl_path, "wb") as f:
+    pickle.dump(update_img_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+  jit = pickle.load(open(pkl_path, "rb"))
+  jit(*inputs)
+
+
+def compile_dm_warp(cam_w, cam_h):
+  dm_w, dm_h = DM_INPUT_SIZE
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+
+  print(f"Compiling DM warp for {cam_w}x{cam_h}...")
+
+  warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
+  warp_dm_jit = TinyJit(warp_dm, prune=True)
+
+  for i in range(10):
+    inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
+              Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    Device.default.synchronize()
+    st = time.perf_counter()
+    warp_dm_jit(*inputs)
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  pkl_path = dm_warp_pkl_path(cam_w, cam_h)
+  with open(pkl_path, "wb") as f:
+    pickle.dump(warp_dm_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+
+def run_and_save_pickle():
+  for cam_w, cam_h in CAMERA_CONFIGS:
+    compile_modeld_warp(cam_w, cam_h)
+    compile_dm_warp(cam_w, cam_h)
+
+
+if __name__ == "__main__":
+  run_and_save_pickle()
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 5ca0a86bc8..ff7e1d8600 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -13,12 +13,9 @@ class ModelConstants:
   META_T_IDXS = [2., 4., 6., 8., 10.]
 
   # model inputs constants
-  MODEL_FREQ = 20
-  HISTORY_FREQ = 5
-  HISTORY_LEN_SECONDS = 5
-  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
-  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
-  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+  N_FRAMES = 2
+  MODEL_RUN_FREQ = 20
+  MODEL_CONTEXT_FREQ = 5 # "model_trained_fps"
 
   FEATURE_LEN = 512
 
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 94e117bc6a..28190db3e6 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -1,150 +1,123 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
 from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
-if TICI:
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  os.environ['LLVM'] = '1'
-import math
 import time
 import pickle
-import ctypes
 import numpy as np
 from pathlib import Path
-from setproctitle import setproctitle
 
 from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import config_realtime_process
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
+from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
-from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
-from openpilot.system import sentry
-
-MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
-CALIB_LEN = 3
-FEATURE_LEN = 512
-OUTPUT_SIZE = 84 + FEATURE_LEN
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.file_chunker import read_file_chunked
+from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
 
 PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-
-
-class DriverStateResult(ctypes.Structure):
-  _fields_ = [
-    ("face_orientation", ctypes.c_float*3),
-    ("face_position", ctypes.c_float*3),
-    ("face_orientation_std", ctypes.c_float*3),
-    ("face_position_std", ctypes.c_float*3),
-    ("face_prob", ctypes.c_float),
-    ("_unused_a", ctypes.c_float*8),
-    ("left_eye_prob", ctypes.c_float),
-    ("_unused_b", ctypes.c_float*8),
-    ("right_eye_prob", ctypes.c_float),
-    ("left_blink_prob", ctypes.c_float),
-    ("right_blink_prob", ctypes.c_float),
-    ("sunglasses_prob", ctypes.c_float),
-    ("occluded_prob", ctypes.c_float),
-    ("ready_prob", ctypes.c_float*4),
-    ("not_ready_prob", ctypes.c_float*2)]
-
-
-class DMonitoringModelResult(ctypes.Structure):
-  _fields_ = [
-    ("driver_state_lhd", DriverStateResult),
-    ("driver_state_rhd", DriverStateResult),
-    ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float),
-    ("features", ctypes.c_float*FEATURE_LEN)]
-
+METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
+MODELS_DIR = Path(__file__).parent / 'models'
 
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
 
-  def __init__(self, cl_ctx):
-    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
+  def __init__(self):
+    with open(METADATA_PATH, 'rb') as f:
+      model_metadata = pickle.load(f)
+      self.input_shapes = model_metadata['input_shapes']
+      self.output_slices = model_metadata['output_slices']
 
-    self.frame = MonitoringModelFrame(cl_ctx)
     self.numpy_inputs = {
-      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
+      'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
     }
 
+    self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
+    self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
+    self.frame_buf_params = None
     self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-    with open(MODEL_PKL_PATH, "rb") as f:
-      self.model_run = pickle.load(f)
+    self._blob_cache : dict[int, Tensor] = {}
+    self.image_warp = None
+    self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH)))
 
   def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
     self.numpy_inputs['calib'][0,:] = calib
 
     t1 = time.perf_counter()
 
-    input_img_cl = self.frame.prepare(buf, transform.flatten())
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_img' not in self.tensor_inputs:
-        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
-    else:
-      self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT)), dtype=dtypes.uint8).realize()
+    if self.image_warp is None:
+      self.frame_buf_params = get_nv12_info(buf.width, buf.height)
+      warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
+      with open(warp_path, "rb") as f:
+        self.image_warp = pickle.load(f)
+    ptr = buf.data.ctypes.data
+    # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+    if ptr not in self._blob_cache:
+      self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8')
 
+    self.warp_inputs_np['transform'][:] = transform[:]
+    self.tensor_inputs['input_img'] = self.image_warp(self._blob_cache[ptr], self.warp_inputs['transform']).realize()
 
-    output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
 
     t2 = time.perf_counter()
     return output, t2 - t1
 
+def slice_outputs(model_outputs, output_slices):
+  return  {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
 
-def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = list(ds_result.face_orientation)
-  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = list(ds_result.face_position[:2])
-  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
-  msg.faceProb = float(sigmoid(ds_result.face_prob))
-  msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
-  msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
-  msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
-  msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
-  msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
-  msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
-  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
-  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
+def parse_model_output(model_output):
+  parsed = {}
+  parsed['wheel_on_right'] = sigmoid(model_output['wheel_on_right'])
+  for ds_suffix in ['lhd', 'rhd']:
+    face_descs = model_output[f'face_descs_{ds_suffix}']
+    parsed[f'face_descs_{ds_suffix}'] = face_descs[:, :-6]
+    parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
+    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob','left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
+      parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
+  return parsed
 
+def fill_driver_data(msg, model_output, ds_suffix):
+  msg.faceOrientation = model_output[f'face_descs_{ds_suffix}'][0, :3].tolist()
+  msg.faceOrientationStd = model_output[f'face_descs_{ds_suffix}_std'][0, :3].tolist()
+  msg.facePosition = model_output[f'face_descs_{ds_suffix}'][0, 3:5].tolist()
+  msg.facePositionStd = model_output[f'face_descs_{ds_suffix}_std'][0, 3:5].tolist()
+  msg.faceProb = model_output[f'face_prob_{ds_suffix}'][0, 0].item()
+  msg.leftEyeProb = model_output[f'left_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.rightEyeProb = model_output[f'right_eye_prob_{ds_suffix}'][0, 0].item()
+  msg.leftBlinkProb = model_output[f'left_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
+  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
+  msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
 
-def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
-  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
+def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
   msg = messaging.new_message('driverStateV2', valid=True)
   ds = msg.driverStateV2
   ds.frameId = frame_id
-  ds.modelExecutionTime = execution_time
-  ds.gpuExecutionTime = gpu_execution_time
-  ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
-  ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
-  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
-  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
-  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
+  ds.modelExecutionTime = exec_time
+  ds.gpuExecutionTime = gpu_exec_time
+  ds.rawPredictions = model_output['raw_pred']
+  ds.wheelOnRightProb = model_output['wheel_on_right'][0, 0].item()
+  fill_driver_data(ds.leftDriverData, model_output, 'lhd')
+  fill_driver_data(ds.rightDriverData, model_output, 'rhd')
   return msg
 
 
 def main():
-  setproctitle(PROCESS_NAME)
   config_realtime_process(7, 5)
 
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-
-  cl_context = CLContext()
-  model = ModelState(cl_context)
+  model = ModelState()
   cloudlog.warning("models loaded, dmonitoringmodeld starting")
 
   cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
   while not vipc_client.connect(False):
     time.sleep(0.1)
   assert vipc_client.is_connected()
@@ -153,7 +126,7 @@ def main():
   sm = SubMaster(["liveCalibration"])
   pm = PubMaster(["driverStateV2"])
 
-  calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  calib = np.zeros(model.numpy_inputs['calib'].size, dtype=np.float32)
   model_transform = None
 
   while True:
@@ -172,18 +145,16 @@ def main():
     t1 = time.perf_counter()
     model_output, gpu_execution_time = model.run(buf, calib, model_transform)
     t2 = time.perf_counter()
-
-    # run one more time, just for the load
-    model.run(buf, calib, model_transform)
-
-    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
+    raw_pred = model_output.tobytes() if SEND_RAW_PRED else b''
+    model_output = slice_outputs(model_output, model.output_slices)
+    model_output = parse_model_output(model_output)
+    model_output['raw_pred'] = raw_pred
+    msg = get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time)
+    pm.send("driverStateV2", msg)
 
 
 if __name__ == "__main__":
   try:
     main()
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 36bd724d01..7273745c7b 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -3,6 +3,7 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -89,21 +90,14 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
-  # temporal pose
-  #temporal_pose = modelV2.temporalPose
-  #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)
 
   # action
   modelV2.action = action
 
-  # times at X_IDXS of edges and lines aren't used
-  LINE_T_IDXS: list[float] = []
+  # times at X_IDXS of edges and lines
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)
@@ -156,7 +150,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   meta.hardBrakePredicted = hard_brake_predicted.item()
 
   # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
+  if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
     # any disengage prob
     brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
     gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
diff --git a/selfdrive/modeld/get_model_metadata.py b/selfdrive/modeld/get_model_metadata.py
index 2001d23d75..838b1e9f40 100755
--- a/selfdrive/modeld/get_model_metadata.py
+++ b/selfdrive/modeld/get_model_metadata.py
@@ -1,33 +1,51 @@
 #!/usr/bin/env python3
 import sys
 import pathlib
-import onnx
 import codecs
 import pickle
 from typing import Any
 
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
+from tinygrad.nn.onnx import OnnxPBParser
+
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
   return name, shape
 
-def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
-  for prop in model.metadata_props:
-    if prop.key == name:
-      return prop.value
+
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
   return None
 
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
+  model = MetadataOnnxPBParser(model_path).parse()
   output_slices = get_metadata_value_by_name(model, 'output_slices')
   assert output_slices is not None, 'output_slices not found in metadata'
 
   metadata = {
     'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
     'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
-    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
   }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 84d7760dce..494feb99c1 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,20 +1,18 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
 from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
-if TICI:
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  os.environ['LLVM'] = '1'
 import time
 import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
 from pathlib import Path
-from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
@@ -23,14 +21,17 @@ from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.common.transformations.model import get_warp_matrix
-from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
+from openpilot.common.file_chunker import read_file_chunked
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
+
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -40,11 +41,15 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
 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'
+MODELS_DIR = Path(__file__).parent / 'models'
 
-LAT_SMOOTH_SECONDS = 0.1
+LAT_SMOOTH_SECONDS = 0.0
 LONG_SMOOTH_SECONDS = 0.3
 MIN_LAT_CONTROL_SPEED = 0.3
 
+IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
+assert IMG_QUEUE_SHAPE[0] == 30
+
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
@@ -78,36 +83,76 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState:
-  frames: dict[str, DrivingModelFrame]
+class InputQueues:
+  def __init__ (self, model_fps, env_fps, n_frames_input):
+    assert env_fps % model_fps == 0
+    assert env_fps >= model_fps
+    self.model_fps = model_fps
+    self.env_fps = env_fps
+    self.n_frames_input = n_frames_input
+
+    self.dtypes = {}
+    self.shapes = {}
+    self.q = {}
+
+  def update_dtypes_and_shapes(self, input_dtypes, input_shapes) -> None:
+    self.dtypes.update(input_dtypes)
+    if self.env_fps == self.model_fps:
+      self.shapes.update(input_shapes)
+    else:
+      for k in input_shapes:
+        shape = list(input_shapes[k])
+        if 'img' in k:
+          n_channels = shape[1] // self.n_frames_input
+          shape[1] = (self.env_fps // self.model_fps + (self.n_frames_input - 1)) * n_channels
+        else:
+          shape[1] = (self.env_fps // self.model_fps) * shape[1]
+        self.shapes[k] = tuple(shape)
+
+  def reset(self) -> None:
+    self.q = {k: np.zeros(self.shapes[k], dtype=self.dtypes[k]) for k in self.dtypes.keys()}
+
+  def enqueue(self, inputs:dict[str, np.ndarray]) -> None:
+    for k in inputs.keys():
+      if inputs[k].dtype != self.dtypes[k]:
+        raise ValueError(f'supplied input <{k}({inputs[k].dtype})> has wrong dtype, expected {self.dtypes[k]}')
+      input_shape = list(self.shapes[k])
+      input_shape[1] = -1
+      single_input = inputs[k].reshape(tuple(input_shape))
+      sz = single_input.shape[1]
+      self.q[k][:,:-sz] = self.q[k][:,sz:]
+      self.q[k][:,-sz:] = single_input
+
+  def get(self, *names) -> dict[str, np.ndarray]:
+    if self.env_fps == self.model_fps:
+      return {k: self.q[k] for k in names}
+    else:
+      out = {}
+      for k in names:
+        shape = self.shapes[k]
+        if 'img' in k:
+          n_channels = shape[1] // (self.env_fps // self.model_fps + (self.n_frames_input - 1))
+          out[k] = np.concatenate([self.q[k][:, s:s+n_channels] for s in np.linspace(0, shape[1] - n_channels, self.n_frames_input, dtype=int)], axis=1)
+        elif 'pulse' in k:
+          # any pulse within interval counts
+          out[k] = self.q[k].reshape((shape[0], shape[1] * self.model_fps // self.env_fps, self.env_fps // self.model_fps, -1)).max(axis=2)
+        else:
+          idxs = np.arange(-1, -shape[1], -self.env_fps // self.model_fps)[::-1]
+          out[k] = self.q[k][:, idxs]
+      return out
+
+class ModelState(ModelStateBase):
   inputs: dict[str, np.ndarray]
   output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
-  def __init__(self, context: CLContext):
-    self.frames = {
-      'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP),
-      'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP)
-    }
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-
-    self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32)
-    self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32)
-    self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
-    self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP)
-
-    # policy inputs
-    self.numpy_inputs = {
-      'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32),
-      'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
-
+  def __init__(self):
+    ModelStateBase.__init__(self)
+    self.LAT_SMOOTH_SECONDS = LAT_SMOOTH_SECONDS
     with open(VISION_METADATA_PATH, 'rb') as f:
       vision_metadata = pickle.load(f)
       self.vision_input_shapes =  vision_metadata['input_shapes']
+      self.vision_input_names = list(self.vision_input_shapes.keys())
       self.vision_output_slices = vision_metadata['output_slices']
       vision_output_size = vision_metadata['output_shapes']['outputs'][1]
 
@@ -117,67 +162,77 @@ class ModelState:
       self.policy_output_slices = policy_metadata['output_slices']
       policy_output_size = policy_metadata['output_shapes']['outputs'][1]
 
-    # img buffers are managed in openCL transform code
-    self.vision_inputs: dict[str, Tensor] = {}
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+
+    # policy inputs
+    self.numpy_inputs = {k: np.zeros(self.policy_input_shapes[k], dtype=np.float32) for k in self.policy_input_shapes}
+    self.full_input_queues = InputQueues(ModelConstants.MODEL_CONTEXT_FREQ, ModelConstants.MODEL_RUN_FREQ, ModelConstants.N_FRAMES)
+    for k in ['desire_pulse', 'features_buffer']:
+      self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
+    self.full_input_queues.reset()
+
+    self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
+                       'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize()}
+    self.full_frames : dict[str, Tensor] = {}
+    self._blob_cache : dict[int, Tensor] = {}
+    self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
+    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
     self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
     self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
     self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
     self.parser = Parser()
-
-    with open(VISION_PKL_PATH, "rb") as f:
-      self.vision_run = pickle.load(f)
-
-    with open(POLICY_PKL_PATH, "rb") as f:
-      self.policy_run = pickle.load(f)
+    self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
+    self.update_imgs = None
+    self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH)))
+    self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH)))
 
   def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
     parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()}
     return parsed_model_outputs
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
+    inputs['desire_pulse'][0] = 0
+    new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
+    self.prev_desire[:] = inputs['desire_pulse']
+    if self.update_imgs is None:
+      for key in bufs.keys():
+        w, h = bufs[key].width, bufs[key].height
+        self.frame_buf_params[key] = get_nv12_info(w, h)
+      warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+      with open(warp_path, "rb") as f:
+        self.update_imgs = pickle.load(f)
 
-    self.full_desire[0,:-1] = self.full_desire[0,1:]
-    self.full_desire[0,-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2)
+    for key in bufs.keys():
+      ptr = bufs[key].data.ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      # There is a ringbuffer of imgs, just cache tensors pointing to all of them
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype='uint8')
+      self.full_frames[key] = self._blob_cache[cache_key]
+    for key in bufs.keys():
+      self.transforms_np[key][:,:] = transforms[key][:,:]
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
-    self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
-
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      for key in imgs_cl:
-        if key not in self.vision_inputs:
-          self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
-    else:
-      for key in imgs_cl:
-        frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
-        self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
+    out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
+                           self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
+    self.img_queues['img'], self.img_queues['big_img'] = out[0].realize(), out[2].realize()
+    vision_inputs = {'img': out[1], 'big_img': out[3]}
 
     if prepare_only:
       return None
 
-    self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten()
+    self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
     vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
 
-    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
-    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
+    for k in ['desire_pulse', 'features_buffer']:
+      self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k]
+    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
 
-    self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
+    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
     policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-
-    # 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'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
-
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
       combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -188,16 +243,15 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
+  if not USBGPU:
+    # USB GPU currently saturates a core so can't do this yet,
+    # also need to move the aux USB interrupts for good timings
+    config_realtime_process(7, 54)
 
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
+  st = time.monotonic()
+  cloudlog.warning("loading model")
+  model = ModelState()
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # visionipc clients
   while True:
@@ -209,8 +263,8 @@ def main(demo=False):
     time.sleep(.1)
 
   vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
   cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
 
   while not vipc_client_main.connect(False):
@@ -223,14 +277,14 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_RUN_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -294,8 +348,9 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
-    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+    lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
     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))]
@@ -323,14 +378,15 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      'desire_pulse': vec_desire,
       'traffic_convention': traffic_convention,
-      'lateral_control_params': lateral_control_params,
-      }
+    }
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
@@ -338,6 +394,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
@@ -352,6 +409,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -359,6 +417,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 
@@ -370,7 +429,4 @@ if __name__ == "__main__":
     args = parser.parse_args()
     main(demo=args.demo)
   except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
+    cloudlog.warning("got SIGINT")
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 255f28d80e..04b69c61c3 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -62,6 +62,5 @@ Refer to **slice_outputs** and **parse_vision_outputs/parse_policy_outputs** in
     * (deprecated) distracted probabilities: 2
     * using phone probability: 1
     * distracted probability: 1
-  * common outputs 2
-    * poor camera vision probability: 1
+  * common outputs 1
     * left hand drive probability: 1
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
new file mode 120000
index 0000000000..e1b653a14a
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -0,0 +1 @@
+driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
new file mode 120000
index 0000000000..28ee71dd74
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1 @@
+driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
deleted file mode 100644
index d3341e76ec..0000000000
--- a/selfdrive/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "selfdrive/modeld/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  temporal_skip = _temporal_skip;
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
-  region.origin = temporal_skip * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < temporal_skip; i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(input_frames_cl));
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseMemObject(input_frame_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
deleted file mode 100644
index 176d7eb6dc..0000000000
--- a/selfdrive/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "selfdrive/modeld/transforms/loadyuv.h"
-#include "selfdrive/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
-  cl_buffer_region region;
-  int temporal_skip;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
deleted file mode 100644
index 4ac64d9172..0000000000
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)
-
-cdef extern from "selfdrive/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, int)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index 5b7d11bc71..0000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context, int temporal_skip):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
deleted file mode 100644
index 121871ef2b..0000000000
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ /dev/null
@@ -1,2 +0,0 @@
-fa69be01-b430-4504-9d72-7dcb058eb6dd
-d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index dcc727510e..dc621bed03 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
-size 7196502
+oid sha256:7aff7ff1dc08bbaf562a8f77380ab5e5914f8557dba2f760d87e4d953f5604b0
+size 7307246
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 5bd77bb958..611ae9fe85 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 sha256:19e30484236efff72d519938c3e26461dbeb89c11d81fa7ecbff8e0263333c18
-size 15588463
+oid sha256:78477124cbf3ffe30fa951ebada8410b43c4242c6054584d656f1d329b067e15
+size 14060847
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 0a7b4a803d..6c9fc4c84d 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:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e
-size 46265585
+oid sha256:ee29ee5bce84d1ce23e9ff381280de9b4e4d96d2934cd751740354884e112c66
+size 46877473
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 783572d436..5c11e8ca18 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -22,9 +22,10 @@ class Parser:
     self.ignore_missing = ignore_missing
 
   def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
+    missing = name not in outs
+    if missing and not self.ignore_missing:
       raise ValueError(f"Missing output {name}")
-    return name not in outs
+    return missing
 
   def parse_categorical_crossentropy(self, name, outs, out_shape=None):
     if self.check_missing(outs, name):
@@ -84,27 +85,36 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
   def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     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_binary_crossentropy('lane_lines_prob', outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
+    self.parse_binary_crossentropy('lead_prob', outs)
+    lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH)
+    lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+    lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH)
+    self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-                   out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
-    if 'desired_curvature' in outs:
-      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
+    plan_mhp = self.is_mhp(outs, 'plan',  ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
+    plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+    self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/selfdrive/modeld/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
deleted file mode 100644
index 6927c9e473..0000000000
--- a/selfdrive/modeld/tests/test_modeld.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import numpy as np
-import random
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-
-CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
-IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
-IMG_BYTES = IMG.flatten().tobytes()
-
-
-class TestModeld:
-
-  def setup_method(self):
-    self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
-
-    managed_processes['modeld'].start()
-    self.pm.wait_for_readers_to_update("roadCameraState", 10)
-
-  def teardown_method(self):
-    managed_processes['modeld'].stop()
-    del self.vipc_server
-
-  def _send_frames(self, frame_id, cams=None):
-    if cams is None:
-      cams = ('roadCameraState', 'wideRoadCameraState')
-
-    cs = None
-    for cam in cams:
-      msg = messaging.new_message(cam)
-      cs = getattr(msg, cam)
-      cs.frameId = frame_id
-      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
-      cam_meta = meta_from_camera_state(cam)
-
-      self.pm.send(msg.which(), msg)
-      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
-                            cs.timestampSof, cs.timestampEof)
-    return cs
-
-  def _wait(self):
-    self.sm.update(5000)
-    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
-      self.sm.update(1000)
-
-  def test_modeld(self):
-    for n in range(1, 500):
-      cs = self._send_frames(n)
-      self._wait()
-
-      mdl = self.sm['modelV2']
-      assert mdl.frameId == n
-      assert mdl.frameIdExtra == n
-      assert mdl.timestampEof == cs.timestampEof
-      assert mdl.frameAge == 0
-      assert mdl.frameDropPerc == 0
-
-      odo = self.sm['cameraOdometry']
-      assert odo.frameId == n
-      assert odo.timestampEof == cs.timestampEof
-
-  def test_dropped_frames(self):
-    """
-      modeld should only run on consecutive road frames
-    """
-    frame_id = -1
-    road_frames = list()
-    for n in range(1, 50):
-      if (random.random() < 0.1) and n > 3:
-        cams = random.choice([(), ('wideRoadCameraState', )])
-        self._send_frames(n, cams)
-      else:
-        self._send_frames(n)
-        road_frames.append(n)
-      self._wait()
-
-      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
-        frame_id = road_frames[-1]
-
-      mdl = self.sm['modelV2']
-      odo = self.sm['cameraOdometry']
-      assert mdl.frameId == frame_id
-      assert mdl.frameIdExtra == frame_id
-      assert odo.frameId == frame_id
-      if n != frame_id:
-        assert not self.sm.updated['modelV2']
-        assert not self.sm.updated['cameraOdometry']
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
deleted file mode 100644
index c93f5cd038..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "selfdrive/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d7..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
deleted file mode 100644
index 305643cf42..0000000000
--- a/selfdrive/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/selfdrive/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/selfdrive/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 71733f99fc..022415af6d 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -14,6 +14,7 @@ def dmonitoringd_thread():
                             'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
+  demo_mode=False
 
   # 20Hz <- dmonitoringmodeld
   while True:
@@ -23,8 +24,10 @@ def dmonitoringd_thread():
       continue
 
     valid = sm.all_checks()
-    if valid:
-      DM.run_step(sm)
+    if demo_mode and sm.valid['driverStateV2']:
+      DM.run_step(sm, demo=demo_mode)
+    elif valid:
+      DM.run_step(sm, demo=demo_mode)
 
     # publish
     dat = DM.get_state_packet(valid=valid)
@@ -33,11 +36,12 @@ def dmonitoringd_thread():
     # load live always-on toggle
     if sm['driverStateV2'].frameId % 40 == 1:
       DM.always_on = params.get_bool("AlwaysOnDM")
+      demo_mode = params.get_bool("IsDriverViewEnabled")
 
     # save rhd virtual toggle every 5 mins
-    if (sm['driverStateV2'].frameId % 6000 == 0 and
-     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+    if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
+     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 67776994f0..d6d4566884 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -4,10 +4,13 @@ import numpy as np
 from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.selfdrive.selfdrived.events import Events
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
 from openpilot.common.stat_live import RunningStatFilter
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.hardware import HARDWARE
 
 EventName = log.OnroadEvent.EventName
 
@@ -18,7 +21,7 @@ EventName = log.OnroadEvent.EventName
 # ******************************************************************************************
 
 class DRIVER_MONITOR_SETTINGS:
-  def __init__(self):
+  def __init__(self, device_type):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
     self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
@@ -32,13 +35,7 @@ class DRIVER_MONITOR_SETTINGS:
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
     self._BLINK_THRESHOLD = 0.865
-
-    self._EE_THRESH11 = 0.4
-    self._EE_THRESH12 = 15.0
-    self._EE_MAX_OFFSET1 = 0.06
-    self._EE_MIN_OFFSET1 = 0.025
-    self._EE_THRESH21 = 0.01
-    self._EE_THRESH22 = 0.35
+    self._PHONE_THRESH = 0.5
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -46,14 +43,19 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
     self._YAW_MIN_OFFSET = -0.0246
 
+    self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
+    self._DCAM_UNCERTAIN_ALERT_COUNT = int(60  / self._DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
     self._POSESTD_THRESHOLD = 0.3
     self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
     self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
@@ -66,6 +68,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
     self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -74,26 +79,35 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 class DistractedType:
+
   NOT_DISTRACTED = 0
   DISTRACTED_POSE = 1 << 0
   DISTRACTED_BLINK = 1 << 1
-  DISTRACTED_E2E = 1 << 2
+  DISTRACTED_PHONE = 1 << 2
 
 class DriverPose:
-  def __init__(self, max_trackable):
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
+class DriverProb:
+  def __init__(self, raw_priors, max_trackable):
+    self.prob = 0.
+    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
+    self.prob_calibrated = False
+
 class DriverBlink:
   def __init__(self):
     self.left = 0.
@@ -126,21 +140,15 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
 
 class DriverMonitoring:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
-    if settings is None:
-      settings = DRIVER_MONITOR_SETTINGS()
     # init policy settings
-    self.settings = settings
+    self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    self.wheelpos_learner = RunningStatFilter()
-    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
-    self.eev1 = 0.
-    self.eev2 = 1.
-    self.ee1_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
-    self.ee2_offseter = RunningStatFilter(max_trackable=self.settings._POSE_OFFSET_MAX_COUNT)
-    self.ee1_calibrated = False
-    self.ee2_calibrated = False
+    self.phone_prob = 0.
 
     self.always_on = always_on
     self.distracted_types = []
@@ -158,6 +166,12 @@ class DriverMonitoring:
     self.hi_stds = 0
     self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
     self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
+    self.dcam_uncertain_cnt = 0
+    self.dcam_uncertain_alerted = False # once per drive
+    self.dcam_reset_cnt = 0
+
+    self.params = Params()
+    self.too_distracted = self.params.get_bool("DriverTooDistracted")
 
     self._reset_awareness()
     self._set_timers(active_monitoring=True)
@@ -201,8 +215,8 @@ class DriverMonitoring:
       self.step_change = self.settings._DT_DMON / self.settings._AWARENESS_TIME
       self.active_monitoring_mode = False
 
-  def _set_policy(self, model_data, car_speed):
-    bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+  def _set_policy(self, brake_disengage_prob, car_speed):
+    bp = brake_disengage_prob
     k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
     bp_normal = max(min(bp / k1, 0.5),0)
     self.pose.cfactor_pitch = np.interp(bp_normal, [0, 0.5],
@@ -225,40 +239,40 @@ class DriverMonitoring:
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
-       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
+
+    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
+    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
+
+    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
     if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
-    if self.ee1_calibrated:
-      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
-                              * self.settings._EE_THRESH12
-    else:
-      ee1_dist = self.eev1 > self.settings._EE_THRESH11
-    if ee1_dist:
-      distracted_types.append(DistractedType.DISTRACTED_E2E)
+    if self.phone_prob > self.settings._PHONE_THRESH:
+      distracted_types.append(DistractedType.DISTRACTED_PHONE)
 
     return distracted_types
 
-  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
+  def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, standstill, demo_mode=False):
     rhd_pred = driver_state.wheelOnRightProb
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos_learner.push_and_update(rhd_pred)
-    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
-      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+
+    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+
+    if self.wheelpos.prob_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
-    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right:
+    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right and not demo_mode:
       self.wheel_on_right = self.wheel_on_right_last
     driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
-                                    driver_data.faceOrientationStd, driver_data.facePositionStd,
-                                    driver_data.readyProb, driver_data.notReadyProb)):
+                                    driver_data.faceOrientationStd, driver_data.facePositionStd)):
       return
 
     self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
@@ -271,15 +285,15 @@ class DriverMonitoring:
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
     self.blink.left = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
-                                                                  * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
-                                                                  * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.eev1 = driver_data.notReadyProb[0]
-    self.eev2 = driver_data.readyProb[0]
+                      * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.phone_prob = driver_data.phoneProb
 
     self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
-                                or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
+    self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
+                              or DistractedType.DISTRACTED_POSE in self.distracted_types
+                              or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
                               and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
@@ -288,13 +302,19 @@ class DriverMonitoring:
     if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
       self.pose.pitch_offseter.push_and_update(self.pose.pitch)
       self.pose.yaw_offseter.push_and_update(self.pose.yaw)
-      self.ee1_offseter.push_and_update(self.eev1)
-      self.ee2_offseter.push_and_update(self.eev2)
 
     self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
-                                       self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.ee1_calibrated = self.ee1_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
-    self.ee2_calibrated = self.ee2_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+                           self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
+
+    if self.face_detected and not self.driver_distracted:
+      if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
+        if not standstill:
+          self.dcam_uncertain_cnt += 1
+          self.dcam_reset_cnt = 0
+      else:
+        self.dcam_reset_cnt += 1
+        if self.dcam_reset_cnt > self.settings._DCAM_UNCERTAIN_RESET_COUNT:
+          self.dcam_uncertain_cnt = 0
 
     self.is_model_uncertain = self.hi_stds > self.settings._HI_STD_FALLBACK_TIME
     self._set_timers(self.face_detected and not self.is_model_uncertain)
@@ -305,10 +325,15 @@ class DriverMonitoring:
 
   def _update_events(self, driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
     self._reset_events()
-    # Block engaging after max number of distrations or when alert active
+    # Block engaging until ignition cycle after max number or time of distractions
     if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
-       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \
-       self.always_on and self.awareness <= self.threshold_prompt:
+       self.terminal_time >= self.settings._MAX_TERMINAL_DURATION:
+      if not self.too_distracted:
+        self.params.put_bool_nonblocking("DriverTooDistracted", True)
+      self.too_distracted = True
+
+    # Always-on distraction lockout is temporary
+    if self.too_distracted or (self.always_on and self.awareness <= self.threshold_prompt):
       self.current_events.add(EventName.tooDistracted)
 
     always_on_valid = self.always_on and not wrong_gear
@@ -367,6 +392,10 @@ class DriverMonitoring:
     if alert is not None:
       self.current_events.add(alert)
 
+    if self.dcam_uncertain_cnt > self.settings._DCAM_UNCERTAIN_ALERT_COUNT and not self.dcam_uncertain_alerted:
+      set_offroad_alert("Offroad_DriverMonitoringUncertain", True)
+      self.dcam_uncertain_alerted = True
+
 
   def get_state_packet(self, valid=True):
     # build driverMonitoringState packet
@@ -388,29 +417,47 @@ class DriverMonitoring:
       "hiStdCount": self.hi_stds,
       "isActiveMode": self.active_monitoring_mode,
       "isRHD": self.wheel_on_right,
+      "uncertainCount": self.dcam_uncertain_cnt,
     }
     return dat
 
-  def run_step(self, sm):
-    # Set strictness
+  def run_step(self, sm, demo=False):
+    if demo:
+      highway_speed = 30
+      enabled = True
+      wrong_gear = False
+      standstill = False
+      driver_engaged = False
+      brake_disengage_prob = 1.0
+      rpyCalib = [0., 0., 0.]
+    else:
+      highway_speed = sm['carState'].vEgo
+      enabled = sm['selfdriveState'].enabled or sm['carControl'].latActive
+      wrong_gear = sm['carState'].gearShifter not in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)
+      standstill = sm['carState'].standstill
+      driver_engaged = sm['carState'].steeringPressed or sm['carState'].gasPressed
+      brake_disengage_prob = sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
+      rpyCalib = sm['liveCalibration'].rpyCalib
     self._set_policy(
-      model_data=sm['modelV2'],
-      car_speed=sm['carState'].vEgo
+      brake_disengage_prob=brake_disengage_prob,
+      car_speed=highway_speed,
     )
 
     # Parse data from dmonitoringmodeld
     self._update_states(
       driver_state=sm['driverStateV2'],
-      cal_rpy=sm['liveCalibration'].rpyCalib,
-      car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive
+      cal_rpy=rpyCalib,
+      car_speed=highway_speed,
+      op_engaged=enabled,
+      standstill=standstill,
+      demo_mode=demo,
     )
 
     # Update distraction events
     self._update_events(
-      driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      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
+      driver_engaged=driver_engaged,
+      op_engaged=enabled,
+      standstill=standstill,
+      wrong_gear=wrong_gear,
+      car_speed=highway_speed
     )
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index 2a20b20dc1..75adb6a2c8 100644
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -1,11 +1,13 @@
 import numpy as np
+import pytest
 
-from cereal import log
+from cereal import log, car
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
+from openpilot.system.hardware import HARDWARE
 
 EventName = log.OnroadEvent.EventName
-dm_settings = DRIVER_MONITOR_SETTINGS()
+dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
 TEST_TIMESPAN = 120  # seconds
 DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1
@@ -25,8 +27,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False):
   ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
   ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
   # TODO: test both separately when e2e is used
-  ds.leftDriverData.readyProb = [0., 0., 0., 0.]
-  ds.leftDriverData.notReadyProb = [0., 0.]
+  ds.leftDriverData.phoneProb = 0.
   return ds
 
 
@@ -54,7 +55,7 @@ class TestMonitoring:
     DM = DriverMonitoring()
     events = []
     for idx in range(len(msgs)):
-      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
+      DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx], standstill[idx])
       # cal_rpy and car_speed don't matter here
 
       # evaluate events at 10Hz for tests
@@ -204,3 +205,66 @@ class TestMonitoring:
     assert EventName.driverUnresponsive in \
                               events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names
 
+
+@pytest.mark.parametrize("enabled_state, lat_active_state, expected", [
+  (False, False, False), # Both Disabled
+  (True, False, True),   # OP Enabled, Lat Inactive
+  (False, True, True),   # OP Disabled, Lat Active (e.g. MADS)
+  (True, True, True)     # Both Active
+])
+def test_enabled_states(enabled_state, lat_active_state, expected):
+  """
+  Test DriverMonitoring.run_step with all 4 combinations of:
+  - selfdriveState.enabled (True/False)
+  - carControl.latActive (True/False)
+  """
+  cs = car.CarState.new_message()
+  cs.vEgo = 30.0
+  cs.gearShifter = car.CarState.GearShifter.drive
+  cs.standstill = False
+  cs.steeringPressed = False
+  cs.gasPressed = False
+
+  ss = log.SelfdriveState.new_message()
+  ss.enabled = enabled_state
+
+  cc = car.CarControl.new_message()
+  cc.latActive = lat_active_state
+
+  mv2 = log.ModelDataV2.new_message()
+  mv2.meta.disengagePredictions.brakeDisengageProbs = [0.0]
+
+  lc = log.LiveCalibrationData.new_message()
+  lc.rpyCalib = [0.0, 0.0, 0.0]
+
+  ds = make_msg(False)
+
+  sm = {
+      'carState': cs,
+      'selfdriveState': ss,
+      'carControl': cc,
+      'modelV2': mv2,
+      'liveCalibration': lc,
+      'driverStateV2': ds
+  }
+
+  driver_monitoring = DriverMonitoring()
+
+  # run_test doesn't assign enabled to a variable, so we need to spy on _update_events to see its value
+  captured_args = []
+  original_update_events = driver_monitoring._update_events
+
+  def spy_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed):
+      captured_args.append(op_engaged)
+      return original_update_events(driver_engaged, op_engaged, standstill, wrong_gear, car_speed)
+
+  driver_monitoring._update_events = spy_update_events
+
+  driver_monitoring.run_step(sm, demo=False)
+
+  # Assertion
+  assert len(captured_args) == 1, "Expected _update_events to be called exactly once"
+  actual_enabled = captured_args[0]
+
+  assert actual_enabled == expected, f"Expected op_engaged={expected}, but got {actual_enabled}"
+
diff --git a/selfdrive/pandad/.gitignore b/selfdrive/pandad/.gitignore
index f7226cdb87..cb292405c9 100644
--- a/selfdrive/pandad/.gitignore
+++ b/selfdrive/pandad/.gitignore
@@ -1,3 +1,3 @@
 pandad
 pandad_api_impl.cpp
-tests/test_pandad_usbprotocol
+tests/test_pandad_canprotocol
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index 58777cafe9..fd59db9853 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -1,13 +1,10 @@
-Import('env', 'envCython', 'common', 'messaging')
+Import('env', 'arch', 'common', 'messaging')
 
-libs = ['usb-1.0', common, messaging, 'pthread']
-panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
+if arch != "Darwin":
+  libs = [common, messaging, 'pthread']
+  panda = env.Library('panda', ['panda.cc', 'spi.cc'])
 
-env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
-env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
+  env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
 
-pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
-Export('pandad_python')
-
-if GetOption('extras'):
-  env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
+  if GetOption('extras'):
+    env.Program('tests/test_pandad_canprotocol', ['tests/test_pandad_canprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index cc680e1676..0c17e886a2 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -1,4 +1,3 @@
-# Cython, now uses scons to build
 from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
 assert can_list_to_can_capnp
 assert can_capnp_to_list
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
deleted file mode 100644
index 6ad999da91..0000000000
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "cereal/messaging/messaging.h"
-#include "opendbc/can/common.h"
-
-void can_list_to_can_capnp_cpp(const std::vector<CanFrame> &can_list, std::string &out, bool sendcan, bool valid) {
-  MessageBuilder msg;
-  auto event = msg.initEvent(valid);
-
-  auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
-  int j = 0;
-  for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
-    auto c = canData[j];
-    c.setAddress(it->address);
-    c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
-    c.setSrc(it->src);
-  }
-  const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
-  out.resize(msg_size);
-  kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
-  capnp::writeMessage(output_stream, msg);
-}
-
-// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
-void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
-  AlignedBuffer aligned_buf;
-  can_list.reserve(strings.size());
-
-  for (const auto &str : strings) {
-    // extract the messages
-    capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
-    cereal::Event::Reader event = reader.getRoot<cereal::Event>();
-
-    auto frames = sendcan ? event.getSendcan() : event.getCan();
-
-    // Add new CanData entry
-    CanData &can_data = can_list.emplace_back();
-    can_data.nanos = event.getLogMonoTime();
-    can_data.frames.reserve(frames.size());
-
-    // Populate CAN frames
-    for (const auto &frame : frames) {
-      CanFrame &can_frame = can_data.frames.emplace_back();
-      can_frame.src = frame.getSrc();
-      can_frame.address = frame.getAddress();
-
-      // Copy CAN data
-      auto dat = frame.getDat();
-      can_frame.dat.assign(dat.begin(), dat.end());
-    }
-  }
-}
diff --git a/selfdrive/pandad/main.cc b/selfdrive/pandad/main.cc
index b63d884a45..ef30d6037c 100644
--- a/selfdrive/pandad/main.cc
+++ b/selfdrive/pandad/main.cc
@@ -16,7 +16,7 @@ int main(int argc, char *argv[]) {
     assert(err == 0);
   }
 
-  std::vector<std::string> serials(argv + 1, argv + argc);
-  pandad_main_thread(serials);
+  std::string serial = (argc > 1) ? argv[1] : "";
+  pandad_main_thread(serial);
   return 0;
 }
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index 72b8ddcf81..acb472ab57 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -12,19 +12,9 @@
 
 const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
 
-Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
-  // try USB first, then SPI
-  try {
-    handle = std::make_unique<PandaUsbHandle>(serial);
-    LOGW("connected to %s over USB", serial.c_str());
-  } catch (std::exception &e) {
-#ifndef __APPLE__
-    handle = std::make_unique<PandaSpiHandle>(serial);
-    LOGW("connected to %s over SPI", serial.c_str());
-#else
-    throw e;
-#endif
-  }
+Panda::Panda(std::string serial) {
+  handle = std::make_unique<PandaSpiHandle>(serial);
+  LOGW("connected to %s over SPI", serial.c_str());
 
   hw_type = get_hw_type();
   can_reset_communications();
@@ -42,20 +32,8 @@ std::string Panda::hw_serial() {
   return handle->hw_serial;
 }
 
-std::vector<std::string> Panda::list(bool usb_only) {
-  std::vector<std::string> serials = PandaUsbHandle::list();
-
-#ifndef __APPLE__
-  if (!usb_only) {
-    for (const auto &s : PandaSpiHandle::list()) {
-      if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
-        serials.push_back(s);
-      }
-    }
-  }
-#endif
-
-  return serials;
+std::vector<std::string> Panda::list() {
+  return PandaSpiHandle::list();
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
@@ -195,7 +173,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   for (const auto &cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
-    if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
+    if (bus >= PANDA_BUS_OFFSET) {
       continue;
     }
     auto can_data = cmsg.getDat();
@@ -207,7 +185,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
     header.addr = cmsg.getAddress();
     header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
     header.data_len_code = data_len_code;
-    header.bus = bus - bus_offset;
+    header.bus = bus;
     header.checksum = 0;
 
     memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
@@ -283,7 +261,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
 
     can_frame &canData = out_vec.emplace_back();
     canData.address = header.addr;
-    canData.src = header.bus + bus_offset;
+    canData.src = header.bus;
     if (header.rejected) {
       canData.src += CAN_REJECTED_BUS_OFFSET;
     }
diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h
index 8545b558a9..9877e5f739 100644
--- a/selfdrive/pandad/panda.h
+++ b/selfdrive/pandad/panda.h
@@ -45,20 +45,19 @@ struct can_frame {
 
 class Panda {
 private:
-  std::unique_ptr<PandaCommsHandle> handle;
+  std::unique_ptr<PandaSpiHandle> handle;
 
 public:
-  Panda(std::string serial="", uint32_t bus_offset=0);
+  Panda(std::string serial);
 
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  const uint32_t bus_offset;
 
   bool connected();
   bool comms_healthy();
   std::string hw_serial();
 
   // Static functions
-  static std::vector<std::string> list(bool usb_only=false);
+  static std::vector<std::string> list();
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
@@ -91,7 +90,7 @@ protected:
   uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
   uint32_t receive_buffer_size = 0;
 
-  Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
+  Panda() {}
   void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                          std::function<void(uint8_t *, size_t)> write_func);
   bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
diff --git a/selfdrive/pandad/panda_comms.h b/selfdrive/pandad/panda_comms.h
index 9c452faf6d..cdfb5019b6 100644
--- a/selfdrive/pandad/panda_comms.h
+++ b/selfdrive/pandad/panda_comms.h
@@ -6,67 +6,20 @@
 #include <string>
 #include <vector>
 
-#ifndef __APPLE__
-#include <linux/spi/spidev.h>
-#endif
-
-#include <libusb-1.0/libusb.h>
-
 
 #define TIMEOUT 0
 #define SPI_BUF_SIZE 2048
 
 
-// comms base class
-class PandaCommsHandle {
+class PandaSpiHandle {
 public:
-  PandaCommsHandle(std::string serial) {}
-  virtual ~PandaCommsHandle() {}
-  virtual void cleanup() = 0;
-
   std::string hw_serial;
   std::atomic<bool> connected = true;
   std::atomic<bool> comms_healthy = true;
-  static std::vector<std::string> list();
 
-  // HW communication
-  virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
-  virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
-  virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
-  virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
-};
-
-class PandaUsbHandle : public PandaCommsHandle {
-public:
-  PandaUsbHandle(std::string serial);
-  ~PandaUsbHandle();
-  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
-  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
-  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
-  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
-  void cleanup();
-
-  static std::vector<std::string> list();
-
-private:
-  libusb_context *ctx = NULL;
-  libusb_device_handle *dev_handle = NULL;
-  std::recursive_mutex hw_lock;
-  void handle_usb_issue(int err, const char func[]);
-};
-
-#ifndef __APPLE__
-struct __attribute__((packed)) spi_header {
-  uint8_t sync;
-  uint8_t endpoint;
-  uint16_t tx_len;
-  uint16_t max_rx_len;
-};
-
-class PandaSpiHandle : public PandaCommsHandle {
-public:
   PandaSpiHandle(std::string serial);
   ~PandaSpiHandle();
+
   int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
   int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
   int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
@@ -81,13 +34,19 @@ private:
   uint8_t rx_buf[SPI_BUF_SIZE];
   inline static std::recursive_mutex hw_lock;
 
+  struct __attribute__((packed)) spi_header {
+    uint8_t sync;
+    uint8_t endpoint;
+    uint16_t tx_len;
+    uint16_t max_rx_len;
+  };
+
   int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
   int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
-  int lltransfer(spi_ioc_transfer &t);
+  int lltransfer(struct spi_ioc_transfer &t);
 
   spi_header header;
   uint32_t xfer_count = 0;
 };
-#endif
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index 48589c4146..8381256f46 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -2,9 +2,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 
-void PandaSafety::configureSafetyMode() {
-  bool is_onroad = params_.getBool("IsOnroad");
-
+void PandaSafety::configureSafetyMode(bool is_onroad) {
   if (is_onroad && !safety_configured_) {
     updateMultiplexingMode();
 
@@ -26,19 +24,15 @@ void PandaSafety::updateMultiplexingMode() {
   // Initialize to ELM327 without OBD multiplexing for initial fingerprinting
   if (!initialized_) {
     prev_obd_multiplexing_ = false;
-    for (int i = 0; i < pandas_.size(); ++i) {
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-    }
+    panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
     initialized_ = true;
   }
 
   // Switch between multiplexing modes based on the OBD multiplexing request
   bool obd_multiplexing_requested = params_.getBool("ObdMultiplexingEnabled");
   if (obd_multiplexing_requested != prev_obd_multiplexing_) {
-    for (int i = 0; i < pandas_.size(); ++i) {
-      const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
-      pandas_[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
-    }
+    const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U;
+    panda_->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
     prev_obd_multiplexing_ = obd_multiplexing_requested;
     params_.putBool("ObdMultiplexingChanged", true);
   }
@@ -76,19 +70,12 @@ void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
   uint16_t alternative_experience = car_params.getAlternativeExperience();
   uint16_t safety_param_sp = car_params_sp.getSafetyParam();
 
-  for (int i = 0; i < pandas_.size(); ++i) {
-    // Default to SILENT safety model if not specified
-    cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
-    uint16_t safety_param = 0U;
-    if (i < safety_configs.size()) {
-      safety_model = safety_configs[i].getSafetyModel();
-      safety_param = safety_configs[i].getSafetyParam();
-    }
+  cereal::CarParams::SafetyModel safety_model = safety_configs[0].getSafetyModel();
+  uint16_t safety_param = safety_configs[0].getSafetyParam();
 
-    LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", i, (int)safety_model, safety_param, alternative_experience, safety_param_sp);
-    pandas_[i]->set_alternative_experience(alternative_experience, safety_param_sp);
-    pandas_[i]->set_safety_model(safety_model, safety_param);
-  }
+  LOGW("setting safety model: %d, param: %d, alternative experience: %d, param_sp: %d", (int)safety_model, safety_param, alternative_experience, safety_param_sp);
+  panda_->set_alternative_experience(alternative_experience, safety_param_sp);
+  panda_->set_safety_model(safety_model, safety_param);
 }
 
 bool PandaSafety::getOffroadMode() {
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index d3dbba8182..3d0a551d80 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -1,6 +1,5 @@
 #include "selfdrive/pandad/pandad.h"
 
-#include <algorithm>
 #include <array>
 #include <bitset>
 #include <cassert>
@@ -11,53 +10,32 @@
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
-// -- Multi-panda conventions --
-// Ordering:
-// - The internal panda will always be the first panda
-// - Consecutive pandas will be sorted based on panda type, and then serial number
-// Connecting:
-// - If a panda connection is dropped, pandad will reconnect to all pandas
-// - If a panda is added, we will only reconnect when we are offroad
-// CAN buses:
-// - Each panda will have it's block of 4 buses. E.g.: the second panda will use
-//   bus numbers 4, 5, 6 and 7
-// - The internal panda will always be used for accessing the OBD2 port,
-//   and thus firmware queries
-// Safety:
-// - SafetyConfig is a list, which is mapped to the connected pandas
-// - If there are more pandas connected than there are SafetyConfigs,
-//   the excess pandas will remain in "silent" or "noOutput" mode
-// Ignition:
-// - If any of the ignition sources in any panda is high, ignition is high
-
-#define MAX_IR_POWER 0.5f
-#define MIN_IR_POWER 0.0f
+#define MAX_IR_PANDA_VAL 50
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
-bool check_all_connected(const std::vector<Panda *> &pandas) {
-  for (const auto& panda : pandas) {
-    if (!panda->connected()) {
-      do_exit = true;
-      return false;
-    }
+bool check_connected(Panda *panda) {
+  if (!panda->connected()) {
+    do_exit = true;
+    return false;
   }
   return true;
 }
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
@@ -67,10 +45,10 @@ bool process_mads_heartbeat(SubMaster *sm) {
   return engaged;
 }
 
-Panda *connect(std::string serial="", uint32_t index=0) {
+Panda *connect(std::string serial) {
   std::unique_ptr<Panda> panda;
   try {
-    panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_OFFSET));
+    panda = std::make_unique<Panda>(serial);
   } catch (std::exception &e) {
     return nullptr;
   }
@@ -81,10 +59,17 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
-  for (int i = 0; i < PANDA_BUS_CNT; i++) {
+  for (int i = 0; i < PANDA_CAN_CNT; i++) {
     panda->set_can_fd_auto(i, true);
   }
 
+  bool is_supported_panda = std::find(SUPPORTED_PANDA_TYPES.begin(), SUPPORTED_PANDA_TYPES.end(), panda->hw_type) != SUPPORTED_PANDA_TYPES.end();
+
+  if (!is_supported_panda) {
+    LOGW("panda %s is not supported (hw_type: %i), skipping firmware check...", panda->hw_serial().c_str(), static_cast<uint16_t>(panda->hw_type));
+    return panda.release();
+  }
+
   if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
     throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
   }
@@ -92,17 +77,17 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   return panda.release();
 }
 
-void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
+void can_send_thread(Panda *panda, bool fake_send) {
   util::set_thread_name("pandad_can_send");
 
   AlignedBuffer aligned_buf;
   std::unique_ptr<Context> context(Context::create());
-  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan"));
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "sendcan", "127.0.0.1", false, true, services.at("sendcan").queue_size));
   assert(subscriber != NULL);
   subscriber->setTimeout(100);
 
   // run as fast as messages come in
-  while (!do_exit && check_all_connected(pandas)) {
+  while (!do_exit && check_connected(panda)) {
     std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) {
       continue;
@@ -113,25 +98,20 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 
     // Don't send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
-      for (const auto& panda : pandas) {
-        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
-        panda->can_send(event.getSendcan());
-        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
-      }
+      LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
+      panda->can_send(event.getSendcan());
+      LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
     } else {
       LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
     }
   }
 }
 
-void can_recv(std::vector<Panda *> &pandas, PubMaster *pm) {
+void can_recv(Panda *panda, PubMaster *pm) {
   static std::vector<can_frame> raw_can_data;
   {
-    bool comms_healthy = true;
     raw_can_data.clear();
-    for (const auto& panda : pandas) {
-      comms_healthy &= panda->can_receive(raw_can_data);
-    }
+    bool comms_healthy = panda->can_receive(raw_can_data);
 
     MessageBuilder msg;
     auto evt = msg.initEvent();
@@ -167,11 +147,11 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
   ps.setInterruptLoad(health.interrupt_load_pkt);
   ps.setFanPower(health.fan_power);
-  ps.setFanStallCount(health.fan_stall_count);
   ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
-  ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
+  ps.setSpiErrorCount(health.spi_error_count_pkt);
   ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
   ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
+  ps.setSoundOutputLevel(health.sound_output_level_pkt);
 }
 
 void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const can_health_t &can_health) {
@@ -202,101 +182,72 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
   cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }
 
-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
-  bool ignition_local = false;
-  const uint32_t pandas_cnt = pandas.size();
-
+std::optional<bool> send_panda_states(PubMaster *pm, Panda *panda, bool is_onroad, bool spoofing_started, bool always_offroad) {
   // build msg
   MessageBuilder msg;
   auto evt = msg.initEvent();
-  auto pss = evt.initPandaStates(pandas_cnt);
+  auto pss = evt.initPandaStates(1);
 
-  std::vector<health_t> pandaStates;
-  pandaStates.reserve(pandas_cnt);
-
-  std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
-  pandaCanStates.reserve(pandas_cnt);
-
-  const bool red_panda_comma_three = (pandas.size() == 2) &&
-                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
-                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
-
-  for (const auto& panda : pandas){
-    auto health_opt = panda->get_state();
-    if (!health_opt) {
-      return std::nullopt;
-    }
-
-    health_t health = *health_opt;
-
-    std::array<can_health_t, PANDA_CAN_CNT> can_health{};
-    for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) {
-      auto can_health_opt = panda->get_can_state(i);
-      if (!can_health_opt) {
-        return std::nullopt;
-      }
-      can_health[i] = *can_health_opt;
-    }
-    pandaCanStates.push_back(can_health);
-
-    if (spoofing_started) {
-      health.ignition_line_pkt = 1;
-    }
-
-    // on comma three setups with a red panda, the dos can
-    // get false positive ignitions due to the harness box
-    // without a harness connector, so ignore it
-    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
-      health.ignition_line_pkt = 0;
-    }
-
-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
-
-    pandaStates.push_back(health);
+  auto health_opt = panda->get_state();
+  if (!health_opt) {
+    return std::nullopt;
   }
 
-  for (uint32_t i = 0; i < pandas_cnt; i++) {
-    auto panda = pandas[i];
-    const auto &health = pandaStates[i];
+  health_t health = *health_opt;
 
-    // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
-    if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  std::array<can_health_t, PANDA_CAN_CNT> can_health{};
+  for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) {
+    auto can_health_opt = panda->get_can_state(i);
+    if (!can_health_opt) {
+      return std::nullopt;
     }
+    can_health[i] = *can_health_opt;
+  }
 
-    bool power_save_desired = !ignition_local;
-    if (health.power_save_enabled_pkt != power_save_desired) {
-      panda->set_power_saving(power_save_desired);
-    }
+  if (spoofing_started) {
+    health.ignition_line_pkt = 1;
+  }
 
-    // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
-    if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
-      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-    }
+  bool ignition_local = ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;
 
-    if (!panda->comms_healthy()) {
-      evt.setValid(false);
-    }
+  // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
+  if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
+    panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  }
 
-    auto ps = pss[i];
-    fill_panda_state(ps, panda->hw_type, health);
+  bool power_save_desired = !ignition_local;
+  if (health.power_save_enabled_pkt != power_save_desired) {
+    panda->set_power_saving(power_save_desired);
+  }
 
-    auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
-    for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
-      fill_panda_can_state(cs[j], pandaCanStates[i][j]);
-    }
+  // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
+  bool should_close_relay = !ignition_local || !is_onroad;
+  if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
+    panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+  }
 
-    // Convert faults bitset to capnp list
-    std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
-    auto faults = ps.initFaults(fault_bits.count());
+  if (!panda->comms_healthy()) {
+    evt.setValid(false);
+  }
 
-    size_t j = 0;
-    for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
-      if (fault_bits.test(f)) {
-        faults.set(j, cereal::PandaState::FaultType(f));
-        j++;
-      }
+  auto ps = pss[0];
+  fill_panda_state(ps, panda->hw_type, health);
+
+  auto cs = std::array{ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
+  for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) {
+    fill_panda_can_state(cs[j], can_health[j]);
+  }
+
+  // Convert faults bitset to capnp list
+  std::bitset<sizeof(health.faults_pkt) * 8> fault_bits(health.faults_pkt);
+  auto faults = ps.initFaults(fault_bits.count());
+
+  size_t j = 0;
+  for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
+       f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
+    if (fault_bits.test(f)) {
+      faults.set(j, cereal::PandaState::FaultType(f));
+      j++;
     }
   }
 
@@ -337,57 +288,38 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
   pm->send("peripheralState", msg);
 }
 
-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
-  std::vector<std::string> connected_serials;
-  for (Panda *p : pandas) {
-    connected_serials.push_back(p->hw_serial());
+void process_panda_state(Panda *panda, PubMaster *pm, bool engaged, bool engaged_mads, bool is_onroad, bool spoofing_started, bool always_offroad) {
+  auto ignition_opt = send_panda_states(pm, panda, is_onroad, spoofing_started, always_offroad);
+  if (!ignition_opt) {
+    LOGE("Failed to get ignition_opt");
+    return;
   }
 
-  {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
-    if (!ignition_opt) {
-      LOGE("Failed to get ignition_opt");
-      return;
-    }
-
-    // check if we should have pandad reconnect
-    if (!ignition_opt.value()) {
-      bool comms_healthy = true;
-      for (const auto &panda : pandas) {
-        comms_healthy &= panda->comms_healthy();
-      }
-
-      if (!comms_healthy) {
-        LOGE("Reconnecting, communication to pandas not healthy");
-        do_exit = true;
-
-      } else {
-        // check for new pandas
-        for (std::string &s : Panda::list(true)) {
-          if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
-            LOGW("Reconnecting to new panda: %s", s.c_str());
-            do_exit = true;
-            break;
-          }
-        }
-      }
-    }
-
-    for (const auto &panda : pandas) {
-      panda->send_heartbeat(engaged, engaged_mads);
+  // check if we should have pandad reconnect
+  if (!ignition_opt.value()) {
+    if (!panda->comms_healthy()) {
+      LOGE("Reconnecting, communication to panda not healthy");
+      do_exit = true;
     }
   }
+
+  panda->send_heartbeat(engaged, engaged_mads);
 }
 
 void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control) {
+  static Params params;
   static SubMaster sm({"deviceState", "driverCameraState"});
 
   static uint64_t last_driver_camera_t = 0;
   static uint16_t prev_fan_speed = 999;
-  static uint16_t ir_pwr = 0;
-  static uint16_t prev_ir_pwr = 999;
+  static int ir_pwr = 0;
+  static int prev_ir_pwr = 999;
+  static uint32_t prev_frame_id = UINT32_MAX;
+  static bool driver_view = false;
 
+  // TODO: can we merge these?
   static FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
+  static FirstOrderFilter integ_lines_filter_driver_view(0, 5.0, 0.05);
 
   {
     sm.update(0);
@@ -404,15 +336,23 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       auto event = sm["driverCameraState"];
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
 
-      cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
+      // reset the filter when camerad restarts
+      if (event.getDriverCameraState().getFrameId() < prev_frame_id) {
+        integ_lines_filter.reset(0);
+        integ_lines_filter_driver_view.reset(0);
+        driver_view = params.getBool("IsDriverViewEnabled");
+      }
+      prev_frame_id = event.getDriverCameraState().getFrameId();
+
+      cur_integ_lines = (driver_view ? integ_lines_filter_driver_view : integ_lines_filter).update(cur_integ_lines);
       last_driver_camera_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {
-        ir_pwr = 100.0 * MIN_IR_POWER;
+        ir_pwr = 0;
       } else if (cur_integ_lines > SATURATE_IL) {
-        ir_pwr = 100.0 * MAX_IR_POWER;
+        ir_pwr = 100;
       } else {
-        ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL)));
+        ir_pwr = 100 * (cur_integ_lines - CUTOFF_IL) / (SATURATE_IL - CUTOFF_IL);
       }
     }
 
@@ -421,38 +361,40 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
-      panda->set_ir_pwr(ir_pwr);
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
+      panda->set_ir_pwr(ir_panda);
       Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }
 }
 
-void pandad_run(std::vector<Panda *> &pandas) {
+void pandad_run(Panda *panda) {
   const bool no_fan_control = getenv("NO_FAN_CONTROL") != nullptr;
   const bool spoofing_started = getenv("STARTED") != nullptr;
   const bool fake_send = getenv("FAKESEND") != nullptr;
 
   // Start the CAN send thread
-  std::thread send_thread(can_send_thread, pandas, fake_send);
+  std::thread send_thread(can_send_thread, panda, fake_send);
 
+  Params params;
   RateKeeper rk("pandad", 100);
   SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
-  PandaSafety panda_safety(pandas);
-  Panda *peripheral_panda = pandas[0];
+  PandaSafety panda_safety(panda);
   bool engaged = false;
   bool engaged_mads = false;
+  bool is_onroad = false;
   bool always_offroad = false;
 
   // Main loop: receive CAN data and process states
-  while (!do_exit && check_all_connected(pandas)) {
-    can_recv(pandas, &pm);
+  while (!do_exit && check_connected(panda)) {
+    can_recv(panda, &pm);
 
     // Process peripheral state at 20 Hz
     if (rk.frame() % 5 == 0) {
-      process_peripheral_state(peripheral_panda, &pm, no_fan_control);
+      process_peripheral_state(panda, &pm, no_fan_control);
     }
 
     // Process panda state at 10 Hz
@@ -460,26 +402,25 @@ void pandad_run(std::vector<Panda *> &pandas) {
       sm.update(0);
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
       engaged_mads = process_mads_heartbeat(&sm);
+      is_onroad = params.getBool("IsOnroad");
       always_offroad = panda_safety.getOffroadMode();
-      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
-      panda_safety.configureSafetyMode();
+      process_panda_state(panda, &pm, engaged, engaged_mads, is_onroad, spoofing_started, always_offroad);
+      panda_safety.configureSafetyMode(is_onroad);
     }
 
     // Send out peripheralState at 2Hz
     if (rk.frame() % 50 == 0) {
-      send_peripheral_state(peripheral_panda, &pm);
+      send_peripheral_state(panda, &pm);
     }
 
-    // Forward logs from pandas to cloudlog if available
-    for (auto *panda : pandas) {
-      std::string log = panda->serial_read();
-      if (!log.empty()) {
-        if (log.find("Register 0x") != std::string::npos) {
-          // Log register divergent faults as errors
-          LOGE("%s", log.c_str());
-        } else {
-          LOGD("%s", log.c_str());
-        }
+    // Forward logs from panda to cloudlog if available
+    std::string log = panda->serial_read();
+    if (!log.empty()) {
+      if (log.find("Register 0x") != std::string::npos) {
+        // Log register divergent faults as errors
+        LOGE("%s", log.c_str());
+      } else {
+        LOGD("%s", log.c_str());
       }
     }
 
@@ -487,54 +428,39 @@ void pandad_run(std::vector<Panda *> &pandas) {
   }
 
   // Close relay on exit to prevent a fault
-  const bool is_onroad = Params().getBool("IsOnroad");
   if (is_onroad && !engaged) {
-    for (auto &p : pandas) {
-      if (p->connected()) {
-        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
-      }
+    if (panda->connected()) {
+      panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
   }
 
   send_thread.join();
 }
 
-void pandad_main_thread(std::vector<std::string> serials) {
-  if (serials.size() == 0) {
-    serials = Panda::list();
+void pandad_main_thread(std::string serial) {
+  if (serial.empty()) {
+    auto serials = Panda::list();
 
-    if (serials.size() == 0) {
+    if (serials.empty()) {
       LOGW("no pandas found, exiting");
       return;
     }
+    serial = serials[0];
   }
 
-  std::string serials_str;
-  for (int i = 0; i < serials.size(); i++) {
-    serials_str += serials[i];
-    if (i < serials.size() - 1) serials_str += ", ";
-  }
-  LOGW("connecting to pandas: %s", serials_str.c_str());
+  LOGW("connecting to panda: %s", serial.c_str());
 
-  // connect to all provided serials
-  std::vector<Panda *> pandas;
-  for (int i = 0; i < serials.size() && !do_exit; /**/) {
-    Panda *p = connect(serials[i], i);
-    if (!p) {
-      util::sleep_for(100);
-      continue;
-    }
-
-    pandas.push_back(p);
-    ++i;
+  Panda *panda = nullptr;
+  while (!do_exit) {
+    panda = connect(serial);
+    if (panda) break;
+    util::sleep_for(100);
   }
 
   if (!do_exit) {
-    LOGW("connected to all pandas");
-    pandad_run(pandas);
+    LOGW("connected to panda");
+    pandad_run(panda);
   }
 
-  for (Panda *panda : pandas) {
-    delete panda;
-  }
+  delete panda;
 }
diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h
index 7b37fbe59a..1558d0469e 100644
--- a/selfdrive/pandad/pandad.h
+++ b/selfdrive/pandad/pandad.h
@@ -1,17 +1,24 @@
 #pragma once
 
 #include <string>
-#include <vector>
 
 #include "common/params.h"
 #include "selfdrive/pandad/panda.h"
 
-void pandad_main_thread(std::vector<std::string> serials);
+void pandad_main_thread(std::string serial);
+
+// deprecated devices
+static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
+  cereal::PandaState::PandaType::RED_PANDA,
+  cereal::PandaState::PandaType::TRES,
+  cereal::PandaState::PandaType::CUATRO,
+};
+
 
 class PandaSafety {
 public:
-  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
-  void configureSafetyMode();
+  PandaSafety(Panda *panda) : panda_(panda) {}
+  void configureSafetyMode(bool is_onroad);
   bool getOffroadMode();
 
 private:
@@ -23,6 +30,6 @@ private:
   bool log_once_ = false;
   bool safety_configured_ = false;
   bool prev_obd_multiplexing_ = false;
-  std::vector<Panda *> pandas_;
+  Panda *panda_;
   Params params_;
 };
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index fd6668feba..a8300de321 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -6,16 +6,18 @@ import time
 import signal
 import subprocess
 
-from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
+from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.sunnypilot.selfdrive.pandad.rivian_long_flasher import flash_rivian_long
 
-def get_expected_signature(panda: Panda) -> bytes:
+
+def get_expected_signature() -> bytes:
   try:
-    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
     return Panda.get_signature_from_firmware(fn)
   except Exception:
     cloudlog.exception("Error computing expected signature")
@@ -29,7 +31,12 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
-  fw_signature = get_expected_signature(panda)
+  # skip flashing if the detected panda is not supported
+  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
+    cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
+    return panda
+
+  fw_signature = get_expected_signature()
   internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
@@ -61,6 +68,23 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
+def check_panda_support(panda_serials: list[str]) -> bool:
+  unsupported = []
+  for serial in panda_serials:
+    panda = Panda(serial)
+    hw_type = panda.get_type()
+    panda.close()
+    if hw_type in Panda.SUPPORTED_DEVICES:
+      return True
+
+    unsupported.append((serial, hw_type))
+
+  for serial, hw_type in unsupported:
+    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
+
+  return False
+
+
 def main() -> None:
   # signal pandad to close the relay and exit
   def signal_handler(signum, frame):
@@ -85,11 +109,6 @@ def main() -> None:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
-      # TODO: remove this in the next AGNOS
-      # wait until USB is up before counting
-      if time.monotonic() < 25.:
-        no_internal_panda_count = 0
-
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:
@@ -115,46 +134,42 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
-      # Flash pandas
-      pandas: list[Panda] = []
-      for serial in panda_serials:
-        pandas.append(flash_panda(serial))
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
+      # skip flashing and health check if no supported panda is detected
+      if not check_panda_support(panda_serials):
+        continue
+
+      # Flash the first panda
+      panda_serial = panda_serials[0]
+      panda = flash_panda(panda_serial)
 
       # Ensure internal panda is present if expected
-      internal_pandas = [panda for panda in pandas if panda.is_internal()]
-      if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
+      if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
         no_internal_panda_count += 1
         continue
       no_internal_panda_count = 0
 
-      # sort pandas to have deterministic order
-      # * the internal one is always first
-      # * then sort by hardware type
-      # * as a last resort, sort by serial number
-      pandas.sort(key=lambda x: (not x.is_internal(), x.get_type(), x.get_usb_serial()))
-      panda_serials = [p.get_usb_serial() for p in pandas]
+      # log panda fw version
+      params.put("PandaSignatures", panda.get_signature())
 
-      # log panda fw versions
-      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
+      # check health for lost heartbeat
+      health = panda.health()
+      if health["heartbeat_lost"]:
+        params.put_bool("PandaHeartbeatLost", True)
+        cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
+      if health["som_reset_triggered"]:
+        params.put_bool("PandaSomResetTriggered", True)
+        cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
 
-      for panda in pandas:
-        # check health for lost heartbeat
-        health = panda.health()
-        if health["heartbeat_lost"]:
-          params.put_bool("PandaHeartbeatLost", True)
-          cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
-        if health["som_reset_triggered"]:
-          params.put_bool("PandaSomResetTriggered", True)
-          cloudlog.event("panda.som_reset_triggered", health=health, serial=panda.get_usb_serial())
+      if first_run:
+        # reset panda to ensure we're in a good state
+        cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
+        panda.reset(reconnect=True)
 
-        if first_run:
-          # reset panda to ensure we're in a good state
-          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          panda.reset(reconnect=True)
-
-      for p in pandas:
-        p.close()
+      panda.close()
     # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
@@ -171,7 +186,7 @@ def main() -> None:
 
     # run pandad with all connected serials as arguments
     os.environ['MANAGER_DAEMON'] = 'pandad'
-    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process = subprocess.Popen(["./pandad", panda_serial], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
     process.wait()
 
 
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
new file mode 100644
index 0000000000..75a7ba484e
--- /dev/null
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -0,0 +1,88 @@
+import time
+from cereal import log
+
+NO_TRAVERSAL_LIMIT = 2**64 - 1
+
+# Cache schema fields for faster access (avoids string lookup on each field access)
+_cached_reader_fields = None  # (address_field, dat_field, src_field) for reading
+_cached_writer_fields = None  # (address_field, dat_field, src_field) for writing
+
+
+def _get_reader_fields(schema):
+  """Get cached schema field objects for reading."""
+  global _cached_reader_fields
+  if _cached_reader_fields is None:
+    fields = schema.fields
+    _cached_reader_fields = (fields['address'], fields['dat'], fields['src'])
+  return _cached_reader_fields
+
+
+def _get_writer_fields(schema):
+  """Get cached schema field objects for writing."""
+  global _cached_writer_fields
+  if _cached_writer_fields is None:
+    fields = schema.fields
+    _cached_writer_fields = (fields['address'], fields['dat'], fields['src'])
+  return _cached_writer_fields
+
+
+def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+  """Convert list of CAN messages to Cap'n Proto serialized bytes.
+
+  Args:
+    can_msgs: List of tuples [(address, data_bytes, src), ...]
+    msgtype: 'can' or 'sendcan'
+    valid: Whether the event is valid
+
+  Returns:
+    Cap'n Proto serialized bytes
+  """
+  global _cached_writer_fields
+
+  dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
+  can_data = dat.init(msgtype, len(can_msgs))
+
+  # Cache schema fields on first call
+  if _cached_writer_fields is None and len(can_msgs) > 0:
+    _cached_writer_fields = _get_writer_fields(can_data[0].schema)
+
+  if _cached_writer_fields is not None:
+    addr_f, dat_f, src_f = _cached_writer_fields
+    for i, msg in enumerate(can_msgs):
+      f = can_data[i]
+      f._set_by_field(addr_f, msg[0])
+      f._set_by_field(dat_f, msg[1])
+      f._set_by_field(src_f, msg[2])
+
+  return dat.to_bytes()
+
+
+def can_capnp_to_list(strings, msgtype='can'):
+  """Convert Cap'n Proto serialized bytes to list of CAN messages.
+
+  Args:
+    strings: Tuple/list of serialized Cap'n Proto bytes
+    msgtype: 'can' or 'sendcan'
+
+  Returns:
+    List of tuples [(nanos, [(address, data, src), ...]), ...]
+  """
+  global _cached_reader_fields
+  result = []
+
+  for s in strings:
+    with log.Event.from_bytes(s, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as event:
+      frames = getattr(event, msgtype)
+
+      # Cache schema fields on first frame for faster access
+      if _cached_reader_fields is None and len(frames) > 0:
+        _cached_reader_fields = _get_reader_fields(frames[0].schema)
+
+      if _cached_reader_fields is not None:
+        addr_f, dat_f, src_f = _cached_reader_fields
+        frame_list = [(f._get_by_field(addr_f), f._get_by_field(dat_f), f._get_by_field(src_f)) for f in frames]
+      else:
+        frame_list = []
+
+      result.append((event.logMonoTime, frame_list))
+  return result
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
deleted file mode 100644
index 6683b843ae..0000000000
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ /dev/null
@@ -1,56 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-from cython.operator cimport dereference as deref, preincrement as preinc
-from libcpp.vector cimport vector
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
-
-cdef extern from "opendbc/can/common.h":
-  cdef struct CanFrame:
-    long src
-    uint32_t address
-    vector[uint8_t] dat
-
-  cdef struct CanData:
-    uint64_t nanos
-    vector[CanFrame] frames
-
-cdef extern from "can_list_to_can_capnp.cc":
-  void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil
-  void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
-
-def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
-  cdef CanFrame *f
-  cdef vector[CanFrame] can_list
-  cdef uint32_t cpp_can_msgs_len = len(can_msgs)
-
-  with nogil:
-    can_list.reserve(cpp_can_msgs_len)
-
-  for can_msg in can_msgs:
-    f = &(can_list.emplace_back())
-    f.address = can_msg[0]
-    f.dat = can_msg[1]
-    f.src = can_msg[2]
-
-  cdef string out
-  cdef bool is_sendcan = (msgtype == 'sendcan')
-  cdef bool is_valid = valid
-  with nogil:
-    can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid)
-  return out
-
-def can_capnp_to_list(strings, msgtype='can'):
-  cdef vector[CanData] data
-  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
-
-  result = []
-  cdef CanData *d
-  cdef vector[CanData].iterator it = data.begin()
-  while it != data.end():
-    d = &deref(it)
-    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
-    result.append((d.nanos, frames))
-    preinc(it)
-  return result
diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc
index 108b11b9dc..f54c26e506 100644
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@@ -1,4 +1,3 @@
-#ifndef __APPLE__
 #include <sys/file.h>
 #include <sys/ioctl.h>
 #include <linux/spi/spidev.h>
@@ -33,7 +32,7 @@ const std::string SPI_DEVICE = "/dev/spidev0.0";
 
 class LockEx {
 public:
-  LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
+  LockEx(int fd_, std::recursive_mutex &m_) : fd(fd_), m(m_) {
     m.lock();
     flock(fd, LOCK_EX);
   }
@@ -55,7 +54,7 @@ private:
          util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \
       } while (0)
 
-PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
+PandaSpiHandle::PandaSpiHandle(std::string serial) {
   int ret;
   const int uid_len = 12;
   uint8_t uid[uid_len] = {0};
@@ -66,58 +65,44 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   // 50MHz is the max of the 845. note that some older
   // revs of the comma three may not support this speed
   uint32_t spi_speed = 50000000;
-
-  if (!util::file_exists(SPI_DEVICE)) {
-    goto fail;
-  }
-
-  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
-  if (spi_fd < 0) {
-    LOGE("failed opening SPI device %d", spi_fd);
-    goto fail;
-  }
-
-  // SPI settings
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
-  if (ret < 0) {
-    LOGE("failed setting SPI mode %d", ret);
-    goto fail;
-  }
-
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
-  if (ret < 0) {
-    LOGE("failed setting SPI speed");
-    goto fail;
-  }
-
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
-  if (ret < 0) {
-    LOGE("failed setting SPI bits per word");
-    goto fail;
-  }
-
-  // get hw UID/serial
-  ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
-  if (ret == uid_len) {
-    std::stringstream stream;
-    for (int i = 0; i < uid_len; i++) {
-      stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+  try {
+    if (!util::file_exists(SPI_DEVICE)) {
+      throw std::runtime_error("Error connecting to panda: SPI device not found");
     }
-    hw_serial = stream.str();
-  } else {
-    LOGD("failed to get serial %d", ret);
-    goto fail;
-  }
 
-  if (!serial.empty() && (serial != hw_serial)) {
-    goto fail;
-  }
+    spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
+    if (spi_fd < 0) {
+      LOGE("failed opening SPI device %d", spi_fd);
+      throw std::runtime_error("Error connecting to panda: failed to open SPI device");
+    }
 
+    // SPI settings
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode, "failed setting SPI mode");
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed, "failed setting SPI speed");
+    util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word, "failed setting SPI bits per word");
+
+    // get hw UID/serial
+    ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
+    if (ret == uid_len) {
+      std::stringstream stream;
+      for (int i = 0; i < uid_len; i++) {
+        stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+      }
+      hw_serial = stream.str();
+    } else {
+      LOGD("failed to get serial %d", ret);
+      throw std::runtime_error("Error connecting to panda: failed to get serial");
+    }
+
+    if (!serial.empty() && (serial != hw_serial)) {
+      throw std::runtime_error("Error connecting to panda: serial mismatch");
+    }
+
+  } catch (...) {
+    cleanup();
+    throw;
+  }
   return;
-
-fail:
-  cleanup();
-  throw std::runtime_error("Error connecting to panda");
 }
 
 PandaSpiHandle::~PandaSpiHandle() {
@@ -421,4 +406,3 @@ fail:
   if (ret >= 0) ret = -1;
   return ret;
 }
-#endif
diff --git a/selfdrive/pandad/tests/bootstub.panda.bin b/selfdrive/pandad/tests/bootstub.panda.bin
deleted file mode 100755
index 43db537061..0000000000
Binary files a/selfdrive/pandad/tests/bootstub.panda.bin and /dev/null differ
diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py
index 87f30e4793..88d3939a6a 100644
--- a/selfdrive/pandad/tests/test_pandad.py
+++ b/selfdrive/pandad/tests/test_pandad.py
@@ -5,8 +5,7 @@ import time
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
-from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.common.retry import retry
+from panda import Panda, PandaDFU
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
@@ -22,8 +21,6 @@ class TestPandad:
     if len(Panda.list()) == 0:
       self._run_test(60)
 
-    self.spi = HARDWARE.get_device_type() != 'tici'
-
   def teardown_method(self):
     managed_processes['pandad'].stop()
 
@@ -52,8 +49,7 @@ class TestPandad:
     assert not Panda.wait_for_dfu(None, 3)
     assert not Panda.wait_for_panda(None, 3)
 
-  @retry(attempts=3)
-  def _flash_bootstub_and_test(self, fn, expect_mismatch=False):
+  def _flash_bootstub(self, fn):
     self._go_to_dfu()
     pd = PandaDFU(None)
     if fn is None:
@@ -63,16 +59,6 @@ class TestPandad:
     pd.reset()
     HARDWARE.reset_internal_panda()
 
-    assert Panda.wait_for_panda(None, 10)
-    if expect_mismatch:
-      with pytest.raises(PandaProtocolMismatch):
-        Panda()
-    else:
-      with Panda() as p:
-        assert p.bootstub
-
-    self._run_test(45)
-
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
     self._run_test(60)
@@ -106,17 +92,16 @@ class TestPandad:
     # - 0.2s pandad -> pandad
     # - plus some buffer
     print("startup times", ts, sum(ts) / len(ts))
-    assert 0.1 < (sum(ts)/len(ts)) < (0.7 if self.spi else 5.0)
+    assert 0.1 < (sum(ts)/len(ts)) < 0.7
 
-  def test_protocol_version_check(self):
-    if not self.spi:
-      pytest.skip("SPI test")
-    # flash old fw
-    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
-    self._flash_bootstub_and_test(fn, expect_mismatch=True)
+  def test_old_spi_protocol(self):
+    # flash firmware with old SPI protocol
+    self._flash_bootstub(os.path.join(HERE, "bootstub.panda_h7_spiv0.bin"))
+    self._run_test(45)
 
   def test_release_to_devel_bootstub(self):
-    self._flash_bootstub_and_test(None)
+    self._flash_bootstub(None)
+    self._run_test(45)
 
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
diff --git a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_canprotocol.cc
similarity index 87%
rename from selfdrive/pandad/tests/test_pandad_usbprotocol.cc
rename to selfdrive/pandad/tests/test_pandad_canprotocol.cc
index 11f7184efd..8499a1aab8 100644
--- a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc
+++ b/selfdrive/pandad/tests/test_pandad_canprotocol.cc
@@ -1,13 +1,15 @@
 #define CATCH_CONFIG_MAIN
 #define CATCH_CONFIG_ENABLE_BENCHMARKING
 
+#include <climits>
+
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/pandad/panda.h"
 
 struct PandaTest : public Panda {
-  PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
+  PandaTest(int can_list_size, cereal::PandaState::PandaType hw_type);
   void test_can_send();
   void test_can_recv(uint32_t chunk_size = 0);
   void test_chunked_can_recv();
@@ -19,8 +21,8 @@ struct PandaTest : public Panda {
   capnp::List<cereal::CanData>::Reader can_data_list;
 };
 
-PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) {
-  this->hw_type = hw_type;
+PandaTest::PandaTest(int can_list_size_, cereal::PandaState::PandaType hw_type_) : can_list_size(can_list_size_), Panda() {
+  this->hw_type = hw_type_;
   int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8);
   // prepare test data
   for (int i = 0; i < data_limit; ++i) {
@@ -40,7 +42,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
     uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(util::random_int(0, 2) + bus_offset);
+    can.setSrc(util::random_int(0, 2));
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }
@@ -103,9 +105,8 @@ void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
 }
 
 TEST_CASE("send/recv CAN 2.0 packets") {
-  auto bus_offset = GENERATE(0, 4);
   auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS);
+  PandaTest test(can_list_size, cereal::PandaState::PandaType::DOS);
 
   SECTION("can_send") {
     test.test_can_send();
@@ -119,9 +120,8 @@ TEST_CASE("send/recv CAN 2.0 packets") {
 }
 
 TEST_CASE("send/recv CAN FD packets") {
-  auto bus_offset = GENERATE(0, 4);
   auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200);
-  PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA);
+  PandaTest test(can_list_size, cereal::PandaState::PandaType::RED_PANDA);
 
   SECTION("can_send") {
     test.test_can_send();
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index bf1c557128..fd4a99be62 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -9,16 +9,15 @@ from pprint import pprint
 import cereal.messaging as messaging
 from cereal import car, log
 from opendbc.car.can_definitions import CanData
-from openpilot.common.retry import retry
+from openpilot.common.utils import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
-from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import with_processes
 
 
 @retry(attempts=3)
-def setup_pandad(num_pandas):
+def setup_pandad():
   params = Params()
   params.clear_all()
   params.put_bool("IsOnroad", False)
@@ -29,16 +28,12 @@ def setup_pandad(num_pandas):
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
       sm.update(1000)
 
-  found_pandas = len(sm['pandaStates'])
-  assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
-                                      connect another panda for multipanda tests."
-
   # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
 
   safety_config = car.CarParams.SafetyConfig.new_message()
   safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
-  cp.safetyConfigs = [safety_config]*num_pandas
+  cp.safetyConfigs = [safety_config]
 
   params.put_bool("IsOnroad", True)
   params.put_bool("FirmwareQueryDone", True)
@@ -49,12 +44,12 @@ def setup_pandad(num_pandas):
     while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']):
       sm.update(1000)
 
-def send_random_can_messages(sendcan, count, num_pandas=1):
+def send_random_can_messages(sendcan, count):
   sent_msgs = defaultdict(set)
   for _ in range(count):
     to_send = []
     for __ in range(random.randrange(20)):
-      bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
+      bus = random.choice(range(3))
       addr = random.randrange(1, 1<<29)
       dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
       if (addr, dat) in sent_msgs[bus]:
@@ -74,8 +69,7 @@ class TestBoarddLoopback:
 
   @with_processes(['pandad'])
   def test_loopback(self):
-    num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    setup_pandad(num_pandas)
+    setup_pandad()
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
@@ -86,7 +80,7 @@ class TestBoarddLoopback:
     for i in range(n):
       print(f"pandad loopback {i}/{n}")
 
-      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
+      sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100))
 
       sent_loopback = copy.deepcopy(sent_msgs)
       sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 9f7cc3b029..69dfb67e93 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -6,7 +6,6 @@ import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
@@ -16,8 +15,6 @@ JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 class TestBoarddSpi:
   @classmethod
   def setup_class(cls):
-    if HARDWARE.get_device_type() == 'tici':
-      pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['SPI_ERR_PROB'] = '0.001'
     if not JUNGLE_SPAM:
@@ -25,7 +22,7 @@ class TestBoarddSpi:
 
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
-    setup_pandad(1)
+    setup_pandad()
 
     sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
diff --git a/selfdrive/selfdrived/alertmanager.py b/selfdrive/selfdrived/alertmanager.py
index 79897404e4..34db27c7a4 100644
--- a/selfdrive/selfdrived/alertmanager.py
+++ b/selfdrive/selfdrived/alertmanager.py
@@ -14,11 +14,11 @@ with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''
-    Params().put(alert, json.dumps(a))
+    Params().put(alert, a)
   else:
     Params().remove(alert)
 
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 68f5949398..917b0b6ab7 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -25,16 +25,8 @@
     "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
     "severity": 0
   },
-  "Offroad_UnofficialHardware": {
-    "text": "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.",
-    "severity": 1
-  },
-  "Offroad_StorageMissing": {
-    "text": "NVMe drive not mounted.",
-    "severity": 1
-  },
-  "Offroad_BadNvme": {
-    "text": "Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.",
+  "Offroad_UnregisteredHardware": {
+    "text": "Failed to register with comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
   "Offroad_CarUnrecognized": {
@@ -45,8 +37,22 @@
     "text": "sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
   },
-  "OffroadMode_Status": {
-    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
-    "severity": 1
+  "Offroad_OSMUpdateRequired": {
+    "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
+    "severity": 0
+  },
+  "Offroad_DriverMonitoringUncertain": {
+    "text": "Poor visibility detected for driver monitoring. Ensure the device has a clear view of the driver. This can be checked in the device settings. Extreme lighting conditions and/or unconventional mounting positions may also trigger this alert.",
+    "severity": 0
+  },
+  "Offroad_ExcessiveActuation": {
+    "text": "Excessive %1 actuation detected on your last drive. Please contact support at https://comma.ai/support and share your device's Dongle ID for troubleshooting.",
+    "severity": 1,
+    "_comment": "Set extra field to lateral or longitudinal."
+  },
+  "Offroad_TiciSupport": {
+    "text": "<b>Unsupported branch detected</b> - The current version of <b><u>%1</u></b> branch is no longer supported on the comma three. Please go to <b>[Device > Software]</b> and install a supported branch with <b><u>-tici</u></b> in the branch name for the comma three.",
+    "severity": 1,
+    "_comment": "Set extra field to the current branch name."
   }
 }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 16f287fde9..3e20a28023 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -4,10 +4,13 @@ import os
 
 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
+from openpilot.system.hardware import HARDWARE
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
@@ -40,6 +43,7 @@ class Events(EventsBase):
     return log.OnroadEvent
 
 
+
 # ********** helper functions **********
 def get_display_speed(speed_ms: float, metric: bool) -> str:
   speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
@@ -77,21 +81,29 @@ def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
 
 def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   return Alert(
-    f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
+    f"Steer Assist Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
     AlertStatus.userPrompt, AlertSize.small,
-    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.4)
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
-  first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
+  first_word = 'Recalibrating' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibrating'
   return Alert(
-    f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
+    f"{first_word}: {sm['liveCalibration'].calPerc:.0f}%",
     f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
+def audio_feedback_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  duration = FEEDBACK_MAX_DURATION - ((sm['audioFeedback'].blockNum + 1) * SAMPLE_BUFFER / SAMPLE_RATE)
+  return NormalPermanentAlert(
+    "Recording Audio Feedback",
+    f"{round(duration)} second{'s' if round(duration) != 1 else ''} remaining. Press again to save early.",
+    priority=Priority.LOW)
+
+
 # *** debug alerts ***
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
@@ -192,6 +204,17 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
 
+def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  text = "Toggle stock LKAS on or off to engage"
+  if CP.brand == "tesla":
+    text = "Switch to Traffic-Aware Cruise Control to engage"
+  elif CP.brand == "mazda":
+    text = "Enable your car's LKAS to engage"
+  elif CP.brand == "nissan":
+    text = "Disable your car's stock LKAS to engage"
+  return NormalPermanentAlert("Invalid LKAS setting", text)
+
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -245,8 +268,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
-                                       "Toggle stock LKAS on or off to engage"),
+    ET.PERMANENT: invalid_lkas_setting_alert,
     ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 
@@ -281,6 +303,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
   },
 
+  EventName.stockLkas: {
+    ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
+  },
+
   EventName.fcw: {
     ET.PERMANENT: Alert(
       "BRAKE!",
@@ -301,7 +327,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
-      "Steering Temporarily Unavailable",
+      "Steering Assist Temporarily Unavailable",
       "",
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
@@ -547,7 +573,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.steerTempUnavailable: {
-    ET.SOFT_DISABLE: soft_disable_alert("Steering Temporarily Unavailable"),
+    ET.SOFT_DISABLE: soft_disable_alert("Steering Assist Temporarily Unavailable"),
     ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
   },
 
@@ -576,17 +602,17 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.noGps: {
-    ET.PERMANENT: Alert(
-      "Poor GPS reception",
-      "Ensure device has a clear view of the sky",
-      AlertStatus.normal, AlertSize.mid,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
   EventName.tooDistracted: {
     ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
   },
 
+  EventName.excessiveActuation: {
+    ET.SOFT_DISABLE: soft_disable_alert("Excessive Actuation"),
+    ET.NO_ENTRY: NoEntryAlert("Excessive Actuation"),
+  },
+
   EventName.overheat: {
     ET.PERMANENT: overheat_alert,
     ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
@@ -727,7 +753,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # causing the connection to the panda to be lost
   EventName.usbError: {
     ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
+    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"),
     ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
   },
 
@@ -736,13 +762,13 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Unknown Vehicle Variant"),
     ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+      "Unknown Vehicle Variant",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("Unknown Vehicle Variant"),
   },
 
   EventName.canBusMissing: {
@@ -815,9 +841,84 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  EventName.userBookmark: {
+    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
+  },
+
+  EventName.audioFeedback: {
+    ET.PERMANENT: audio_feedback_alert,
+  },
 }
 
 
+if HARDWARE.get_device_type() == 'mici':
+  EVENTS.update({
+    EventName.preDriverDistracted: {
+      ET.PERMANENT: Alert(
+        "Pay Attention",
+        "",
+        AlertStatus.normal, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, 2),
+    },
+    EventName.promptDriverDistracted: {
+      ET.PERMANENT: Alert(
+        "Pay Attention",
+        "Driver Distracted",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, 1),
+    },
+    EventName.resumeRequired: {
+      ET.WARNING: Alert(
+        "Press Resume",
+        "",
+        AlertStatus.userPrompt, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+    },
+    EventName.preLaneChangeLeft: {
+      ET.WARNING: Alert(
+        "Steer Left",
+        "Confirm Lane Change",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+    },
+    EventName.preLaneChangeRight: {
+      ET.WARNING: Alert(
+        "Steer Right",
+        "Confirm Lane Change",
+        AlertStatus.normal, AlertSize.mid,
+        Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
+    },
+    EventName.laneChangeBlocked: {
+      ET.WARNING: Alert(
+        "Car in Blindspot",
+        "",
+        AlertStatus.userPrompt, AlertSize.small,
+        Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
+    },
+    EventName.steerSaturated: {
+      ET.WARNING: Alert(
+        "take control",
+        "turn exceeds limit",
+        AlertStatus.userPrompt, AlertSize.mid,
+        Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
+    },
+    EventName.calibrationIncomplete: {
+      ET.PERMANENT: calibration_incomplete_alert,
+      ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
+      ET.NO_ENTRY: NoEntryAlert("Calibrating"),
+    },
+    EventName.reverseGear: {
+      ET.PERMANENT: Alert(
+        "Reverse",
+        "",
+        AlertStatus.normal, AlertSize.full,
+        Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+      ET.USER_DISABLE: ImmediateDisableAlert("Reverse"),
+      ET.NO_ENTRY: NoEntryAlert("Reverse"),
+    },
+  })
+
+
 if __name__ == '__main__':
   # print all alerts by type and priority
   from cereal.services import SERVICE_LIST
@@ -832,7 +933,7 @@ if __name__ == '__main__':
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():
-      if callable(alert):
+      if not isinstance(alert, Alert):
         alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
       alerts_by_type[et][alert.priority].append(event_names[i])
 
diff --git a/selfdrive/selfdrived/helpers.py b/selfdrive/selfdrived/helpers.py
new file mode 100644
index 0000000000..f7468cbe43
--- /dev/null
+++ b/selfdrive/selfdrived/helpers.py
@@ -0,0 +1,54 @@
+import math
+from enum import StrEnum, auto
+
+from cereal import car, messaging
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.helpers import Pose
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from opendbc.car.lateral import ISO_LATERAL_ACCEL
+from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
+
+MIN_EXCESSIVE_ACTUATION_COUNT = int(0.25 / DT_CTRL)
+MIN_LATERAL_ENGAGE_BUFFER = int(1 / DT_CTRL)
+
+
+class ExcessiveActuationType(StrEnum):
+  LONGITUDINAL = auto()
+  LATERAL = auto()
+
+
+class ExcessiveActuationCheck:
+  def __init__(self):
+    self._excessive_counter = 0
+    self._engaged_counter = 0
+
+  def update(self, sm: messaging.SubMaster, CS: car.CarState, calibrated_pose: Pose) -> ExcessiveActuationType | None:
+    # CS.aEgo can be noisy to bumps in the road, transitioning from standstill, losing traction, etc.
+    # longitudinal
+    accel_calibrated = calibrated_pose.acceleration.x
+    excessive_long_actuation = sm['carControl'].longActive and (accel_calibrated > ACCEL_MAX * 2 or accel_calibrated < ACCEL_MIN * 2)
+
+    # lateral
+    yaw_rate = calibrated_pose.angular_velocity.yaw
+    roll = sm['liveParameters'].roll
+    roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
+
+    # Prevent false positives after overriding
+    excessive_lat_actuation = False
+    self._engaged_counter = self._engaged_counter + 1 if sm['carControl'].latActive and not CS.steeringPressed else 0
+    if self._engaged_counter > MIN_LATERAL_ENGAGE_BUFFER:
+      if abs(roll_compensated_lateral_accel) > ISO_LATERAL_ACCEL * 2:
+        excessive_lat_actuation = True
+
+    # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
+    livepose_valid = abs(CS.aEgo - accel_calibrated) < 2
+    self._excessive_counter = self._excessive_counter + 1 if livepose_valid and (excessive_long_actuation or excessive_lat_actuation) else 0
+
+    excessive_type = None
+    if self._excessive_counter > MIN_EXCESSIVE_ACTUATION_COUNT:
+      if excessive_long_actuation:
+        excessive_type = ExcessiveActuationType.LONGITUDINAL
+      else:
+        excessive_type = ExcessiveActuationType.LATERAL
+
+    return excessive_type
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 0b825869f4..7b546f3780 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,7 +7,6 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -16,21 +15,26 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.gps import get_gps_location_service
 
 from openpilot.selfdrive.car.car_specific import CarSpecificEvents
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.selfdrived.events import Events, ET
+from openpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
 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
+from openpilot.system.hardware import HARDWARE
 
 from openpilot.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.car.car_specific import CarSpecificEventsSP
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.controller import IntelligentCruiseButtonManagement
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
+
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -41,6 +45,7 @@ LaneChangeDirection = log.LaneChangeDirection
 EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
+TurnDirection = custom.ModelDataV2SP.TurnDirection
 
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
@@ -67,7 +72,11 @@ class SelfdriveD(CruiseHelper):
       self.CP_SP = CP_SP
 
     self.car_events = CarSpecificEvents(self.CP)
-    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
+
+    self.pose_calibrator = PoseCalibrator()
+    self.calibrated_pose: Pose | None = None
+    self.excessive_actuation_check = ExcessiveActuationCheck()
+    self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -80,7 +89,7 @@ class SelfdriveD(CruiseHelper):
     # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
     self.car_state_sock = messaging.sub_sock('carState', timeout=20)
 
-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
     if REPLAY:
@@ -89,7 +98,8 @@ class SelfdriveD(CruiseHelper):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
+                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -97,6 +107,7 @@ class SelfdriveD(CruiseHelper):
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
 
     car_recognized = self.CP.brand != 'mock'
 
@@ -122,19 +133,23 @@ class SelfdriveD(CruiseHelper):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = self.read_personality_param()
+    self.personality = get_sanitize_int_param(
+      "LongitudinalPersonality",
+      min(log.LongitudinalPersonality.schema.enumerants.values()),
+      max(log.LongitudinalPersonality.schema.enumerants.values()),
+      self.params
+    )
     self.recalibrating_seen = False
     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', }
+    self.ignored_processes = {'mapd', }
 
     # Determine startup event
-    self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
+    is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.sunnypilot_remote
+    self.startup_event = EventName.startup if is_remote and build_metadata.tested_channel else EventName.startupMaster
+    if HARDWARE.get_device_type() == 'mici':
+      self.startup_event = None
     if not car_recognized:
       self.startup_event = EventName.startupNoCar
     elif car_recognized and self.CP.passive:
@@ -152,8 +167,9 @@ class SelfdriveD(CruiseHelper):
     self.events_sp_prev = []
 
     self.mads = ModularAssistiveDrivingSystem(self)
+    self.icbm = IntelligentCruiseButtonManagement(self.CP, self.CP_SP)
 
-    self.car_events_sp = CarSpecificEventsSP(self.CP, self.params)
+    self.car_events_sp = CarSpecificEventsSP(self.CP, self.CP_SP)
 
     CruiseHelper.__init__(self, self.CP)
 
@@ -181,7 +197,14 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # no more events while in dashcam mode
+    # Check for user bookmark press (bookmark button or end of LKAS button feedback)
+    if self.sm.updated['userBookmark']:
+      self.events.add(EventName.userBookmark)
+
+    if self.sm.updated['audioFeedback']:
+      self.events.add(EventName.audioFeedback)
+
+    # Don't add any more events while in dashcam mode
     if self.CP.passive:
       return
 
@@ -192,6 +215,7 @@ class SelfdriveD(CruiseHelper):
 
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
+      self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
 
     # Add car events, ignore if CAN isn't valid
     if CS.canValid:
@@ -248,6 +272,26 @@ class SelfdriveD(CruiseHelper):
       if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
         self.events.add(EventName.ldw)
 
+    # ******************************************************************************************
+    #  NOTE: To fork maintainers.
+    #  Disabling or nerfing safety features will get you and your users banned from our servers.
+    #  We recommend that you do not change these numbers from the defaults.
+    if self.sm.updated['liveCalibration']:
+      self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
+    if self.sm.updated['livePose']:
+      device_pose = Pose.from_live_pose(self.sm['livePose'])
+      self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
+
+    if self.calibrated_pose is not None:
+      excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
+      if not self.excessive_actuation and excessive_actuation is not None:
+        set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
+        self.excessive_actuation = True
+
+    if self.excessive_actuation:
+      self.events.add(EventName.excessiveActuation)
+    # ******************************************************************************************
+
     # Handle lane change
     if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['modelV2'].meta.laneChangeDirection
@@ -263,6 +307,13 @@ class SelfdriveD(CruiseHelper):
                                                     LaneChangeState.laneChangeFinishing):
       self.events.add(EventName.laneChange)
 
+    # Handle lane turn
+    lane_turn_direction = self.sm['modelDataV2SP'].laneTurnDirection
+    if lane_turn_direction == TurnDirection.turnLeft:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnLeft)
+    elif lane_turn_direction == TurnDirection.turnRight:
+      self.events_sp.add(custom.OnroadEventSP.EventName.laneTurnRight)
+
     for i, pandaState in enumerate(self.sm['pandaStates']):
       # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
       if i < len(self.CP.safetyConfigs):
@@ -299,13 +350,12 @@ class SelfdriveD(CruiseHelper):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
       self.events.add(EventName.selfdrivedLagging)
-    if not self.sm.valid['radarState']:
-      if self.sm['radarState'].radarErrors.canError:
-        self.events.add(EventName.canError)
-      elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
-        self.events.add(EventName.radarTempUnavailable)
-      else:
-        self.events.add(EventName.radarFault)
+    if self.sm['radarState'].radarErrors.canError:
+      self.events.add(EventName.canError)
+    elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
+      self.events.add(EventName.radarTempUnavailable)
+    elif any(self.sm['radarState'].radarErrors.to_dict().values()):
+      self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
     if CS.canTimeout:
@@ -377,16 +427,16 @@ class SelfdriveD(CruiseHelper):
     if (planner_fcw or model_fcw) and not self.CP.notCar:
       self.events.add(EventName.fcw)
 
+    # GPS checks
+    gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
+      self.events.add(EventName.noGps)
+    if gps_ok:
+      self.distance_traveled = 0
+    self.distance_traveled += abs(CS.vEgo) * DT_CTRL
+
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes
-      gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
-      if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
-        self.events.add(EventName.noGps)
-      if gps_ok:
-        self.distance_traveled = 0
-      self.distance_traveled += abs(CS.vEgo) * DT_CTRL
-
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
@@ -401,13 +451,15 @@ class SelfdriveD(CruiseHelper):
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
         if not self.experimental_mode_switched:
           self.personality = (self.personality - 1) % 3
-          self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
+          self.params.put_nonblocking('LongitudinalPersonality', self.personality)
           self.events.add(EventName.personalityChanged)
         self.experimental_mode_switched = False
 
+    self.icbm.run(CS, self.sm['carControl'], self.sm['longitudinalPlanSP'], self.is_metric)
+
   def data_sample(self):
-    car_state = messaging.recv_one(self.car_state_sock)
-    CS = car_state.carState if car_state else self.CS_prev
+    _car_state = messaging.recv_one(self.car_state_sock)
+    CS = _car_state.carState if _car_state else self.CS_prev
 
     self.sm.update(0)
 
@@ -509,6 +561,11 @@ class SelfdriveD(CruiseHelper):
     mads.active = self.mads.active
     mads.available = self.mads.enabled_toggle
 
+    icbm = ss_sp.intelligentCruiseButtonManagement
+    icbm.state = self.icbm.state
+    icbm.sendButton = self.icbm.cruise_button
+    icbm.vTarget = self.icbm.v_target
+
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
     # onroadEventsSP - logged every second or on change
@@ -532,20 +589,15 @@ class SelfdriveD(CruiseHelper):
 
     self.CS_prev = CS
 
-  def read_personality_param(self):
-    try:
-      return int(self.params.get('LongitudinalPersonality'))
-    except (ValueError, TypeError):
-      return log.LongitudinalPersonality.standard
-
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
+      self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+      self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-      self.personality = self.read_personality_param()
+      self.personality = self.params.get("LongitudinalPersonality", return_default=True)
 
       self.mads.read_params()
-      self.car_events_sp.read_params()
       time.sleep(0.1)
 
   def run(self):
diff --git a/selfdrive/selfdrived/tests/test_alerts.py b/selfdrive/selfdrived/tests/test_alerts.py
index 75365b7a52..a1867f2289 100644
--- a/selfdrive/selfdrived/tests/test_alerts.py
+++ b/selfdrive/selfdrived/tests/test_alerts.py
@@ -111,7 +111,7 @@ class TestAlerts:
       alert = copy.copy(self.offroad_alerts[a])
       set_offroad_alert(a, True)
       alert['extra'] = ''
-      assert json.dumps(alert) == params.get(a, encoding='utf8')
+      assert alert == params.get(a)
 
       # then delete it
       set_offroad_alert(a, False)
@@ -125,6 +125,6 @@ class TestAlerts:
       alert = self.offroad_alerts[a]
       set_offroad_alert(a, True, extra_text="a"*i)
 
-      written_alert = json.loads(params.get(a, encoding='utf8'))
+      written_alert = params.get(a)
       assert "a"*i == written_alert['extra']
       assert alert["text"] == written_alert['text']
diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh
deleted file mode 100755
index 76f0a9f78c..0000000000
--- a/selfdrive/test/ci_shell.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-OP_ROOT="$DIR/../../"
-
-if [ -z "$BUILD" ]; then
-  docker pull ghcr.io/commaai/openpilot-base:latest
-else
-  docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base .
-fi
-
-docker run \
-       -it \
-       --rm \
-       --volume $OP_ROOT:$OP_ROOT \
-       --workdir $PWD \
-       --env PYTHONPATH=$OP_ROOT \
-       ghcr.io/commaai/openpilot-base:latest \
-       /bin/bash
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
index 4d58a1507c..8d1fa82249 100755
--- a/selfdrive/test/docker_build.sh
+++ b/selfdrive/test/docker_build.sh
@@ -1,12 +1,14 @@
 #!/usr/bin/env bash
 set -e
 
-# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
-# mkdir -p .ci_cache/scons_cache
-# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
-
 SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../
+
+DOCKER_IMAGE=openpilot
+DOCKER_FILE=Dockerfile.openpilot
+DOCKER_REGISTRY=ghcr.io/commaai
+COMMIT_SHA=$(git rev-parse HEAD)
+
 if [ -n "$TARGET_ARCHITECTURE" ]; then
   PLATFORM="linux/$TARGET_ARCHITECTURE"
   TAG_SUFFIX="-$TARGET_ARCHITECTURE"
@@ -15,9 +17,11 @@ else
   TAG_SUFFIX=""
 fi
 
-source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX"
+LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
 
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
 
 if [ -n "$PUSH_IMAGE" ]; then
   docker push $REMOTE_TAG
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
deleted file mode 100644
index 2887fff74b..0000000000
--- a/selfdrive/test/docker_common.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=openpilot-base
-  export DOCKER_FILE=Dockerfile.openpilot_base
-elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=openpilot-prebuilt
-  export DOCKER_FILE=Dockerfile.openpilot
-else
-  echo "Invalid docker build image: '$1'"
-  exit 1
-fi
-
-export DOCKER_REGISTRY=ghcr.io/commaai
-export COMMIT_SHA=$(git rev-parse HEAD)
-
-TAG_SUFFIX=$2
-LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX
-REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
-REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
index 94eb0dfaa6..131dab47b2 100644
--- a/selfdrive/test/fuzzy_generation.py
+++ b/selfdrive/test/fuzzy_generation.py
@@ -44,7 +44,7 @@ class FuzzyGenerator:
     except capnp.lib.capnp.KjException:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
     single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
     fields_to_generate = schema.non_union_fields + single_fill
     return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')})
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 81635aa31f..5dfc1c3ec8 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -37,6 +37,43 @@ def release_only(f):
   return wrap
 
 
+def collect_logs(services, duration):
+  socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+  logs = []
+  start = time.monotonic()
+  while time.monotonic() - start < duration:
+    for s in socks:
+      logs.extend(messaging.drain_sock(s))
+  return logs
+
+
+@contextlib.contextmanager
+def log_collector(services):
+  """Background thread that continuously drains messages from services.
+     Use when the main thread needs to do blocking work (e.g. capturing images)."""
+  socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
+  raw_logs = []
+  lock = threading.Lock()
+  stop_event = threading.Event()
+
+  def _drain():
+    while not stop_event.is_set():
+      for s in socks:
+        msgs = messaging.drain_sock(s)
+        if msgs:
+          with lock:
+            raw_logs.extend(msgs)
+      time.sleep(0.01)
+
+  thread = threading.Thread(target=_drain, daemon=True)
+  thread.start()
+  try:
+    yield raw_logs, lock
+  finally:
+    stop_event.set()
+    thread.join(timeout=2)
+
+
 @contextlib.contextmanager
 def processes_context(processes, init_time=0, ignore_stopped=None):
   ignore_stopped = [] if ignore_stopped is None else ignore_stopped
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index dfd5b3e109..ba0379f2d7 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -60,7 +60,8 @@ class Maneuver:
                             log['distance_lead'],
                             log['speed'],
                             speed_lead,
-                            log['acceleration']]))
+                            log['acceleration'],
+                            log['d_rel']]))
 
       if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
         print("Crashed!!!!")
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index b8c6adb436..e82ef2f65e 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -51,7 +51,9 @@ class Plant:
     from opendbc.car.honda.values import CAR
     from opendbc.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
+    CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, CAR.HONDA_CIVIC)
+    self.planner = LongitudinalPlanner(CP, CP_SP, init_v=self.speed)
 
   @property
   def current_time(self):
@@ -67,6 +69,9 @@ class Plant:
     lp = messaging.new_message('liveParameters')
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
+    car_state_sp = messaging.new_message('carStateSP')
+    live_map_data_sp = messaging.new_message('liveMapDataSP')
+    gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
     self.v_lead_prev = v_lead
 
@@ -133,7 +138,10 @@ class Plant:
           'controlsState': control.controlsState,
           'selfdriveState': ss.selfdriveState,
           'liveParameters': lp.liveParameters,
-          'modelV2': model.modelV2}
+          'modelV2': model.modelV2,
+          'carStateSP': car_state_sp.carStateSP,
+          'liveMapDataSP': live_map_data_sp.liveMapDataSP,
+          'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)
     self.acceleration = self.planner.output_a_target
     self.speed = self.speed + self.acceleration * self.ts
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index ab1800b4fb..90bc46b187 100644
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,5 +1,5 @@
 import itertools
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 381e4dcb7f..28f3b7cd2a 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp
 If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
 
 Use `test_processes.py` to run the test locally.
-Use `FILEREADER_CACHE='1' test_processes.py` to cache log files.
+Log files are cached by default. Use `DISABLE_FILEREADER_CACHE='1' test_processes.py` to disable caching.
 
 Currently the following processes are tested:
 
@@ -22,7 +22,7 @@ Currently the following processes are tested:
 ### Usage
 ```
 Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS]
-                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only]
+                         [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs]
 Regression test to identify changes in a process's output
 optional arguments:
   -h, --help            show this help message and exit
@@ -33,12 +33,11 @@ optional arguments:
   --ignore-fields IGNORE_FIELDS         Extra fields or msgs to ignore (e.g. driverMonitoringState.events)
   --ignore-msgs IGNORE_MSGS             Msgs to ignore (e.g. onroadEvents)
   --update-refs                         Updates reference logs using current commit
-  --upload-only                         Skips testing processes and uploads logs from previous test run
 ```
 
 ## Forks
 
-openpilot forks can use this test with their own reference logs, by default `test_proccess.py` saves logs locally.
+openpilot forks can use this test with their own reference logs, by default `test_proccesses.py` saves logs locally.
 
 To generate new logs:
 
@@ -48,13 +47,13 @@ Then, check in the new logs using git-lfs. Make sure to also update the `ref_com
 
 ## API
 
-Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. 
+Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs.
 
 ```py
 def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]:
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None, 
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
 ```
@@ -73,14 +72,14 @@ output_logs = replay_process_with_name('locationd', lr)
 output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr)
 ```
 
-Supported processes: 
+Supported processes:
 * controlsd
 * radard
 * plannerd
 * calibrationd
 * dmonitoringd
 * locationd
-* paramsd 
+* paramsd
 * ubloxd
 * torqued
 * modeld
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 13d51a636f..e2d912a833 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -3,13 +3,16 @@ import sys
 import math
 import capnp
 import numbers
-import dictdiffer
 from collections import Counter
 
 from openpilot.tools.lib.logreader import LogReader
 
 EPSILON = sys.float_info.epsilon
 
+_DynamicStructReader = capnp.lib.capnp._DynamicStructReader
+_DynamicListReader = capnp.lib.capnp._DynamicListReader
+_DynamicEnum = capnp.lib.capnp._DynamicEnum
+
 
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
@@ -39,6 +42,61 @@ def remove_ignored_fields(msg, ignore):
   return msg
 
 
+def _diff_capnp(r1, r2, path, tolerance):
+  """Walk two capnp struct readers and yield (action, dotted_path, value) diffs.
+
+  Floats are compared with the given tolerance (combined absolute+relative).
+  """
+  schema = r1.schema
+
+  for fname in schema.non_union_fields:
+    child_path = path + (fname,)
+    v1 = getattr(r1, fname)
+    v2 = getattr(r2, fname)
+    yield from _diff_capnp_values(v1, v2, child_path, tolerance)
+
+  if schema.union_fields:
+    w1, w2 = r1.which(), r2.which()
+    if w1 != w2:
+      yield 'change', '.'.join(path), (w1, w2)
+    else:
+      child_path = path + (w1,)
+      v1, v2 = getattr(r1, w1), getattr(r2, w2)
+      yield from _diff_capnp_values(v1, v2, child_path, tolerance)
+
+
+def _diff_capnp_values(v1, v2, path, tolerance):
+  if isinstance(v1, _DynamicStructReader):
+    yield from _diff_capnp(v1, v2, path, tolerance)
+
+  elif isinstance(v1, _DynamicListReader):
+    dot = '.'.join(path)
+    n1, n2 = len(v1), len(v2)
+    n = min(n1, n2)
+    for i in range(n):
+      yield from _diff_capnp_values(v1[i], v2[i], path + (str(i),), tolerance)
+    if n2 > n:
+      yield 'add', dot, list(enumerate(v2[n:], n))
+    if n1 > n:
+      yield 'remove', dot, list(reversed([(i, v1[i]) for i in range(n, n1)]))
+
+  elif isinstance(v1, _DynamicEnum):
+    s1, s2 = str(v1), str(v2)
+    if s1 != s2:
+      yield 'change', '.'.join(path), (s1, s2)
+
+  elif isinstance(v1, float):
+    if not (v1 == v2 or (
+      math.isfinite(v1) and math.isfinite(v2) and
+      abs(v1 - v2) <= max(tolerance, tolerance * max(abs(v1), abs(v2)))
+    )):
+      yield 'change', '.'.join(path), (v1, v2)
+
+  else:
+    if v1 != v2:
+      yield 'change', '.'.join(path), (v1, v2)
+
+
 def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,):
   if ignore_fields is None:
     ignore_fields = []
@@ -65,26 +123,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
     msg2 = remove_ignored_fields(msg2, ignore_fields)
 
     if msg1.to_bytes() != msg2.to_bytes():
-      msg1_dict = msg1.as_reader().to_dict(verbose=True)
-      msg2_dict = msg2.as_reader().to_dict(verbose=True)
-
-      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
-
-      # Dictdiffer only supports relative tolerance, we also want to check for absolute
-      # TODO: add this to dictdiffer
-      def outside_tolerance(diff):
-        try:
-          if diff[0] == "change":
-            a, b = diff[2]
-            finite = math.isfinite(a) and math.isfinite(b)
-            if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
-        except TypeError:
-          pass
-        return True
-
-      dd = list(filter(outside_tolerance, dd))
-
+      dd = list(_diff_capnp(msg1.as_reader(), msg2.as_reader(), (), tolerance))
       diff.extend(dd)
   return diff
 
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 02cd9b6d71..9dc1392a86 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -1,5 +1,6 @@
 from collections import defaultdict
 from collections.abc import Callable
+from typing import cast
 import capnp
 import functools
 import traceback
@@ -22,13 +23,14 @@ MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], lis
 MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 
 
-## rules for migration functions
-## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
-## 2. it only gets the messages that are in the inputs list
-## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
-## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
-## 5. all migration functions must be independent of each other
-def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
+# rules for migration functions
+# 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
+# 2. it only gets the messages that are in the inputs list
+# 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
+# 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
+# 5. all migration functions must be independent of each other
+def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False,
+                live_location_kalman: bool = True):
   migrations = [
     migrate_sensorEvents,
     migrate_carParams,
@@ -37,7 +39,6 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_carOutput,
     migrate_controlsState,
     migrate_carState,
-    migrate_liveLocationKalman,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -51,6 +52,8 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrations.extend([migrate_pandaStates, migrate_peripheralState])
   if camera_states:
     migrations.append(migrate_cameraStates)
+  if live_location_kalman:
+    migrations.append(migrate_liveLocationKalman)
 
   return migrate(lr, migrations)
 
@@ -67,7 +70,7 @@ def migrate(lr: LogIterable, migration_funcs: list[MigrationFunc]):
     if migration.product in grouped: # skip if product already exists
       continue
 
-    sorted_indices = sorted(ii for i in migration.inputs for ii in grouped[i])
+    sorted_indices = sorted(ii for i in cast(list[str], migration.inputs) for ii in grouped.get(i, []))
     msg_gen = [(i, lr[i]) for i in sorted_indices]
     r_ops, a_ops, d_ops = migration(msg_gen)
     replace_ops.extend(r_ops)
@@ -306,6 +309,8 @@ def migrate_pandaStates(msgs):
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
+      # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
+      new_msg.pandaStates[-1].alternativeExperience &= ~1
       ops.append((index, new_msg.as_reader()))
   return ops, [], []
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index af626e2da9..a6ccaa1047 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import pickle
 import sys
 from collections import defaultdict
 from typing import Any
@@ -8,22 +9,22 @@ from itertools import zip_longest
 
 import matplotlib.pyplot as plt
 import numpy as np
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
 SEGMENT = 4
-MAX_FRAMES = 100 if PC else 400
+START_FRAME = 0
+END_FRAME = 60
 
-NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
 DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
@@ -33,8 +34,8 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
 
 EXEC_TIMINGS = [
   # model, instant max, average max
-  ("modelV2", 0.035, 0.025),
-  ("driverStateV2", 0.02, 0.015),
+  ("modelV2", 0.05, 0.028),
+  ("driverStateV2", 0.05, 0.016),
 ]
 
 def get_log_fn(test_route, ref="master"):
@@ -76,7 +77,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
                      (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
-                     (lambda x: get_idx_if_non_empty(x.leftDriverData.notReadyProb, 0), "leftDriverData.notReadyProb0"),
+                     (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"),
                      (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
                     ], "driverStateV2")
 
@@ -123,18 +124,17 @@ def comment_replay_report(proposed, master, full_logs):
     diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
     all_plots = create_table("All Model Replay Plots", files, link)
     comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
-    GITHUB.comment_on_pr(comment, PR_BRANCH)
+    GITHUB.comment_on_pr(comment, PR_BRANCH, "commaci-public", True)
 
-def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
+def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types):
   all_msgs = []
   cam_state_counts = defaultdict(int)
-  # keep adding messages until cam states are equal to MAX_FRAMES
   for msg in sorted(logs, key=lambda m: m.logMonoTime):
-    all_msgs.append(msg)
     if msg.which() in frs_types:
       cam_state_counts[msg.which()] += 1
-
-    if all(cam_state_counts[state] == max_frames for state in frs_types):
+    if any(cam_state_counts[state]  >= start_frame for state in frs_types):
+      all_msgs.append(msg)
+    if all(cam_state_counts[state] == end_frame for state in frs_types):
       break
 
   if len(include_all_types) != 0:
@@ -146,9 +146,9 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
 
 def model_replay(lr, frs):
   # modeld is using frame pairs
-  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
-                                                                         {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
-  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
+  modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"},
+                                                                         {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
+  dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"})
 
   if not SEND_EXTRA_INPUTS:
     modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
@@ -165,9 +165,6 @@ def model_replay(lr, frs):
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
   modeld_msgs = replay_process(modeld, modeld_logs, frs)
-  if isinstance(frs['roadCameraState'], NumpyFrameReader):
-    del frs['roadCameraState'].frames
-    del frs['wideRoadCameraState'].frames
   dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
 
   msgs = modeld_msgs + dmonitoringmodeld_msgs
@@ -193,34 +190,36 @@ def model_replay(lr, frs):
   print("----------------- Model Timing -----------------")
   print("------------------------------------------------")
   print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
-  assert timings_ok
+  assert timings_ok or PC
 
   return msgs
 
 
 def get_frames():
   regen_cache = "--regen-cache" in sys.argv
-  cache = "--cache" in sys.argv or not PC or regen_cache
-  videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
-  cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+  frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
+  os.makedirs(frames_cache, exist_ok=True)
 
-  if cache:
-    frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
-    os.makedirs(frames_cache, exist_ok=True)
-
-    cache_size = 200
-    for v in videos:
-      if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
-        f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
-        print(f'Caching {v}...')
-        for i in range(MAX_FRAMES//cache_size):
-          np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
-        del f
-
-    return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
-  else:
-    return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
+  cache_name = f'{frames_cache}/{TEST_ROUTE}_{SEGMENT}_{START_FRAME}_{END_FRAME}.pkl'
+  if os.path.isfile(cache_name) and not regen_cache:
+    try:
+      print(f"Loading frames from cache {cache_name}")
+      return pickle.load(open(cache_name, "rb"))
+    except Exception as e:
+      print(f"Failed to load frames from cache {cache_name}: {e}")
 
+  frs = {
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), pix_fmt='nv12', cache_size=END_FRAME - START_FRAME),
+  }
+  for fr in frs.values():
+    for fidx in range(START_FRAME, END_FRAME):
+      fr.get(fidx)
+    fr.it = None
+  print(f"Dumping frame cache {cache_name}")
+  pickle.dump(frs, open(cache_name, "wb"))
+  return frs
 
 if __name__ == "__main__":
   update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
@@ -232,8 +231,7 @@ if __name__ == "__main__":
 
   log_msgs = []
   # run replays
-  if not NO_MODEL:
-    log_msgs += model_replay(lr, frs)
+  log_msgs += model_replay(lr, frs)
 
   # get diff
   failed = False
@@ -242,13 +240,10 @@ if __name__ == "__main__":
     try:
       all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
       cmp_log = []
-
-      # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
-      if not NO_MODEL:
-        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
-        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
-        dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
-        cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
+      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
+      cmp_log += all_logs[model_start_index+START_FRAME*3:model_start_index + END_FRAME*3]
+      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+      cmp_log += all_logs[dmon_start_index+START_FRAME:dmon_start_index + END_FRAME]
 
       ignore = [
         'logMonoTime',
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index d73faf996e..c2d0bbc921 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -4,8 +4,10 @@ import time
 import copy
 import heapq
 import signal
-from collections import Counter, OrderedDict
+import numpy as np
+from collections import Counter
 from dataclasses import dataclass, field
+from itertools import islice
 from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
@@ -16,37 +18,26 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car.card import can_comm_callbacks, convert_to_capnp
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
 from openpilot.system.manager.process_config import managed_processes
+from openpilot.selfdrive.car.card import convert_to_capnp
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
 from openpilot.tools.lib.logreader import LogIterable
-from openpilot.tools.lib.framereader import BaseFrameReader
+from openpilot.tools.lib.framereader import FrameReader
 
 # Numpy gives different results based on CPU features after version 19
-NUMPY_TOLERANCE = 1e-7
+NUMPY_TOLERANCE = 1e-2
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-class DummySocket:
-  def __init__(self):
-    self.data: list[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> bytes | None:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)
 
 class LauncherWithCapture:
   def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
@@ -64,8 +55,7 @@ class ReplayContext:
     self.pubs = cfg.pubs
     self.main_pub = cfg.main_pub
     self.main_pub_drained = cfg.main_pub_drained
-    self.unlocked_pubs = cfg.unlocked_pubs
-    assert(len(self.pubs) != 0 or self.main_pub is not None)
+    assert len(self.pubs) != 0 or self.main_pub is not None
 
   def __enter__(self):
     self.open_context()
@@ -80,9 +70,8 @@ class ReplayContext:
     messaging.set_fake_prefix(self.proc_name)
 
     if self.main_pub is None:
-      self.events = OrderedDict()
-      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
-      for pub in pubs_with_events:
+      self.events = {}
+      for pub in self.pubs:
         self.events[pub] = messaging.fake_event_handle(pub, enable=True)
     else:
       self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
@@ -139,16 +128,21 @@ class ProcessConfig:
   processing_time: float = 0.001
   timeout: int = 30
   simulation: bool = True
+  # Set to service process receives on first
   main_pub: str | None = None
-  main_pub_drained: bool = True
+  main_pub_drained: bool = False
   vision_pubs: list[str] = field(default_factory=list)
   ignore_alive_pubs: list[str] = field(default_factory=list)
-  unlocked_pubs: list[str] = field(default_factory=list)
+
+  def __post_init__(self):
+    # If the process is polling a service, we can just lock that one to speed up replay
+    if self.main_pub is None and isinstance(self.should_recv_callback, MessageBasedRcvCallback):
+      self.main_pub = self.should_recv_callback.trigger_msg_type
 
 
 class ProcessContainer:
   def __init__(self, cfg: ProcessConfig):
-    self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
+    self.prefix = OpenpilotPrefix(create_dirs_on_enter=False, clean_dirs_on_exit=False)
     self.cfg = copy.deepcopy(cfg)
     self.process = copy.deepcopy(managed_processes[cfg.proc_name])
     self.msg_queue: list[capnp._DynamicStructReader] = []
@@ -210,8 +204,10 @@ class ProcessContainer:
     streams_metas = available_streams(all_msgs)
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
+        assert frs[meta.camera_state].pix_fmt == 'nv12'
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, *frame_size)
+        stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1])
+        vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
@@ -225,10 +221,11 @@ class ProcessContainer:
 
   def start(
     self, params_config: dict[str, Any], environ_config: dict[str, Any],
-    all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None,
+    all_msgs: LogIterable, frs: dict[str, FrameReader] | None,
     fingerprint: str | None, capture_output: bool
   ):
     with self.prefix as p:
+      self.prefix.create_dirs()
       self._setup_env(params_config, environ_config)
 
       if self.cfg.config_callback is not None:
@@ -254,11 +251,6 @@ class ProcessContainer:
       if self.cfg.init_callback is not None:
         self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)
 
-      # wait for process to startup
-      with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
-        while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
-          time.sleep(0)
-
   def stop(self):
     with self.prefix:
       self.process.signal(signal.SIGKILL)
@@ -267,28 +259,42 @@ class ProcessContainer:
       self.prefix.clean_dirs()
       self._clean_env()
 
-  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]:
+  def get_output_msgs(self, start_time: int):
+    assert self.rc and self.sockets
+
+    output_msgs = []
+    self.rc.wait_for_recv_called()
+    for socket in self.sockets:
+      ms = messaging.drain_sock(socket)
+      for m in ms:
+        m = m.as_builder()
+        m.logMonoTime = start_time + int(self.cfg.processing_time * 1e9)
+        output_msgs.append(m.as_reader())
+    return output_msgs
+
+  def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, FrameReader] | None) -> list[capnp._DynamicStructReader]:
     assert self.rc and self.pm and self.sockets and self.process.proc
 
     output_msgs = []
-    with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
-      end_of_cycle = True
-      if self.cfg.should_recv_callback is not None:
-        end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
-
-      self.msg_queue.append(msg)
-      if end_of_cycle:
-        self.rc.wait_for_recv_called()
+    end_of_cycle = True
+    if self.cfg.should_recv_callback is not None:
+      end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
 
+    self.msg_queue.append(msg)
+    if end_of_cycle:
+      with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
         # call recv to let sub-sockets reconnect, after we know the process is ready
         if self.cnt == 0:
           for s in self.sockets:
             messaging.recv_one_or_none(s)
 
-        # empty recv on drained pub indicates the end of messages, only do that if there're any
+        # certain processes use drain_sock. need to cause empty recv to break from this loop
         trigger_empty_recv = False
         if self.cfg.main_pub and self.cfg.main_pub_drained:
-          trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
+          trigger_empty_recv = any(m.which() == self.cfg.main_pub for m in self.msg_queue)
+
+        # get output msgs from previous inputs
+        output_msgs = self.get_output_msgs(msg.logMonoTime)
 
         for m in self.msg_queue:
           self.pm.send(m.which(), m.as_builder())
@@ -297,20 +303,24 @@ class ProcessContainer:
             camera_state = getattr(m, m.which())
             camera_meta = meta_from_camera_state(m.which())
             assert frs is not None
-            img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
-            self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+            img = frs[m.which()].get(camera_state.frameId)
+
+            h, w = frs[m.which()].h, frs[m.which()].w
+            stride, y_height, _, yuv_size = get_nv12_info(w, h)
+            uv_offset = stride * y_height
+            padded_img = np.zeros(((uv_offset //stride) + (h // 2), stride))
+            padded_img[:h, :w] = img[:h * w].reshape((-1, w))
+            padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w))
+            img_bytes = np.zeros((yuv_size,), dtype=np.uint8)
+            img_bytes[:padded_img.size] = padded_img.flatten()
+
+            self.vipc_server.send(camera_meta.stream, img_bytes.tobytes(),
                                   camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
         self.msg_queue = []
 
         self.rc.unlock_sockets()
-        self.rc.wait_for_next_recv(trigger_empty_recv)
-
-        for socket in self.sockets:
-          ms = messaging.drain_sock(socket)
-          for m in ms:
-            m = m.as_builder()
-            m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
-            output_msgs.append(m.as_reader())
+        if trigger_empty_recv:
+          self.rc.unlock_sockets()
         self.cnt += 1
     assert self.process.proc.is_alive()
 
@@ -320,7 +330,7 @@ class ProcessContainer:
 def card_fingerprint_callback(rc, pm, msgs, fingerprint):
   print("start fingerprinting")
   params = Params()
-  canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
+  canmsgs = list(islice((m for m in msgs if m.which() == "can"), 300))
 
   # card expects one arbitrary can and pandaState
   rc.send_sync(pm, "can", messaging.new_message("can", 1))
@@ -345,39 +355,27 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     CP = CarInterface.get_non_essential_params(fingerprint)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, fingerprint)
   else:
-    can = DummySocket()
-    sendcan = DummySocket()
-
-    canmsgs = [msg for msg in msgs if msg.which() == "can"]
+    can_msgs = ([CanData(can.address, can.dat, can.src) for can in m.can] for m in msgs if m.which() == "can")
     cached_params_raw = params.get("CarParamsCache")
-    has_cached_cp = cached_params_raw is not None
-    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
-    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+    assert next(can_msgs, None), "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or cached_params_raw is not None, \
             "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
 
-    for m in canmsgs[:300]:
-      can.send(m.as_builder().to_bytes())
-    can_callbacks = can_comm_callbacks(can, sendcan)
+    def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
+      return [next(can_msgs, [])]
 
     cached_params = None
-    if has_cached_cp:
+    if cached_params_raw is not None:
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params)
+    _CI = get_car(can_recv, lambda _msgs: None, lambda obd: None, params.get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
-    if not params.get_bool("DisengageOnAccelerator"):
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
   params.put("CarParams", CP.to_bytes())
   params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
 
 
-def selfdrived_rcv_callback(msg, cfg, frame):
-  return (frame - 1) == 0 or msg.which() == 'carState'
-
-
 def card_rcv_callback(msg, cfg, frame):
   # no sendcan until card is initialized
   if msg.which() != "can":
@@ -392,21 +390,6 @@ def card_rcv_callback(msg, cfg, frame):
   return len(socks) > 0
 
 
-def calibration_rcv_callback(msg, cfg, frame):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
-
-
-def torqued_rcv_callback(msg, cfg, frame):
-  # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'livePose'
-
-
-def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
-  return msg.which() == "driverCameraState"
-
-
 class ModeldCameraSyncRcvCallback:
   def __init__(self):
     self.road_present = False
@@ -431,26 +414,13 @@ class ModeldCameraSyncRcvCallback:
 
 
 class MessageBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
+  def __init__(self, trigger_msg_type: str, first_frame: bool = False):
     self.trigger_msg_type = trigger_msg_type
+    self.first_frame = first_frame
 
   def __call__(self, msg, cfg, frame):
-    return msg.which() == self.trigger_msg_type
-
-
-class FrequencyBasedRcvCallback:
-  def __init__(self, trigger_msg_type):
-    self.trigger_msg_type = trigger_msg_type
-
-  def __call__(self, msg, cfg, frame):
-    if msg.which() != self.trigger_msg_type:
-      return False
-
-    resp_sockets = [
-      s for s in cfg.subs
-      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
-    ]
-    return bool(len(resp_sockets))
+    # publish on first frame or trigger msg
+    return ((frame - 1) == 0 and self.first_frame) or msg.which() == self.trigger_msg_type
 
 
 def selfdrived_config_callback(params, cfg, lr):
@@ -465,16 +435,16 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
-      "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
+      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
+      "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
+      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],
     config_callback=selfdrived_config_callback,
     init_callback=get_car_params_callback,
-    should_recv_callback=selfdrived_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("carState", True),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
@@ -499,6 +469,7 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
     main_pub="can",
+    main_pub_drained=True,
   ),
   ProcessConfig(
     proc_name="radard",
@@ -506,7 +477,7 @@ CONFIGS = [
     subs=["radarState"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
+    should_recv_callback=MessageBasedRcvCallback("modelV2"),
   ),
   ProcessConfig(
     proc_name="plannerd",
@@ -514,7 +485,7 @@ CONFIGS = [
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
+    should_recv_callback=MessageBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -523,14 +494,14 @@ CONFIGS = [
     subs=["liveCalibration"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=calibration_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("cameraOdometry", True),
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
     pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "selfdriveState"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime"],
-    should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
+    should_recv_callback=MessageBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -538,11 +509,10 @@ CONFIGS = [
     pubs=[
       "cameraOdometry", "accelerometer", "gyroscope", "liveCalibration", "carState"
     ],
-    subs=["livePose"],
+    subs=["liveLocationKalman", "livePose"],
     ignore=["logMonoTime"],
     should_recv_callback=MessageBasedRcvCallback("cameraOdometry"),
     tolerance=NUMPY_TOLERANCE,
-    unlocked_pubs=["accelerometer", "gyroscope"],
   ),
   ProcessConfig(
     proc_name="paramsd",
@@ -550,7 +520,7 @@ CONFIGS = [
     subs=["liveParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
@@ -575,7 +545,7 @@ CONFIGS = [
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=torqued_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose", True),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -587,7 +557,6 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
-    main_pub_drained=False,
     vision_pubs=["roadCameraState", "wideRoadCameraState"],
     ignore_alive_pubs=["wideRoadCameraState"],
     init_callback=get_car_params_callback,
@@ -597,11 +566,10 @@ CONFIGS = [
     pubs=["liveCalibration", "driverCameraState"],
     subs=["driverStateV2"],
     ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.gpuExecutionTime"],
-    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    should_recv_callback=MessageBasedRcvCallback("driverCameraState"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.020,
     main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
-    main_pub_drained=False,
     vision_pubs=["driverCameraState"],
     ignore_alive_pubs=["driverCameraState"],
   ),
@@ -640,7 +608,7 @@ def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") ->
   if len(live_calibration) > 0:
     custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
   if len(live_parameters) > 0:
-    custom_params["LiveParameters"] = live_parameters[msg_index].as_builder().to_bytes()
+    custom_params["LiveParametersV2"] = live_parameters[msg_index].as_builder().to_bytes()
   if len(live_torque_parameters) > 0:
     custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
 
@@ -659,9 +627,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
-  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
-  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None = None,
+  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
+  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)
@@ -687,7 +655,7 @@ def replay_process(
 
 
 def _replay_multi_process(
-  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None,
+  cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, FrameReader] | None, fingerprint: str | None,
   custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool
 ) -> list[capnp._DynamicStructReader]:
   if fingerprint is not None:
@@ -709,8 +677,8 @@ def _replay_multi_process(
 
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   log_msgs = []
+  containers = []
   try:
-    containers = []
     for cfg in cfgs:
       container = ProcessContainer(cfg)
       containers.append(container)
@@ -745,6 +713,11 @@ def _replay_multi_process(
             internal_pub_queue.append(m)
             heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
         log_msgs.extend(output_msgs)
+
+    # flush last set of messages from each process
+    for container in containers:
+      last_time = log_msgs[-1].logMonoTime if len(log_msgs) > 0 else int(time.monotonic() * 1e9)
+      log_msgs.extend(container.get_output_msgs(last_time))
   finally:
     for container in containers:
       container.stop()
@@ -772,9 +745,6 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     params_dict["IsRhdDetected"] = is_rhd
 
   if CP is not None:
-    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
-      params_dict["DisengageOnAccelerator"] = False
-
     if fingerprint is None:
       if CP.fingerprintSource == "fw":
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
deleted file mode 100644
index 3dd3eab25f..0000000000
--- a/selfdrive/test/process_replay/ref_commit
+++ /dev/null
@@ -1 +0,0 @@
-7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 4d00613f0a..c501a4b250 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -3,43 +3,20 @@ import os
 import argparse
 import time
 import capnp
-import numpy as np
 
 from typing import Any
 from collections.abc import Iterable
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
                                                                    check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr
-from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
 from openpilot.selfdrive.test.update_ci_routes import upload_route
-from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 from openpilot.tools.lib.openpilotci import get_url
 
-class DummyFrameReader(BaseFrameReader):
-  def __init__(self, w: int, h: int, frame_count: int, pix_val: int):
-    self.pix_val = pix_val
-    self.w, self.h = w, h
-    self.frame_count = frame_count
-    self.frame_type = FrameType.raw
-
-  def get(self, idx, count=1, pix_fmt="yuv420p"):
-    if pix_fmt == "rgb24":
-      shape = (self.h, self.w, 3)
-    elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
-      shape = (int((self.h * self.w) * 3 / 2),)
-    else:
-      raise NotImplementedError
-
-    return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)]
-
-  @staticmethod
-  def zero_dcamera():
-    return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
-
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] = None,
+  lr: LogIterable, frs: dict[str, Any] | None = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
@@ -64,7 +41,7 @@ def setup_data_readers(
       frs['wideRoadCameraState'] = FrameReader(get_url(route, str(sidx), "ecamera.hevc"))
   if needs_driver_cam:
     if dummy_driver_cam:
-      frs['driverCameraState'] = DummyFrameReader.zero_dcamera()
+      frs['driverCameraState'] = FrameReader(get_url(route, str(sidx), "fcamera.hevc")) # Use fcam as dummy
     else:
       device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData")
       assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 723112163e..6989f8957f 100644
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -2,7 +2,7 @@ import copy
 import os
 from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import log
 from opendbc.car.toyota.values import CAR as TOYOTA
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index eb06489ad0..fbe300a7c9 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -9,17 +9,15 @@ from typing import Any
 
 from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
-from openpilot.tools.lib.openpilotci import get_url, upload_file
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
 from openpilot.tools.lib.logreader import LogReader, save_log
-
-IS_AZURE_TOKEN_DEFINED = os.getenv("AZURE_TOKEN")
+from openpilot.tools.lib.url_file import URLFile
 
 source_segments = [
-  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.HYUNDAI_SONATA
   ("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
@@ -37,17 +35,18 @@ source_segments = [
   ("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
+  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),       # TESLA.TESLA_MODEL_Y
 
   # Enable when port is tested and dashcamOnly is no longer set
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
 ]
 
 segments = [
-  ("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"),
+  # TODO: get new RAV4 route without enableDsu
+  # ("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"),
@@ -60,51 +59,23 @@ segments = [
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
   ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
   ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
+  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla"]
+excluded_interfaces = ["mock", "body", "psa"]
 
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
+BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
 EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
-def preserve_only_specified_files_from_ref_commit(*commits_to_keep):
-  """Keep only files in fakedata that contain any of the specified commit hashes."""
-  removed = 0
-  for f in os.listdir(FAKEDATA):
-    if not any(commit in f for commit in commits_to_keep):
-      os.remove(os.path.join(FAKEDATA, f))
-      removed += 1
-  if removed > 0:
-    print(f"Removed {removed} old files from {FAKEDATA}")
-
-
-def handle_output_file(cur_log_fn, local):
-  """Handle the output file based on whether we're using remote or local storage."""
-  assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
-
-  if local:
-    os.system(f"git add '{os.path.realpath(cur_log_fn)}'")
-  else:
-    upload_file(cur_log_fn, os.path.basename(cur_log_fn))
-    os.remove(cur_log_fn)
-
-
 def run_test_process(data):
   segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data
-  res = None
-  if not args.upload_only:
-    lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
-    # save logs so we can upload when updating refs
-    save_log(cur_log_fn, log_msgs)
-
-  if args.update_refs or args.upload_only:
-    print(f'Processing: {os.path.basename(cur_log_fn)}')
-    handle_output_file(cur_log_fn, args.local)
-
+  lr = LogReader.from_bytes(lr_dat)
+  res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+  # save logs so we can update refs
+  save_log(cur_log_fn, log_msgs)
   return (segment, cfg.proc_name, res)
 
 
@@ -143,27 +114,6 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
     return str(e), log_msgs
 
 
-def finalize_git_updates(cur_commit, ref_commit_fn):
-  """Finalize git updates and create commit."""
-  try:
-    # Add all new files first
-    os.system(f"git add {os.path.realpath(ref_commit_fn)}")
-    os.system(f"git add {os.path.realpath(FAKEDATA)}/*.zst")
-
-    # Clean up old files - keep only new ref files since they're becoming the reference
-    preserve_only_specified_files_from_ref_commit(cur_commit)
-
-    # Add the deletions to git
-    os.system(f"git add -u {os.path.realpath(FAKEDATA)}")
-
-    # Create the commit
-    commit_msg = f"test_processes: update ref logs to {cur_commit[:7]}"
-    os.system(f'git commit -m "{commit_msg}"')
-    print("Successfully committed reference log updates")
-  except Exception as e:
-    print(f"Failed to commit changes: {e}")
-
-
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
   all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
@@ -185,10 +135,6 @@ if __name__ == "__main__":
                       help="Msgs to ignore (e.g. carEvents)")
   parser.add_argument("--update-refs", action="store_true",
                       help="Updates reference logs using current commit")
-  parser.add_argument("--upload-only", action="store_true",
-                      help="Skips testing processes and uploads logs from previous test run")
-  parser.add_argument("--local", action="store_true",
-                      help="Use  local git/ storage instead of remote (Azure for Comma)")
   parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1),
                       help="Max amount of parallel jobs")
   args = parser.parse_args()
@@ -198,33 +144,21 @@ if __name__ == "__main__":
   tested_cars = {c.upper() for c in tested_cars}
 
   full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs))
-  upload = args.update_refs or args.upload_only
   os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True)
 
-  if upload:
+  if args.update_refs:
     assert full_test, "Need to run full test when updating refs"
 
   try:
     with open(REF_COMMIT_FN) as f:
       ref_commit = f.read().strip()
   except FileNotFoundError:
-    print("Couldn't find reference commit")
-    sys.exit(1)
+    ref_commit = URLFile(BASE_URL + "ref_commit", cache=False).read().decode().strip()
 
   cur_commit = get_commit()
   if not cur_commit:
     raise Exception("Couldn't get current commit")
 
-  # Could be set as default in args, but wanted to be more explicit on the flow.
-  if upload and not args.local and not IS_AZURE_TOKEN_DEFINED:
-    print("***** Warning: local/git run was used by default since AZURE_TOKEN was NOT found on the env variables! *****")
-    args.local = True
-
-  # Clean up old files before starting
-  if upload and args.local:
-    print("***** Cleaning up old fakedata for local/git tracked refs *****")
-    preserve_only_specified_files_from_ref_commit(cur_commit, ref_commit)
-
   print(f"***** testing against commit {ref_commit} *****")
 
   # check to make sure all car brands are tested
@@ -234,12 +168,11 @@ if __name__ == "__main__":
 
   log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict))
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
-    if not args.upload_only:
-      download_segments = [seg for car, seg in segments if car in tested_cars]
-      log_data: dict[str, LogReader] = {}
-      p1 = pool.map(get_log_data, download_segments)
-      for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
-        log_data[segment] = lr
+    download_segments = [seg for car, seg in segments if car in tested_cars]
+    log_data: dict[str, LogReader] = {}
+    p1 = pool.map(get_log_data, download_segments)
+    for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)):
+      log_data[segment] = lr
 
     pool_args: Any = []
     for car_brand, segment in segments:
@@ -251,18 +184,18 @@ 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', 'RIVIAN'):
+        if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'):
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst".replace("|", "_"))
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
-          ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst")
+          route, seg_num = segment.rsplit("--", 1)
+          ref_log_path = get_url(route, seg_num, "rlog.zst")
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst".replace("|", "_"))
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
-        dat = None if args.upload_only else log_data[segment]
-        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
+        pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, log_data[segment]))
 
         log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
         log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
@@ -270,19 +203,16 @@ if __name__ == "__main__":
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
     for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if not args.upload_only:
-        results[segment][proc] = result
+      results[segment][proc] = result
 
   diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
-  if not upload:
+  if not args.update_refs:
     with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
       f.write(diff_long)
     print(diff_short)
 
     if failed:
       print("TEST FAILED")
-      print("\n\nTo push the new reference logs for this commit run:")
-      print("./test_processes.py --upload-only")
     else:
       print("TEST SUCCEEDED")
 
@@ -291,8 +221,4 @@ if __name__ == "__main__":
       f.write(cur_commit)
     print(f"\n\nUpdated reference logs for commit: {cur_commit}")
 
-    # Only do git operations if we're in local mode
-    if upload and args.local:
-      finalize_git_updates(cur_commit, REF_COMMIT_FN)
-
   sys.exit(int(failed))
diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py
index 6c4b48c8d5..f4942e486c 100644
--- a/selfdrive/test/process_replay/test_regen.py
+++ b/selfdrive/test/process_replay/test_regen.py
@@ -1,6 +1,6 @@
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
-from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader
+from openpilot.selfdrive.test.process_replay.regen import regen_segment
 from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.tools.lib.logreader import LogReader
@@ -18,7 +18,7 @@ def ci_setup_data_readers(route, sidx):
   lr = LogReader(get_url(route, sidx, "rlog.bz2"))
   frs = {
     'roadCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
-    'driverCameraState': DummyFrameReader.zero_dcamera()
+    'driverCameraState': FrameReader(get_url(route, sidx, "fcamera.hevc")),
   }
   if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
     frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera.hevc"))
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 69555b19f7..2a1442a20c 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -18,6 +18,9 @@ if [ -z "$TEST_DIR" ]; then
   exit 1
 fi
 
+# prevent storage from filling up
+rm -rf /data/media/0/realdata/*
+
 rm -rf /data/safe_staging/ || true
 if [ -d /data/safe_staging/ ]; then
   sudo umount /data/safe_staging/merged/ || true
@@ -39,6 +42,7 @@ sudo systemctl restart NetworkManager
 sudo systemctl disable ssh-param-watcher.path
 sudo systemctl disable ssh-param-watcher.service
 sudo mount -o ro,remount /
+sudo systemctl stop power_monitor
 
 while true; do
   if ! sudo systemctl is-active -q ssh; then
diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh
deleted file mode 100755
index aab1499744..0000000000
--- a/selfdrive/test/setup_vsound.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-{
-  #start pulseaudio daemon
-  sudo pulseaudio -D
-
-  # create a virtual null audio and set it to default device
-  sudo pactl load-module module-null-sink sink_name=virtual_audio
-  sudo pactl set-default-sink virtual_audio
-} > /dev/null 2>&1
diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh
index 692b84d65f..c1b74a850e 100755
--- a/selfdrive/test/setup_xvfb.sh
+++ b/selfdrive/test/setup_xvfb.sh
@@ -2,7 +2,11 @@
 
 # Sets up a virtual display for running map renderer and simulator without an X11 display
 
-DISP_ID=99
+if uname -r | grep -q "WSL2"; then
+  DISP_ID=0 # WSLg uses display :0
+else
+  DISP_ID=99 # Standard Xvfb display
+fi
 export DISPLAY=:$DISP_ID
 
 sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null &
@@ -15,5 +19,4 @@ do
 done
 
 touch ~/.Xauthority
-export XDG_SESSION_TYPE="x11"
-xset -q
\ No newline at end of file
+export XDG_SESSION_TYPE="x11"
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 4cd952219c..008b8ebe7f 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -8,7 +8,7 @@ import time
 import numpy as np
 from collections import Counter, defaultdict
 from pathlib import Path
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 from cereal import log
 import cereal.messaging as messaging
@@ -18,7 +18,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
@@ -33,21 +32,21 @@ CPU usage budget
 TEST_DURATION = 25
 LOG_OFFSET = 8
 
-MAX_TOTAL_CPU = 280.  # total for all 8 cores
+MAX_TOTAL_CPU = 350.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
   "selfdrive.controls.controlsd": 16.0,
   "selfdrive.selfdrived.selfdrived": 16.0,
   "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
-  "./encoderd": 17.0,
+  "./encoderd": 13.0,
   "./camerad": 10.0,
-  "selfdrive.controls.plannerd": 9.0,
-  "./ui": 18.0,
-  "./sensord": 7.0,
+  "selfdrive.controls.plannerd": 8.0,
+  "selfdrive.ui.ui": 40.0,
+  "system.sensord.sensord": 13.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 21.0,
+  "selfdrive.modeld.dmonitoringmodeld": 18.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -55,31 +54,22 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
+  "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
-  "./proclogd": 2.0,
+  "system.proclogd": 7.0,
   "system.logmessaged": 1.0,
   "system.tombstoned": 0,
-  "./logcatd": 1.0,
+  "system.journald": 1.0,
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 1.0,
   "system.loggerd.uploader": 15.0,
   "system.loggerd.deleter": 1.0,
+  "./pandad": 19.0,
+  "system.qcomgpsd.qcomgpsd": 1.0,
 }
 
-PROCS.update({
-  "tici": {
-    "./pandad": 5.0,
-    "./ubloxd": 1.0,
-    "system.ubloxd.pigeond": 6.0,
-  },
-  "tizi": {
-     "./pandad": 19.0,
-    "system.qcomgpsd.qcomgpsd": 1.0,
-  }
-}.get(HARDWARE.get_device_type(), {}))
-
 TIMINGS = {
   # rtols: max/min, rsd
   "can": [2.5, 0.35],
@@ -131,6 +121,7 @@ class TestOnroad:
     params.put_bool("RecordFront", True)
     set_params_enabled()
     os.environ['REPLAY'] = '1'
+    os.environ['MSGQ_PREALLOC'] = '1'
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
@@ -147,7 +138,7 @@ class TestOnroad:
         while not sm.seen['carState']:
           sm.update(1000)
 
-      route = params.get("CurrentRoute", encoding="utf-8")
+      route = params.get("CurrentRoute")
       assert route is not None
 
       segs = list(Path(Paths.log_root()).glob(f"{route}--*"))
@@ -189,7 +180,7 @@ class TestOnroad:
 
   def test_manager_starting_time(self):
     st = self.ts['managerState']['t'][0]
-    assert (st - self.manager_st) < 12.5, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
+    assert (st - self.manager_st) < 15.0, f"manager.py took {st - self.manager_st}s to publish the first 'managerState' msg"
 
   def test_cloudlog_size(self):
     msgs = self.msgs['logMessage']
@@ -216,7 +207,9 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = self.ts['uiDebug']['drawTimeMillis']
+    # other processes preempt ui while starting up
+    offset = int(20 * LOG_OFFSET)
+    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -225,7 +218,7 @@ class TestOnroad:
     print(result)
 
     assert max(ts) < 250.
-    assert np.mean(ts) < 10.
+    assert np.mean(ts) < 20.  # TODO: ~6-11ms, increase consistency
     #self.assertLess(np.std(ts), 5.)
 
     # some slow frames are expected since camerad/modeld can preempt ui
@@ -289,13 +282,17 @@ class TestOnroad:
     print("\n------------------------------------------------")
     print("--------------- Memory Usage -------------------")
     print("------------------------------------------------")
+
+    from openpilot.selfdrive.debug.mem_usage import print_report
+    print_report(self.msgs['procLog'], self.msgs['deviceState'])
+
     offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET)
     mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]]
-    print("Memory usage: ", mems)
+    print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode())
 
     # check for big leaks. note that memory usage is
     # expected to go up while the MSGQ buffers fill up
-    assert np.average(mems) <= 65, "Average memory usage above 65%"
+    assert np.average(mems) <= 80, "Average memory usage too high"
     assert np.max(np.diff(mems)) <= 4, "Max memory increase too high"
     assert np.average(np.diff(mems)) <= 1, "Average memory increase too high"
 
@@ -332,20 +329,18 @@ class TestOnroad:
             assert np.all(eof_sof_diff > 0)
             assert np.all(eof_sof_diff < 50*1e6)
 
-        first_fid = {c: min(self.ts[c]['frameId']) for c in cams}
+        first_fid = {min(self.ts[c]['frameId']) for c in cams}
+        assert len(first_fid) == 1, "Cameras don't start on same frame ID"
         if cam.endswith('CameraState'):
           # camerad guarantees that all cams start on frame ID 0
           # (note loggerd also needs to start up fast enough to catch it)
-          assert set(first_fid.values()) == {0, }, "Cameras don't start on frame ID 0"
-        else:
-          # encoder guarantees all cams start on the same frame ID
-          assert len(set(first_fid.values())) == 1, "Cameras don't start on same frame ID"
+          assert next(iter(first_fid)) < 100, "Cameras start on frame ID too high"
 
         # we don't do a full segment rotation, so these might not match exactly
-        last_fid = {c: max(self.ts[c]['frameId']) for c in cams}
-        assert max(last_fid.values()) - min(last_fid.values()) < 10
+        last_fid = {max(self.ts[c]['frameId']) for c in cams}
+        assert max(last_fid) - min(last_fid) < 10
 
-        start, end = min(first_fid.values()), min(last_fid.values())
+        start, end = min(first_fid), min(last_fid)
         for i in range(end-start):
           ts = {c: round(self.ts[c]['timestampSof'][i]/1e6, 1) for c in cams}
           diff = (max(ts.values()) - min(ts.values()))
@@ -398,7 +393,7 @@ class TestOnroad:
       ("modelV2", 0.06, 0.040),
 
       # can miss cycles here and there, just important the avg frequency is 20Hz
-      ("driverStateV2", 0.2, 0.05),
+      ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index ea945d94c2..95365640f5 100644
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -105,7 +105,7 @@ class TestUpdated:
     ret = None
     start_time = time.monotonic()
     while ret is None:
-      ret = self.params.get(key, encoding='utf8')
+      ret = self.params.get(key)
       if time.monotonic() - start_time > timeout:
         break
       time.sleep(0.01)
@@ -162,8 +162,7 @@ class TestUpdated:
 
   def _check_update_state(self, update_available):
     # make sure LastUpdateTime is recent
-    t = self._read_param("LastUpdateTime")
-    last_update_time = datetime.datetime.fromisoformat(t)
+    last_update_time = self._read_param("LastUpdateTime")
     td = datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_update_time
     assert td.total_seconds() < 10
     self.params.remove("LastUpdateTime")
@@ -174,7 +173,7 @@ class TestUpdated:
     # check params
     update = self._read_param("UpdateAvailable")
     assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}"
-    assert self._read_param("UpdateFailedCount") == "0"
+    assert self._read_param("UpdateFailedCount") == 0
 
     # TODO: check that the finalized update actually matches remote
     # check the .overlay_init and .overlay_consistent flags
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index 2bf06b4860..54e1c88718 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 7e9eaf932f..945928f617 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -1,14 +1 @@
-moc_*
-*.moc
-
-translations/main_test_en.*
-
-ui
-mui
-watch3
 installer/installers/*
-qt/setup/setup
-qt/setup/reset
-qt/setup/wifi
-qt/setup/updater
-translations/alerts_generated.h
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 1e8ebb957f..4d7448c62f 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,90 +1,34 @@
-import os
-import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+import re
+from pathlib import Path
+Import('env', 'arch', 'common')
 
-base_libs = [common, messaging, visionipc, transformations,
-             'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+# build the fonts
+generator = File("#selfdrive/assets/fonts/process.py")
+source_files = Glob("#selfdrive/assets/fonts/*.ttf") + Glob("#selfdrive/assets/fonts/*.otf")
+output_files = [
+  (f"#{Path(f.path).with_suffix('.fnt')}", f"#{Path(f.path).with_suffix('.png')}")
+  for f in source_files
+  if "NotoColor" not in f.name
+]
+env.Command(
+  target=output_files,
+  source=[generator, source_files],
+  action=f"python3 {generator}",
+)
 
-if arch == 'larch64':
-  base_libs.append('EGL')
-
-if arch == "Darwin":
-  del base_libs[base_libs.index('OpenCL')]
-  qt_env['FRAMEWORKS'] += ['OpenCL']
-
-sp_widgets_src = []
-sp_qt_src = []
-sp_qt_util = []
-if not GetOption('stock_ui'):
-  SConscript(['sunnypilot/SConscript'])
-  Import('sp_widgets_src', 'sp_qt_src', 'sp_qt_util')
-
-# FIXME: remove this once we're on 5.15 (24.04)
-qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
-
-qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"] + sp_qt_util, LIBS=base_libs)
-widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
-               "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
-               "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
-               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
-               "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] + sp_widgets_src
-
-widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
-Export('widgets')
-qt_libs = [widgets, qt_util] + base_libs
-
-qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
-          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/offroad_home.cc",
-          "qt/offroad/software_settings.cc", "qt/offroad/developer_panel.cc", "qt/offroad/onboarding.cc",
-          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc", "qt/offroad/firehose.cc",
-          "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
-          "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"] + sp_qt_src
-
-# build translation files
-with open(File("translations/languages.json").abspath) as f:
-  languages = json.loads(f.read())
-translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()]
-translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
-lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
-
-lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES")
-qt_env.NoClean(translation_sources)
-qt_env.Precious(translation_sources)
-
-# create qrc file for compiled translations to include with assets
-translations_assets_src = "#selfdrive/assets/translations_assets.qrc"
-with open(File(translations_assets_src).abspath, 'w') as f:
-  f.write('<!DOCTYPE RCC><RCC version="1.0">\n<qresource>\n')
-  f.write('\n'.join([f'<file alias="{l}">../ui/translations/{l}.qm</file>' for l in languages.values()]))
-  f.write('\n</qresource>\n</RCC>')
-
-# build assets
-assets = "#selfdrive/assets/assets.cc"
-assets_src = "#selfdrive/assets/assets.qrc"
-qt_env.Command(assets, [assets_src, translations_assets_src], f"rcc $SOURCES -o $TARGET")
-qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, translations_assets_src, "#selfdrive/assets/assets.o"]) + [lrelease])
-asset_obj = qt_env.Object("assets", assets)
-
-# build main UI
-qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
-if GetOption('extras'):
-  qt_src.remove("main.cc")  # replaced by test_runner
-  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
-
-  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
-
-  # setup and factory resetter
-  qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
-  qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
-                 LIBS=qt_libs + ['curl', 'common'])
-
-  # build updater UI
-  qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
+if GetOption('extras') and arch == "larch64":
+  # build installers
   if arch != "Darwin":
-    # build installers
-    senv = qt_env.Clone()
-    senv['LINKFLAGS'].append('-Wl,-strip-debug')
+    raylib_env = env.Clone()
+    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+
+    raylib_libs = common + ["raylib"]
+    if arch == "larch64":
+      raylib_libs += ["GLESv2", "EGL", "gbm", "drm"]
+    else:
+      raylib_libs += ["GL"]
 
     release = "release3"
     installers = [
@@ -94,18 +38,20 @@ if GetOption('extras'):
       ("openpilot_internal", "nightly-dev"),
     ]
 
-    cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-                        "ld -r -b binary -o $TARGET $SOURCE")
+    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                               "ld -r -b binary -o $TARGET $SOURCE")
+    inter_bold = raylib_env.Command("installer/inter_bold.o", "../assets/fonts/Inter-Bold.ttf",
+                                "ld -r -b binary -o $TARGET $SOURCE")
+    inter_light = raylib_env.Command("installer/inter_light.o", "../assets/fonts/Inter-Light.ttf",
+                                "ld -r -b binary -o $TARGET $SOURCE")
     for name, branch in installers:
       d = {'BRANCH': f"'\"{branch}\"'"}
       if "internal" in name:
         d['INTERNAL'] = "1"
 
-      obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
+      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter, inter_bold, inter_light], LIBS=raylib_libs)
       # keep installers small
-      assert f[0].get_size() < 370*1e3
-
-# build watch3
-if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
+      assert f[0].get_size() < 2500*1e3, f[0].get_size()
diff --git a/selfdrive/ui/__init__.py b/selfdrive/ui/__init__.py
index e69de29bb2..b07e842f1a 100644
--- a/selfdrive/ui/__init__.py
+++ b/selfdrive/ui/__init__.py
@@ -0,0 +1 @@
+UI_BORDER_SIZE = 30
diff --git a/selfdrive/ui/feedback/feedbackd.py b/selfdrive/ui/feedback/feedbackd.py
new file mode 100755
index 0000000000..24f27874eb
--- /dev/null
+++ b/selfdrive/ui/feedback/feedbackd.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from cereal import car
+from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
+
+FEEDBACK_MAX_DURATION = 10.0
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+def main():
+  params = Params()
+  pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
+  sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState', 'selfdriveStateSP'])
+  should_record_audio = False
+  block_num = 0
+  waiting_for_release = False
+  early_stop_triggered = False
+
+  while True:
+    sm.update()
+    should_send_bookmark = False
+
+    # TODO: https://github.com/commaai/openpilot/issues/36015
+    # only allow the LKAS button to record feedback when MADS is disabled
+    if False and sm.updated['carState'] and sm['carState'].canValid and not sm['selfdriveStateSP'].mads.available:
+      for be in sm['carState'].buttonEvents:
+        if be.type == ButtonType.lkas:
+          if be.pressed:
+            if not should_record_audio:
+              if params.get_bool("RecordAudioFeedback"):  # Start recording on first press if toggle set
+                should_record_audio = True
+                block_num = 0
+                waiting_for_release = False
+                early_stop_triggered = False
+                cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
+              else:
+                should_send_bookmark = True  # immediately send bookmark if toggle false
+                cloudlog.info("LKAS button pressed - bookmarking")
+            elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
+              waiting_for_release = True
+          elif waiting_for_release:  # Second press released
+            waiting_for_release = False
+            early_stop_triggered = True
+            cloudlog.info("LKAS button released - ending recording early")
+
+    if should_record_audio and sm.updated['rawAudioData']:
+      raw_audio = sm['rawAudioData']
+      msg = messaging.new_message('audioFeedback', valid=True)
+      msg.audioFeedback.audio.data = raw_audio.data
+      msg.audioFeedback.audio.sampleRate = raw_audio.sampleRate
+      msg.audioFeedback.blockNum = block_num
+      block_num += 1
+      if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
+        should_send_bookmark = True  # send bookmark at end of audio segment
+        should_record_audio = False
+        early_stop_triggered = False
+        cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
+      pm.send('audioFeedback', msg)
+
+    if sm.updated['bookmarkButton']:
+      cloudlog.info("Bookmark button pressed!")
+      should_send_bookmark = True
+
+    if should_send_bookmark:
+      msg = messaging.new_message('userBookmark', valid=True)
+      pm.send('userBookmark', msg)
+
+
+if __name__ == '__main__':
+  main()
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 84486e61be..9c35b0465e 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -1,19 +1,16 @@
-#include <unistd.h>
-
-#include <cstdlib>
+#include <array>
+#include <cassert>
 #include <fstream>
 #include <map>
-#include <string>
-
-#include <QDebug>
-#include <QDir>
-#include <QTimer>
-#include <QVBoxLayout>
 
+#include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/ui/installer/installer.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
+#include "system/hardware/hw.h"
+#include "third_party/raylib/include/raylib.h"
+
+int freshClone();
+int cachedFetch(const std::string &cache);
+int executeGitCommand(const std::string &cmd);
 
 std::string get_str(std::string const s) {
   std::string::size_type pos = s.find('?');
@@ -28,146 +25,178 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"
 
-const QString CACHE_PATH = "/data/openpilot.cache";
+const std::string INSTALL_PATH = "/data/openpilot";
+const std::string VALID_CACHE_PATH = "/data/.openpilot_cache";
 
-#define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
+const int FONT_SIZE = 160;
+
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
+extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
+extern const uint8_t inter_ttf_end[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_end");
+extern const uint8_t inter_light_ttf[] asm("_binary_selfdrive_assets_fonts_Inter_Light_ttf_start");
+extern const uint8_t inter_light_ttf_end[] asm("_binary_selfdrive_assets_fonts_Inter_Light_ttf_end");
+extern const uint8_t inter_bold_ttf[] asm("_binary_selfdrive_assets_fonts_Inter_Bold_ttf_start");
+extern const uint8_t inter_bold_ttf_end[] asm("_binary_selfdrive_assets_fonts_Inter_Bold_ttf_end");
+
+Font font_inter;
+Font font_roman;
+Font font_display;
+
+const bool tici_device = Hardware::get_device_type() == cereal::InitData::DeviceType::TICI ||
+                         Hardware::get_device_type() == cereal::InitData::DeviceType::TIZI;
+
+std::vector<std::string> tici_prebuilt_branches = {"release3", "release-tizi", "release3-staging", "nightly", "nightly-dev"};
+std::string migrated_branch;
+
+void branchMigration() {
+  migrated_branch = BRANCH_STR;
+  cereal::InitData::DeviceType device_type = Hardware::get_device_type();
+  if (device_type == cereal::InitData::DeviceType::TICI) {
+    if (std::find(tici_prebuilt_branches.begin(), tici_prebuilt_branches.end(), BRANCH_STR) != tici_prebuilt_branches.end()) {
+      migrated_branch = "release-tici";
+    } else if (BRANCH_STR == "master") {
+      migrated_branch = "master-tici";
+    }
+  } else if (device_type == cereal::InitData::DeviceType::TIZI) {
+    if (BRANCH_STR == "release3") {
+      migrated_branch = "release-tizi";
+    } else if (BRANCH_STR == "release3-staging") {
+      migrated_branch = "release-tizi-staging";
+    }
+  } else if (device_type == cereal::InitData::DeviceType::MICI) {
+    if (BRANCH_STR == "release3") {
+      migrated_branch = "release-mici";
+    } else if (BRANCH_STR == "release3-staging") {
+      migrated_branch = "release-mici-staging";
+    }
+  }
+}
 
 void run(const char* cmd) {
   int err = std::system(cmd);
   assert(err == 0);
 }
 
-Installer::Installer(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *layout = new QVBoxLayout(this);
-  layout->setContentsMargins(150, 290, 150, 150);
-  layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Installing..."));
-  title->setStyleSheet("font-size: 90px; font-weight: 600;");
-  layout->addWidget(title, 0, Qt::AlignTop);
-
-  layout->addSpacing(170);
-
-  bar = new QProgressBar();
-  bar->setRange(0, 100);
-  bar->setTextVisible(false);
-  bar->setFixedHeight(72);
-  layout->addWidget(bar, 0, Qt::AlignTop);
-
-  layout->addSpacing(30);
-
-  val = new QLabel("0%");
-  val->setStyleSheet("font-size: 70px; font-weight: 300;");
-  layout->addWidget(val, 0, Qt::AlignTop);
-
-  layout->addStretch();
-
-  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Installer::cloneFinished);
-  QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress);
-
-  QTimer::singleShot(100, this, &Installer::doInstall);
-
-  setStyleSheet(R"(
-    * {
-      font-family: Inter;
-      color: white;
-      background-color: black;
-    }
-    QProgressBar {
-      border: none;
-      background-color: #292929;
-    }
-    QProgressBar::chunk {
-      background-color: #364DEF;
-    }
-  )");
+void finishInstall() {
+  if (tici_device) {
+    BeginDrawing();
+      ClearBackground(BLACK);
+      const char *m = "Finishing install...";
+      int text_width = MeasureText(m, FONT_SIZE);
+      DrawTextEx(font_display, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
+    EndDrawing();
+  }
+  util::sleep_for(60 * 1000);
 }
 
-void Installer::updateProgress(int percent) {
-  bar->setValue(percent);
-  val->setText(QString("%1%").arg(percent));
-  update();
+void renderProgress(int progress) {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    if (tici_device) {
+      DrawTextEx(font_inter, "Installing...", (Vector2){150, 290}, 110, 0, WHITE);
+      Rectangle bar = {150, 570, (float)GetScreenWidth() - 300, 72};
+      DrawRectangleRec(bar, (Color){41, 41, 41, 255});
+      progress = std::clamp(progress, 0, 100);
+      bar.width *= progress / 100.0f;
+      DrawRectangleRec(bar, (Color){70, 91, 234, 255});
+      DrawTextEx(font_inter, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE);
+    } else {
+      DrawTextEx(font_display, "installing...", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
+      const std::string percent_str = std::to_string(progress) + "%";
+      DrawTextEx(font_inter, percent_str.c_str(), (Vector2){12, (float)(GetScreenHeight() - 154 + 20)}, 154, 0,
+                 (Color){255, 255, 255, (unsigned char)(255 * 0.9 * 0.65)});
+    }
+
+  EndDrawing();
 }
 
-void Installer::doInstall() {
+int doInstall() {
   // wait for valid time
   while (!util::system_time_valid()) {
-    usleep(500 * 1000);
-    qDebug() << "Waiting for valid time";
+    util::sleep_for(500);
+    LOGD("Waiting for valid time");
   }
 
   // cleanup previous install attempts
-  run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run("rm -rf " TMP_INSTALL_PATH);
 
   // do the install
-  if (QDir(CACHE_PATH).exists()) {
-    cachedFetch(CACHE_PATH);
+  if (util::file_exists(INSTALL_PATH) && util::file_exists(VALID_CACHE_PATH)) {
+    return cachedFetch(INSTALL_PATH);
   } else {
-    freshClone();
+    return freshClone();
   }
 }
 
-void Installer::freshClone() {
-  qDebug() << "Doing fresh clone";
-  proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(),
-                     "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH});
+int freshClone() {
+  LOGD("Doing fresh clone");
+  std::string cmd = util::string_format("git clone --progress %s -b %s --depth=1 --recurse-submodules %s 2>&1",
+                                        GIT_URL.c_str(), migrated_branch.c_str(), TMP_INSTALL_PATH);
+  return executeGitCommand(cmd);
 }
 
-void Installer::cachedFetch(const QString &cache) {
-  qDebug() << "Fetching with cache: " << cache;
+int cachedFetch(const std::string &cache) {
+  LOGD("Fetching with cache: %s", cache.c_str());
 
-  run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str());
-  int err = chdir(TMP_INSTALL_PATH);
-  assert(err == 0);
-  run(("git remote set-branches --add origin " + BRANCH_STR).c_str());
+  run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, migrated_branch.c_str()).c_str());
 
-  updateProgress(10);
+  renderProgress(10);
 
-  proc.setWorkingDirectory(TMP_INSTALL_PATH);
-  proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()});
+  return executeGitCommand(util::string_format("cd %s && git fetch --progress origin %s 2>&1", TMP_INSTALL_PATH, migrated_branch.c_str()));
 }
 
-void Installer::readProgress() {
-  const QVector<QPair<QString, int>> stages = {
+int executeGitCommand(const std::string &cmd) {
+  static const std::array stages = {
     // prefix, weight in percentage
-    {"Receiving objects: ", 91},
-    {"Resolving deltas: ", 2},
-    {"Updating files: ", 7},
+    std::pair{"Receiving objects: ", 91},
+    std::pair{"Resolving deltas: ", 2},
+    std::pair{"Updating files: ", 7},
   };
 
-  auto line = QString(proc.readAllStandardError());
+  FILE *pipe = popen(cmd.c_str(), "r");
+  if (!pipe) return -1;
 
-  int base = 0;
-  for (const QPair kv : stages) {
-    if (line.startsWith(kv.first)) {
-      auto perc = line.split(kv.first)[1].split("%")[0];
-      int p = base + int(perc.toFloat() / 100. * kv.second);
-      updateProgress(p);
-      break;
+  char buffer[512];
+  while (fgets(buffer, sizeof(buffer), pipe) != nullptr) {
+    std::string line(buffer);
+    int base = 0;
+    for (const auto &[text, weight] : stages) {
+      if (line.find(text) != std::string::npos) {
+        size_t percentPos = line.find("%");
+        if (percentPos != std::string::npos && percentPos >= 3) {
+          int percent = std::stoi(line.substr(percentPos - 3, 3));
+          int progress = base + int(percent / 100. * weight);
+          renderProgress(progress);
+        }
+        break;
+      }
+      base += weight;
     }
-    base += kv.second;
   }
+  return pclose(pipe);
 }
 
-void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
-  qDebug() << "git finished with " << exitCode;
+void cloneFinished(int exitCode) {
+  LOGD("git finished with %d", exitCode);
   assert(exitCode == 0);
 
-  updateProgress(100);
+  renderProgress(100);
 
   // ensure correct branch is checked out
   int err = chdir(TMP_INSTALL_PATH);
   assert(err == 0);
-  run(("git checkout " + BRANCH_STR).c_str());
-  run(("git reset --hard origin/" + BRANCH_STR).c_str());
+  run(("git checkout " + migrated_branch).c_str());
+  run(("git reset --hard origin/" + migrated_branch).c_str());
   run("git submodule update --init");
 
   // move into place
-  run("mv " TMP_INSTALL_PATH " " INSTALL_PATH);
+  run(("rm -f " + VALID_CACHE_PATH).c_str());
+  run(("rm -rf " + INSTALL_PATH).c_str());
+  run(util::string_format("mv %s %s", TMP_INSTALL_PATH, INSTALL_PATH.c_str()).c_str());
 
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
@@ -185,9 +214,9 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
     param << value;
     param.close();
   }
-  run("cd " INSTALL_PATH " && "
+  run(("cd " + INSTALL_PATH + " && "
       "git remote set-url origin --push " GIT_SSH_URL " && "
-      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"");
+      "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\"").c_str());
 #endif
 
   // write continue.sh
@@ -203,13 +232,36 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   run("mv /data/continue.sh.new " CONTINUE_PATH);
 
   // wait for the installed software's UI to take over
-  QTimer::singleShot(60 * 1000, &QCoreApplication::quit);
+  finishInstall();
 }
 
 int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Installer installer;
-  setMainWindow(&installer);
-  return a.exec();
+  if (tici_device) {
+    InitWindow(2160, 1080, "Installer");
+  } else {
+    InitWindow(536, 240, "Installer");
+  }
+
+  font_inter = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, FONT_SIZE, NULL, 0);
+  font_roman = LoadFontFromMemory(".ttf", inter_light_ttf, inter_light_ttf_end - inter_light_ttf, FONT_SIZE, NULL, 0);
+  font_display = LoadFontFromMemory(".ttf", inter_bold_ttf, inter_bold_ttf_end - inter_bold_ttf, FONT_SIZE, NULL, 0);
+  SetTextureFilter(font_inter.texture, TEXTURE_FILTER_BILINEAR);
+  SetTextureFilter(font_roman.texture, TEXTURE_FILTER_BILINEAR);
+  SetTextureFilter(font_display.texture, TEXTURE_FILTER_BILINEAR);
+
+  branchMigration();
+
+  if (util::file_exists(CONTINUE_PATH)) {
+    finishInstall();
+  } else {
+    renderProgress(0);
+    int result = doInstall();
+    cloneFinished(result);
+  }
+
+  CloseWindow();
+  UnloadFont(font_inter);
+  UnloadFont(font_roman);
+  UnloadFont(font_display);
+  return 0;
 }
diff --git a/selfdrive/ui/installer/installer.h b/selfdrive/ui/installer/installer.h
deleted file mode 100644
index de3af0ff39..0000000000
--- a/selfdrive/ui/installer/installer.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QProcess>
-#include <QProgressBar>
-#include <QWidget>
-
-class Installer : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Installer(QWidget *parent = 0);
-
-private slots:
-  void updateProgress(int percent);
-
-  void readProgress();
-  void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus);
-
-private:
-  QLabel *val;
-  QProgressBar *bar;
-  QProcess proc;
-
-  void doInstall();
-  void freshClone();
-  void cachedFetch(const QString &cache);
-};
diff --git a/selfdrive/ui/installer/inter-ascii.ttf b/selfdrive/ui/installer/inter-ascii.ttf
new file mode 100644
index 0000000000..5d480c515a
--- /dev/null
+++ b/selfdrive/ui/installer/inter-ascii.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef26a4099ef867f3493389379d882381a2491cdbfa41a086be8899a2154dcb3
+size 26160
diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/ui/layouts/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/tests/__init__.py
rename to selfdrive/ui/layouts/__init__.py
diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py
new file mode 100644
index 0000000000..bb4b868f2d
--- /dev/null
+++ b/selfdrive/ui/layouts/home.py
@@ -0,0 +1,232 @@
+import time
+import pyray as rl
+from collections.abc import Callable
+from enum import IntEnum
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.selfdrive.ui.widgets.exp_mode_button import ExperimentalModeButton
+from openpilot.selfdrive.ui.widgets.prime import PrimeWidget
+from openpilot.selfdrive.ui.widgets.setup import SetupWidget
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr, trn
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets import Widget
+
+HEADER_HEIGHT = 80
+HEAD_BUTTON_FONT_SIZE = 40
+CONTENT_MARGIN = 40
+SPACING = 25
+RIGHT_COLUMN_WIDTH = 750
+REFRESH_INTERVAL = 10.0
+
+
+class HomeLayoutState(IntEnum):
+  HOME = 0
+  UPDATE = 1
+  ALERTS = 2
+
+
+class HomeLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+
+    self.update_alert = UpdateAlert()
+    self.offroad_alert = OffroadAlert()
+
+    self._layout_widgets = {HomeLayoutState.UPDATE: self.update_alert, HomeLayoutState.ALERTS: self.offroad_alert}
+
+    self.current_state = HomeLayoutState.HOME
+    self.last_refresh = 0
+    self.settings_callback: Callable[[], None] | None = None
+
+    self.update_available = False
+    self.alert_count = 0
+    self._version_text = ""
+    self._prev_update_available = False
+    self._prev_alerts_present = False
+
+    self.header_rect = rl.Rectangle(0, 0, 0, 0)
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.left_column_rect = rl.Rectangle(0, 0, 0, 0)
+    self.right_column_rect = rl.Rectangle(0, 0, 0, 0)
+
+    self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10)
+    self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10)
+
+    self._prime_widget = PrimeWidget()
+    self._setup_widget = SetupWidget()
+
+    self._exp_mode_button = ExperimentalModeButton()
+    self._setup_callbacks()
+
+  def show_event(self):
+    self._exp_mode_button.show_event()
+    self.last_refresh = time.monotonic()
+    self._refresh()
+
+  def _setup_callbacks(self):
+    self.update_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+    self.offroad_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+    self._exp_mode_button.set_click_callback(lambda: self.settings_callback() if self.settings_callback else None)
+
+  def set_settings_callback(self, callback: Callable):
+    self.settings_callback = callback
+
+  def _set_state(self, state: HomeLayoutState):
+    # propagate show/hide events
+    if state != self.current_state:
+      if state == HomeLayoutState.HOME:
+        self._exp_mode_button.show_event()
+
+      if state in self._layout_widgets:
+        self._layout_widgets[state].show_event()
+      if self.current_state in self._layout_widgets:
+        self._layout_widgets[self.current_state].hide_event()
+
+    self.current_state = state
+
+  def _render(self, rect: rl.Rectangle):
+    current_time = time.monotonic()
+    if current_time - self.last_refresh >= REFRESH_INTERVAL:
+      self._refresh()
+      self.last_refresh = current_time
+
+    self._render_header()
+
+    # Render content based on current state
+    if self.current_state == HomeLayoutState.HOME:
+      self._render_home_content()
+    elif self.current_state == HomeLayoutState.UPDATE:
+      self._render_update_view()
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self._render_alerts_view()
+
+  def _update_state(self):
+    self.header_rect = rl.Rectangle(
+      self._rect.x + CONTENT_MARGIN, self._rect.y + CONTENT_MARGIN, self._rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
+    )
+
+    content_y = self._rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
+    content_height = self._rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
+
+    self.content_rect = rl.Rectangle(
+      self._rect.x + CONTENT_MARGIN, content_y, self._rect.width - 2 * CONTENT_MARGIN, content_height
+    )
+
+    left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING
+
+    self.left_column_rect = rl.Rectangle(self.content_rect.x, self.content_rect.y, left_width, self.content_rect.height)
+
+    self.right_column_rect = rl.Rectangle(
+      self.content_rect.x + left_width + SPACING, self.content_rect.y, RIGHT_COLUMN_WIDTH, self.content_rect.height
+    )
+
+    self.update_notif_rect.x = self.header_rect.x
+    self.update_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+    notif_x = self.header_rect.x + (220 if self.update_available else 0)
+    self.alert_notif_rect.x = notif_x
+    self.alert_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if self.update_available and rl.check_collision_point_rec(mouse_pos, self.update_notif_rect):
+      self._set_state(HomeLayoutState.UPDATE)
+    elif self.alert_count > 0 and rl.check_collision_point_rec(mouse_pos, self.alert_notif_rect):
+      self._set_state(HomeLayoutState.ALERTS)
+
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    version_text_width = self.header_rect.width
+
+    # Update notification button
+    if self.update_available:
+      version_text_width -= self.update_notif_rect.width
+
+      # Highlight if currently viewing updates
+      highlight_color = rl.Color(75, 95, 255, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(54, 77, 239, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = tr("UPDATE")
+      text_size = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_size.x) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Alert notification button
+    if self.alert_count > 0:
+      version_text_width -= self.alert_notif_rect.width
+
+      # Highlight if currently viewing alerts
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = trn("{} ALERT", "{} ALERTS", self.alert_count).format(self.alert_count)
+      text_size = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE)
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_size.x) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - text_size.y) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Version text (right aligned)
+    if self.update_available or self.alert_count > 0:
+      version_text_width -= SPACING * 1.5
+
+    version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
+                                version_text_width, self.header_rect.height)
+    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+
+  def _render_home_content(self):
+    self._render_left_column()
+    self._render_right_column()
+
+  def _render_update_view(self):
+    self.update_alert.render(self.content_rect)
+
+  def _render_alerts_view(self):
+    self.offroad_alert.render(self.content_rect)
+
+  def _render_left_column(self):
+    self._prime_widget.render(self.left_column_rect)
+
+  def _render_right_column(self):
+    exp_height = 125
+    exp_rect = rl.Rectangle(
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, exp_height
+    )
+    self._exp_mode_button.render(exp_rect)
+
+    setup_rect = rl.Rectangle(
+      self.right_column_rect.x,
+      self.right_column_rect.y + exp_height + SPACING,
+      self.right_column_rect.width,
+      self.right_column_rect.height - exp_height - SPACING,
+    )
+    self._setup_widget.render(setup_rect)
+
+  def _refresh(self):
+    self._version_text = self._get_version_text()
+    update_available = self.update_alert.refresh()
+    alert_count = self.offroad_alert.refresh()
+    alerts_present = alert_count > 0
+
+    # Show panels on transition from no alert/update to any alerts/update
+    if not update_available and not alerts_present:
+      self._set_state(HomeLayoutState.HOME)
+    elif update_available and ((not self._prev_update_available) or (not alerts_present and self.current_state == HomeLayoutState.ALERTS)):
+      self._set_state(HomeLayoutState.UPDATE)
+    elif alerts_present and ((not self._prev_alerts_present) or (not update_available and self.current_state == HomeLayoutState.UPDATE)):
+      self._set_state(HomeLayoutState.ALERTS)
+
+    self.update_available = update_available
+    self.alert_count = alert_count
+    self._prev_update_available = update_available
+    self._prev_alerts_present = alerts_present
+
+  def _get_version_text(self) -> str:
+    brand = "sunnypilot"
+    description = self.params.get("UpdaterCurrentDescription")
+    return f"{brand} {description}" if description else brand
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
new file mode 100644
index 0000000000..2adecfeaa8
--- /dev/null
+++ b/selfdrive/ui/layouts/main.py
@@ -0,0 +1,113 @@
+import pyray as rl
+from enum import IntEnum
+import cereal.messaging as messaging
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
+from openpilot.selfdrive.ui.layouts.home import HomeLayout
+from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout, PanelType
+from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow
+
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
+
+
+class MainState(IntEnum):
+  HOME = 0
+  SETTINGS = 1
+  ONROAD = 2
+
+
+class MainLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._pm = messaging.PubMaster(['bookmarkButton'])
+
+    self._sidebar = Sidebar()
+    self._current_mode = MainState.HOME
+    self._prev_onroad = False
+
+    # Initialize layouts
+    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+
+    self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
+    self._content_rect = rl.Rectangle(0, 0, 0, 0)
+
+    # Set callbacks
+    self._setup_callbacks()
+
+    gui_app.push_widget(self)
+
+    # Start onboarding if terms or training not completed, make sure to push after self
+    self._onboarding_window = OnboardingWindow()
+    if not self._onboarding_window.completed:
+      gui_app.push_widget(self._onboarding_window)
+
+  def _render(self, _):
+    self._handle_onroad_transition()
+    self._render_main_content()
+
+  def _setup_callbacks(self):
+    self._sidebar.set_callbacks(on_settings=self._on_settings_clicked,
+                                on_flag=self._on_bookmark_clicked,
+                                open_settings=lambda: self.open_settings(PanelType.TOGGLES))
+    self._layouts[MainState.HOME]._setup_widget.set_open_settings_callback(lambda: self.open_settings(PanelType.FIREHOSE))
+    self._layouts[MainState.HOME].set_settings_callback(lambda: self.open_settings(PanelType.TOGGLES))
+    self._layouts[MainState.SETTINGS].set_callbacks(on_close=self._set_mode_for_state)
+    self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
+    device.add_interactive_timeout_callback(self._set_mode_for_state)
+
+  def _update_layout_rects(self):
+    self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
+
+    x_offset = SIDEBAR_WIDTH if self._sidebar.is_visible else 0
+    self._content_rect = rl.Rectangle(self._rect.y + x_offset, self._rect.y, self._rect.width - x_offset, self._rect.height)
+
+  def _handle_onroad_transition(self):
+    if ui_state.started != self._prev_onroad:
+      self._prev_onroad = ui_state.started
+
+      self._set_mode_for_state()
+
+  def _set_mode_for_state(self):
+    if ui_state.started:
+      # Don't hide sidebar from interactive timeout
+      if self._current_mode != MainState.ONROAD:
+        self._sidebar.set_visible(False)
+      self._set_current_layout(MainState.ONROAD)
+    else:
+      self._set_current_layout(MainState.HOME)
+      self._sidebar.set_visible(True)
+
+  def _set_current_layout(self, layout: MainState):
+    if layout != self._current_mode:
+      self._layouts[self._current_mode].hide_event()
+      self._current_mode = layout
+      self._layouts[self._current_mode].show_event()
+
+  def open_settings(self, panel_type: PanelType):
+    self._layouts[MainState.SETTINGS].set_current_panel(panel_type)
+    self._set_current_layout(MainState.SETTINGS)
+    self._sidebar.set_visible(False)
+
+  def _on_settings_clicked(self):
+    self.open_settings(PanelType.DEVICE)
+
+  def _on_bookmark_clicked(self):
+    user_bookmark = messaging.new_message('bookmarkButton')
+    user_bookmark.valid = True
+    self._pm.send('bookmarkButton', user_bookmark)
+
+  def _on_onroad_clicked(self):
+    self._sidebar.set_visible(not self._sidebar.is_visible)
+
+  def _render_main_content(self):
+    # Render sidebar
+    if self._sidebar.is_visible:
+      self._sidebar.render(self._sidebar_rect)
+
+    content_rect = self._content_rect if self._sidebar.is_visible else self._rect
+    self._layouts[self._current_mode].render(content_rect)
diff --git a/selfdrive/ui/layouts/onboarding.py b/selfdrive/ui/layouts/onboarding.py
new file mode 100644
index 0000000000..c53db2231a
--- /dev/null
+++ b/selfdrive/ui/layouts/onboarding.py
@@ -0,0 +1,244 @@
+import os
+import re
+import threading
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.version import terms_version, training_version, terms_version_sp
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkOnboarding
+
+DEBUG = False
+
+STEP_RECTS = [rl.Rectangle(104, 800, 633, 175), rl.Rectangle(1835, 0, 2159, 1080), rl.Rectangle(1835, 0, 2156, 1080),
+              rl.Rectangle(1526, 473, 427, 472), rl.Rectangle(1643, 441, 217, 223), rl.Rectangle(1835, 0, 2155, 1080),
+              rl.Rectangle(1786, 591, 267, 236), rl.Rectangle(1353, 0, 804, 1080), rl.Rectangle(1458, 485, 633, 211),
+              rl.Rectangle(95, 794, 1158, 187), rl.Rectangle(1560, 170, 392, 397), rl.Rectangle(1835, 0, 2159, 1080),
+              rl.Rectangle(1351, 0, 807, 1080), rl.Rectangle(1835, 0, 2158, 1080), rl.Rectangle(1531, 82, 441, 920),
+              rl.Rectangle(1336, 438, 490, 393), rl.Rectangle(1835, 0, 2159, 1080), rl.Rectangle(1835, 0, 2159, 1080),
+              rl.Rectangle(87, 795, 1187, 186)]
+
+DM_RECORD_STEP = 9
+DM_RECORD_YES_RECT = rl.Rectangle(695, 794, 558, 187)
+
+RESTART_TRAINING_RECT = rl.Rectangle(87, 795, 472, 186)
+
+
+class OnboardingState(IntEnum):
+  TERMS = 0
+  ONBOARDING = 1
+  DECLINE = 2
+  SUNNYLINK_CONSENT = 3
+
+
+class TrainingGuide(Widget):
+  def __init__(self, completed_callback=None):
+    super().__init__()
+    self._completed_callback = completed_callback
+
+    self._step = 0
+    self._load_image_paths()
+
+    # Load first image now so we show something immediately
+    self._textures = [gui_app.texture(self._image_paths[0])]
+    self._image_objs = []
+
+    threading.Thread(target=self._preload_thread, daemon=True).start()
+
+  def _load_image_paths(self):
+    paths = [fn for fn in os.listdir(os.path.join(BASEDIR, "selfdrive/assets/training")) if re.match(r'^step\d*\.png$', fn)]
+    paths = sorted(paths, key=lambda x: int(re.search(r'\d+', x).group()))
+    self._image_paths = [os.path.join(BASEDIR, "selfdrive/assets/training", fn) for fn in paths]
+
+  def _preload_thread(self):
+    # PNG loading is slow in raylib, so we preload in a thread and upload to GPU in main thread
+    # We've already loaded the first image on init
+    for path in self._image_paths[1:]:
+      self._image_objs.append(gui_app._load_image_from_path(path))
+
+  def _handle_mouse_release(self, mouse_pos):
+    if rl.check_collision_point_rec(mouse_pos, STEP_RECTS[self._step]):
+      # Record DM camera?
+      if self._step == DM_RECORD_STEP:
+        yes = rl.check_collision_point_rec(mouse_pos, DM_RECORD_YES_RECT)
+        print(f"putting RecordFront to {yes}")
+        ui_state.params.put_bool("RecordFront", yes)
+
+      # Restart training?
+      elif self._step == len(self._image_paths) - 1:
+        if rl.check_collision_point_rec(mouse_pos, RESTART_TRAINING_RECT):
+          self._step = -1
+
+      self._step += 1
+
+      # Finished?
+      if self._step >= len(self._image_paths):
+        self._step = 0
+        if self._completed_callback:
+          self._completed_callback()
+
+        # NOTE: this pops OnboardingWindow during real onboarding
+        gui_app.pop_widget()
+
+  def _update_state(self):
+    if len(self._image_objs):
+      self._textures.append(gui_app._load_texture_from_image(self._image_objs.pop(0)))
+
+  def _render(self, _):
+    # Safeguard against fast tapping
+    step = min(self._step, len(self._textures) - 1)
+    rl.draw_texture(self._textures[step], 0, 0, rl.WHITE)
+
+    # progress bar
+    if 0 < step < len(STEP_RECTS) - 1:
+      h = 20
+      w = int((step / (len(STEP_RECTS) - 1)) * self._rect.width)
+      rl.draw_rectangle(int(self._rect.x), int(self._rect.y + self._rect.height - h),
+                        w, h, rl.Color(70, 91, 234, 255))
+
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(STEP_RECTS[step], 3, rl.RED)
+
+    return -1
+
+
+class TermsPage(Widget):
+  def __init__(self, on_accept=None, on_decline=None):
+    super().__init__()
+    self._on_accept = on_accept
+    self._on_decline = on_decline
+
+    self._title = Label(tr("Welcome to sunnypilot"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._desc = Label(tr("You must accept the Terms of Service to use sunnypilot. Read the latest terms at https://sunnypilot.ai/terms before continuing."),
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+
+    self._decline_btn = Button(tr("Decline"), click_callback=on_decline)
+    self._accept_btn = Button(tr("Agree"), button_style=ButtonStyle.PRIMARY, click_callback=on_accept)
+
+  def _render(self, _):
+    welcome_x = self._rect.x + 95
+    welcome_y = self._rect.y + 165
+    welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
+    self._title.render(welcome_rect)
+
+    desc_x = welcome_x
+    # TODO: Label doesn't top align when wrapping
+    desc_y = welcome_y - 100
+    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
+    self._desc.render(desc_rect)
+
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+    btn_width = (self._rect.width - 45 * 3) / 2
+    self._decline_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+    self._accept_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(welcome_rect, 3, rl.RED)
+      rl.draw_rectangle_lines_ex(desc_rect, 3, rl.RED)
+
+    return -1
+
+
+class DeclinePage(Widget):
+  def __init__(self, back_callback=None):
+    super().__init__()
+    self._text = Label(tr("You must accept the Terms of Service in order to use sunnypilot."),
+                       font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    self._back_btn = Button(tr("Back"), click_callback=back_callback)
+    self._uninstall_btn = Button(tr("Decline, uninstall sunnypilot"), button_style=ButtonStyle.DANGER,
+                                 click_callback=self._on_uninstall_clicked)
+
+  def _on_uninstall_clicked(self):
+    ui_state.params.put_bool("DoUninstall", True)
+    gui_app.request_close()
+
+  def _render(self, _):
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+    btn_width = (self._rect.width - 45 * 3) / 2
+    self._back_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+    self._uninstall_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    # text rect in middle of top and button
+    text_height = btn_y - (200 + 45)
+    text_rect = rl.Rectangle(self._rect.x + 165, self._rect.y + (btn_y - text_height) / 2 + 10, self._rect.width - (165 * 2), text_height)
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(text_rect, 3, rl.RED)
+    self._text.render(text_rect)
+
+
+class OnboardingWindow(Widget):
+  def __init__(self):
+    super().__init__()
+    self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version
+    self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
+
+    self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING
+
+    # Windows
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined)
+    self._training_guide: TrainingGuide | None = None
+    self._decline_page = DeclinePage(back_callback=self._on_decline_back)
+
+    # sunnylink consent pages
+    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
+    self._sunnylink = SunnylinkOnboarding()
+    if not self._accepted_terms:
+      self._state = OnboardingState.TERMS
+    elif not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      self._state = OnboardingState.ONBOARDING
+
+  @property
+  def completed(self) -> bool:
+    return self._accepted_terms and self._sunnylink.completed and self._training_done
+
+  def _on_terms_declined(self):
+    self._state = OnboardingState.DECLINE
+
+  def _on_decline_back(self):
+    self._state = OnboardingState.TERMS
+
+  def _on_terms_accepted(self):
+    ui_state.params.put("HasAcceptedTerms", terms_version)
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    if not self._sunnylink.completed:
+      self._state = OnboardingState.SUNNYLINK_CONSENT
+    elif not self._training_done:
+      self._state = OnboardingState.ONBOARDING
+    else:
+      gui_app.pop_widget()
+
+  def _on_completed_training(self):
+    ui_state.params.put("CompletedTrainingVersion", training_version)
+
+  def _render(self, _):
+    if self._training_guide is None:
+      self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
+
+    if self._state == OnboardingState.TERMS:
+      self._terms.render(self._rect)
+    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
+      self._sunnylink.render(self._rect)
+      if self._sunnylink.completed:
+        if not self._training_done:
+          self._state = OnboardingState.ONBOARDING
+        else:
+          gui_app.pop_widget()
+    elif self._state == OnboardingState.ONBOARDING:
+      if not self._training_done:
+        self._training_guide.render(self._rect)
+      else:
+        gui_app.pop_widget()
+    elif self._state == OnboardingState.DECLINE:
+      self._decline_page.render(self._rect)
+    return -1
diff --git a/selfdrive/ui/layouts/settings/common.py b/selfdrive/ui/layouts/settings/common.py
new file mode 100644
index 0000000000..5e87a6447a
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/common.py
@@ -0,0 +1,5 @@
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+def restart_needed_callback(_):
+  ui_state.params.put_bool("OnroadCycleRequested", True)
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
new file mode 100644
index 0000000000..56c2951d0d
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -0,0 +1,190 @@
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.ssh_key import ssh_key_item
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.list_view import toggle_item
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+
+# Description constants
+DESCRIPTIONS = {
+  'enable_adb': tr_noop(
+    "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."
+  ),
+  'ssh_key': tr_noop(
+    "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " +
+    "other than your own. A comma employee will NEVER ask you to add their GitHub username."
+  ),
+  'alpha_longitudinal': tr_noop(
+    "<b>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</b><br><br>" +
+    "On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. " +
+    "Enable this to switch to sunnypilot longitudinal control. " +
+    "Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha. " +
+    "Changing this setting will restart sunnypilot if the car is powered on."
+  ),
+}
+
+
+class DeveloperLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._is_release = self._params.get_bool("IsReleaseBranch")
+
+    # Build items and keep references for callbacks/state updates
+    self._adb_toggle = toggle_item(
+      lambda: tr("Enable ADB"),
+      description=lambda: tr(DESCRIPTIONS["enable_adb"]),
+      initial_state=self._params.get_bool("AdbEnabled"),
+      callback=self._on_enable_adb,
+      enabled=ui_state.is_offroad,
+    )
+
+    # SSH enable toggle + SSH key management
+    self._ssh_toggle = toggle_item(
+      lambda: tr("Enable SSH"),
+      description="",
+      initial_state=self._params.get_bool("SshEnabled"),
+      callback=self._on_enable_ssh,
+    )
+    self._ssh_keys = ssh_key_item(lambda: tr("SSH Keys"), description=lambda: tr(DESCRIPTIONS["ssh_key"]))
+
+    self._joystick_toggle = toggle_item(
+      lambda: tr("Joystick Debug Mode"),
+      description="",
+      initial_state=self._params.get_bool("JoystickDebugMode"),
+      callback=self._on_joystick_debug_mode,
+      enabled=ui_state.is_offroad,
+    )
+
+    self._long_maneuver_toggle = toggle_item(
+      lambda: tr("Longitudinal Maneuver Mode"),
+      description="",
+      initial_state=self._params.get_bool("LongitudinalManeuverMode"),
+      callback=self._on_long_maneuver_mode,
+    )
+
+    self._alpha_long_toggle = toggle_item(
+      lambda: tr("sunnypilot Longitudinal Control (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["alpha_longitudinal"]),
+      initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
+      callback=self._on_alpha_long_enabled,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self._ui_debug_toggle = toggle_item(
+      lambda: tr("UI Debug Mode"),
+      description="",
+      initial_state=self._params.get_bool("ShowDebugInfo"),
+      callback=self._on_enable_ui_debug,
+    )
+    self._on_enable_ui_debug(self._params.get_bool("ShowDebugInfo"))
+
+    self._scroller = Scroller([
+      self._adb_toggle,
+      self._ssh_toggle,
+      self._ssh_keys,
+      self._joystick_toggle,
+      self._long_maneuver_toggle,
+      self._alpha_long_toggle,
+      self._ui_debug_toggle,
+    ], line_separator=True, spacing=0)
+
+    # Toggles should be not available to change in onroad state
+    ui_state.add_offroad_transition_callback(self._update_toggles)
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+    self._update_toggles()
+
+  def _update_toggles(self):
+    ui_state.update_params()
+
+    # Hide non-release toggles on release builds
+    # TODO: we can do an onroad cycle, but alpha long toggle requires a deinit function to re-enable radar and not fault
+    for item in (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle):
+      item.set_visible(not self._is_release)
+
+    # CP gating
+    if ui_state.CP is not None:
+      alpha_avail = ui_state.CP.alphaLongitudinalAvailable
+      if not alpha_avail or self._is_release:
+        self._alpha_long_toggle.set_visible(False)
+        self._params.remove("AlphaLongitudinalEnabled")
+      else:
+        self._alpha_long_toggle.set_visible(True)
+
+      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
+      self._long_maneuver_toggle.action_item.set_enabled(long_man_enabled)
+      if not long_man_enabled:
+        self._long_maneuver_toggle.action_item.set_state(False)
+        self._params.put_bool("LongitudinalManeuverMode", False)
+    else:
+      self._long_maneuver_toggle.action_item.set_enabled(False)
+      self._alpha_long_toggle.set_visible(False)
+
+    # TODO: make a param control list item so we don't need to manage internal state as much here
+    # refresh toggles from params to mirror external changes
+    for key, item in (
+      ("AdbEnabled", self._adb_toggle),
+      ("SshEnabled", self._ssh_toggle),
+      ("JoystickDebugMode", self._joystick_toggle),
+      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
+      ("ShowDebugInfo", self._ui_debug_toggle),
+    ):
+      item.action_item.set_state(self._params.get_bool(key))
+
+  def _on_enable_ui_debug(self, state: bool):
+    self._params.put_bool("ShowDebugInfo", state)
+    gui_app.set_show_touches(state)
+    gui_app.set_show_fps(state)
+    gui_app.set_show_mouse_coords(state)
+
+  def _on_enable_adb(self, state: bool):
+    self._params.put_bool("AdbEnabled", state)
+
+  def _on_enable_ssh(self, state: bool):
+    self._params.put_bool("SshEnabled", state)
+
+  def _on_joystick_debug_mode(self, state: bool):
+    self._params.put_bool("JoystickDebugMode", state)
+    self._params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.action_item.set_state(False)
+
+  def _on_long_maneuver_mode(self, state: bool):
+    self._params.put_bool("LongitudinalManeuverMode", state)
+    self._params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.action_item.set_state(False)
+
+  def _on_alpha_long_enabled(self, state: bool):
+    if state:
+      def confirm_callback(result: DialogResult):
+        if result == DialogResult.CONFIRM:
+          self._params.put_bool("AlphaLongitudinalEnabled", True)
+          self._params.put_bool("OnroadCycleRequested", True)
+          self._update_toggles()
+        else:
+          self._alpha_long_toggle.action_item.set_state(False)
+
+      # show confirmation dialog
+      content = (f"<h1>{self._alpha_long_toggle.title}</h1><br>" +
+                 f"<p>{self._alpha_long_toggle.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      self._params.put_bool("AlphaLongitudinalEnabled", False)
+      self._params.put_bool("OnroadCycleRequested", True)
+      self._update_toggles()
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
new file mode 100644
index 0000000000..45589af1f0
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -0,0 +1,196 @@
+import os
+import math
+
+from cereal import messaging, log
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.onboarding import TrainingGuide
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import multilang, tr, tr_noop
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
+from openpilot.system.ui.widgets.html_render import HtmlModal
+from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_button_item
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+# Description constants
+DESCRIPTIONS = {
+  'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
+  'driver_camera': tr_noop("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"),
+  'reset_calibration': tr_noop("sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down."),
+  'review_guide': tr_noop("Review the rules, features, and limitations of sunnypilot"),
+}
+
+
+class DeviceLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    self._select_language_dialog: MultiOptionDialog | None = None
+    self._fcc_dialog: HtmlModal | None = None
+    self._training_guide: TrainingGuide | None = None
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+    ui_state.add_offroad_transition_callback(self._offroad_transition)
+
+  def _initialize_items(self):
+    self._pair_device_btn = button_item(lambda: tr("Pair Device"), lambda: tr("PAIR"), lambda: tr(DESCRIPTIONS['pair_device']),
+                                        callback=lambda: gui_app.push_widget(PairingDialog()))
+    self._pair_device_btn.set_visible(lambda: not ui_state.prime_state.is_paired())
+
+    self._reset_calib_btn = button_item(lambda: tr("Reset Calibration"), lambda: tr("RESET"), lambda: tr(DESCRIPTIONS['reset_calibration']),
+                                        callback=self._reset_calibration_prompt)
+    self._reset_calib_btn.set_description_opened_callback(self._update_calib_description)
+
+    self._power_off_btn = dual_button_item(lambda: tr("Reboot"), lambda: tr("Power Off"),
+                                           left_callback=self._reboot_prompt, right_callback=self._power_off_prompt)
+
+    items = [
+      text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
+      text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
+      self._pair_device_btn,
+      button_item(lambda: tr("Driver Camera"), lambda: tr("PREVIEW"), lambda: tr(DESCRIPTIONS['driver_camera']),
+                  callback=lambda: gui_app.push_widget(DriverCameraDialog()), enabled=ui_state.is_offroad),
+      self._reset_calib_btn,
+      button_item(lambda: tr("Review Training Guide"), lambda: tr("REVIEW"), lambda: tr(DESCRIPTIONS['review_guide']),
+                  self._on_review_training_guide, enabled=ui_state.is_offroad),
+      button_item(lambda: tr("Regulatory"), lambda: tr("VIEW"), callback=self._on_regulatory, enabled=ui_state.is_offroad),
+      button_item(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
+      self._power_off_btn,
+    ]
+    return items
+
+  def _offroad_transition(self):
+    self._power_off_btn.action_item.right_button.set_visible(ui_state.is_offroad())
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _show_language_dialog(self):
+    def handle_language_selection(result: DialogResult):
+      if result == DialogResult.CONFIRM and self._select_language_dialog:
+        selected_language = multilang.languages[self._select_language_dialog.selection]
+        multilang.change_language(selected_language)
+        self._update_calib_description()
+      self._select_language_dialog = None
+
+    self._select_language_dialog = MultiOptionDialog(tr("Select a language"), multilang.languages, multilang.codes[multilang.language],
+                                                     option_font_weight=FontWeight.UNIFONT, callback=handle_language_selection)
+    gui_app.push_widget(self._select_language_dialog)
+
+  def _reset_calibration_prompt(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reset Calibration")))
+      return
+
+    def reset_calibration(result: DialogResult):
+      # Check engaged again in case it changed while the dialog was open
+      if ui_state.engaged or result != DialogResult.CONFIRM:
+        return
+
+      self._params.remove("CalibrationParams")
+      self._params.remove("LiveTorqueParameters")
+      self._params.remove("LiveParameters")
+      self._params.remove("LiveParametersV2")
+      self._params.remove("LiveDelay")
+      self._params.put_bool("OnroadCycleRequested", True)
+      self._update_calib_description()
+
+    dialog = ConfirmDialog(tr("Are you sure you want to reset calibration?"), tr("Reset"), callback=reset_calibration)
+    gui_app.push_widget(dialog)
+
+  def _update_calib_description(self):
+    desc = tr(DESCRIPTIONS['reset_calibration'])
+
+    calib_bytes = self._params.get("CalibrationParams")
+    if calib_bytes:
+      try:
+        calib = messaging.log_from_bytes(calib_bytes, log.Event).liveCalibration
+
+        if calib.calStatus != log.LiveCalibrationData.Status.uncalibrated:
+          pitch = math.degrees(calib.rpyCalib[1])
+          yaw = math.degrees(calib.rpyCalib[2])
+          desc += tr(" Your device is pointed {:.1f}° {} and {:.1f}° {}.").format(abs(pitch), tr("down") if pitch > 0 else tr("up"),
+                                                                                  abs(yaw), tr("left") if yaw > 0 else tr("right"))
+      except Exception:
+        cloudlog.exception("invalid CalibrationParams")
+
+    lag_perc = 0
+    lag_bytes = self._params.get("LiveDelay")
+    if lag_bytes:
+      try:
+        lag_perc = messaging.log_from_bytes(lag_bytes, log.Event).liveDelay.calPerc
+      except Exception:
+        cloudlog.exception("invalid LiveDelay")
+    if lag_perc < 100:
+      desc += tr("<br><br>Steering lag calibration is {}% complete.").format(lag_perc)
+    else:
+      desc += tr("<br><br>Steering lag calibration is complete.")
+
+    torque_bytes = self._params.get("LiveTorqueParameters")
+    if torque_bytes:
+      try:
+        torque = messaging.log_from_bytes(torque_bytes, log.Event).liveTorqueParameters
+        # don't add for non-torque cars
+        if torque.useParams:
+          torque_perc = torque.calPerc
+          if torque_perc < 100:
+            desc += tr(" Steering torque response calibration is {}% complete.").format(torque_perc)
+          else:
+            desc += tr(" Steering torque response calibration is complete.")
+      except Exception:
+        cloudlog.exception("invalid LiveTorqueParameters")
+
+    desc += "<br><br>"
+    desc += tr("sunnypilot is continuously calibrating, resetting is rarely required. " +
+               "Resetting calibration will restart sunnypilot if the car is powered on.")
+
+    self._reset_calib_btn.set_description(desc)
+
+  def _reboot_prompt(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Reboot")))
+      return
+
+    def perform_reboot(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool_nonblocking("DoReboot", True)
+
+    dialog = ConfirmDialog(tr("Are you sure you want to reboot?"), tr("Reboot"), callback=perform_reboot)
+    gui_app.push_widget(dialog)
+
+  def _power_off_prompt(self):
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Power Off")))
+      return
+
+    def perform_power_off(result: DialogResult):
+      if not ui_state.engaged and result == DialogResult.CONFIRM:
+        self._params.put_bool_nonblocking("DoShutdown", True)
+
+    dialog = ConfirmDialog(tr("Are you sure you want to power off?"), tr("Power Off"), callback=perform_power_off)
+    gui_app.push_widget(dialog)
+
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = HtmlModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/fcc.html"))
+    gui_app.push_widget(self._fcc_dialog)
+
+  def _on_review_training_guide(self):
+    if not self._training_guide:
+      self._training_guide = TrainingGuide()
+    gui_app.push_widget(self._training_guide)
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
new file mode 100644
index 0000000000..18514feeb9
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -0,0 +1,90 @@
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
+
+TITLE = tr_noop("Firehose Mode")
+DESCRIPTION = tr_noop(
+  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  + "Firehose Mode allows you to maximize your training data uploads to improve "
+  + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+)
+INSTRUCTIONS = tr_noop(
+  "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n"
+  + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n\n\n"
+  + "Frequently Asked Questions\n\n"
+  + "Does it matter how or where I drive? Nope, just drive as you normally would.\n\n"
+  + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n\n"
+  + "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n\n"
+  + "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
+)
+
+
+class FirehoseLayout(FirehoseLayoutBase):
+  def __init__(self):
+    super().__init__()
+    self._scroll_panel = GuiScrollPanel()
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate content dimensions
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
+
+    # Handle scrolling and render with clipping
+    scroll_offset = self._scroll_panel.update(rect, content_rect)
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._content_height = self._render_content(rect, scroll_offset)
+    rl.end_scissor_mode()
+
+  def _render_content(self, rect: rl.Rectangle, scroll_offset: float) -> int:
+    x = int(rect.x + 40)
+    y = int(rect.y + 40 + scroll_offset)
+    w = int(rect.width - 80)
+
+    # Title (centered)
+    title_text = tr(TITLE)  # live translate
+    title_font = gui_app.font(FontWeight.MEDIUM)
+    text_width = measure_text_cached(title_font, title_text, 100).x
+    title_x = rect.x + (rect.width - text_width) / 2
+    rl.draw_text_ex(title_font, title_text, rl.Vector2(title_x, y), 100, 0, rl.WHITE)
+    y += 200
+
+    # Description
+    y = self._draw_wrapped_text(x, y, w, tr(DESCRIPTION), gui_app.font(FontWeight.NORMAL), 45, rl.WHITE)
+    y += 40 + 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30 + 20
+
+    # Status
+    status_text, status_color = self._get_status()
+    y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 60, status_color)
+    y += 20 + 20
+
+    # Contribution count (if available)
+    if self._segment_count > 0:
+      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
+      y += 20 + 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 30 + 20
+
+    # Instructions
+    y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
+
+    # bottom margin + remove effect of scroll offset
+    return int(round(y - self._scroll_panel.offset + 40))
+
+  def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
+    wrapped = wrap_text(font, text, font_size, width)
+    for line in wrapped:
+      rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
+      y += font_size * FONT_SCALE
+    return round(y)
diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py
new file mode 100644
index 0000000000..68f45df77d
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/settings.py
@@ -0,0 +1,173 @@
+import pyray as rl
+from dataclasses import dataclass
+from enum import IntEnum
+from collections.abc import Callable
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NetworkUI
+
+# Constants
+SIDEBAR_WIDTH = 500
+CLOSE_BTN_SIZE = 200
+CLOSE_ICON_SIZE = 70
+NAV_BTN_HEIGHT = 110
+PANEL_MARGIN = 50
+
+# Colors
+SIDEBAR_COLOR = rl.BLACK
+PANEL_COLOR = rl.Color(41, 41, 41, 255)
+CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
+CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
+TEXT_NORMAL = rl.Color(128, 128, 128, 255)
+TEXT_SELECTED = rl.WHITE
+
+
+class PanelType(IntEnum):
+  DEVICE = 0
+  NETWORK = 1
+  TOGGLES = 2
+  SOFTWARE = 3
+  FIREHOSE = 4
+  DEVELOPER = 5
+
+
+@dataclass
+class PanelInfo:
+  name: str
+  instance: Widget
+  button_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+
+
+class SettingsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._current_panel = PanelType.DEVICE
+
+    # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
+    self._panels = {
+      PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayout()),
+      PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager)),
+      PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout()),
+      PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout()),
+      PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout()),
+      PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout()),
+    }
+
+    self._font_medium = gui_app.font(FontWeight.MEDIUM)
+    self._close_icon = gui_app.texture("icons/close2.png", CLOSE_ICON_SIZE, CLOSE_ICON_SIZE)
+
+    # Callbacks
+    self._close_callback: Callable | None = None
+
+  def set_callbacks(self, on_close: Callable):
+    self._close_callback = on_close
+
+  def _render(self, rect: rl.Rectangle):
+    # Calculate layout
+    sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+    panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
+
+    # Draw components
+    self._draw_sidebar(sidebar_rect)
+    self._draw_current_panel(panel_rect)
+
+  def _draw_sidebar(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)
+
+    # Close button
+    close_btn_rect = rl.Rectangle(
+      rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 60, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE
+    )
+
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
+    icon_dest = rl.Rectangle(
+      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
+      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
+      self._close_icon.width,
+      self._close_icon.height,
+    )
+    rl.draw_texture_pro(
+      self._close_icon,
+      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
+      icon_dest,
+      rl.Vector2(0, 0),
+      0,
+      icon_color,
+    )
+
+    # Store close button rect for click detection
+    self._close_btn_rect = close_btn_rect
+
+    # Navigation buttons
+    y = rect.y + 300
+    for panel_type, panel_info in self._panels.items():
+      button_rect = rl.Rectangle(rect.x + 50, y, rect.width - 150, NAV_BTN_HEIGHT)
+
+      # Button styling
+      is_selected = panel_type == self._current_panel
+      text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL
+      # Draw button text (right-aligned)
+      panel_name = tr(panel_info.name)
+      text_size = measure_text_cached(self._font_medium, panel_name, 65)
+      text_pos = rl.Vector2(
+        button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2
+      )
+      rl.draw_text_ex(self._font_medium, panel_name, text_pos, 65, 0, text_color)
+
+      # Store button rect for click detection
+      panel_info.button_rect = button_rect
+
+      y += NAV_BTN_HEIGHT
+
+  def _draw_current_panel(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rounded(
+      rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20), 0.04, 30, PANEL_COLOR
+    )
+    content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50)
+    # rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR)
+    panel = self._panels[self._current_panel]
+    if panel.instance:
+      panel.instance.render(content_rect)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    # Check close button
+    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
+      if self._close_callback:
+        self._close_callback()
+      return
+
+    # Check navigation buttons
+    for panel_type, panel_info in self._panels.items():
+      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
+        self.set_current_panel(panel_type)
+        return
+
+  def set_current_panel(self, panel_type: PanelType):
+    if panel_type != self._current_panel:
+      self._panels[self._current_panel].instance.hide_event()
+      self._current_panel = panel_type
+      self._panels[self._current_panel].instance.show_event()
+
+  def show_event(self):
+    super().show_event()
+    self._panels[self._current_panel].instance.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._panels[self._current_panel].instance.hide_event()
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
new file mode 100644
index 0000000000..8086b1f635
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -0,0 +1,205 @@
+import os
+import time
+import datetime
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, trn
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import button_item, text_item, ListItem
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+# TODO: remove this. updater fails to respond on startup if time is not correct
+UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
+
+# Mapping updater internal states to translated display strings
+STATE_TO_DISPLAY_TEXT = {
+  "checking...": tr("checking..."),
+  "downloading...": tr("downloading..."),
+  "finalizing update...": tr("finalizing update..."),
+}
+
+
+def time_ago(date: datetime.datetime | None) -> str:
+  if not date:
+    return tr("never")
+
+  if not system_time_valid():
+    return date.strftime("%a %b %d %Y")
+
+  now = datetime.datetime.now(datetime.UTC)
+  if date.tzinfo is None:
+    date = date.replace(tzinfo=datetime.UTC)
+
+  diff_seconds = int((now - date).total_seconds())
+  if diff_seconds < 60:
+    return tr("now")
+  if diff_seconds < 3600:
+    m = diff_seconds // 60
+    return trn("{} minute ago", "{} minutes ago", m).format(m)
+  if diff_seconds < 86400:
+    h = diff_seconds // 3600
+    return trn("{} hour ago", "{} hours ago", h).format(h)
+  if diff_seconds < 604800:
+    d = diff_seconds // 86400
+    return trn("{} day ago", "{} days ago", d).format(d)
+  return date.strftime("%a %b %d %Y")
+
+
+class SoftwareLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._onroad_label = ListItem(lambda: tr("Updates are only downloaded while the car is off."))
+    self._version_item = text_item(lambda: tr("Current Version"), ui_state.params.get("UpdaterCurrentDescription") or "")
+    self._download_btn = button_item(lambda: tr("Download"), lambda: tr("CHECK"), callback=self._on_download_update)
+
+    # Install button is initially hidden
+    self._install_btn = button_item(lambda: tr("Install Update"), lambda: tr("INSTALL"), callback=self._on_install_update)
+    self._install_btn.set_visible(False)
+
+    # Track waiting-for-updater transition to avoid brief re-enable while still idle
+    self._waiting_for_updater = False
+    self._waiting_start_ts: float = 0.0
+
+    # Branch switcher
+    self._branch_btn = button_item(lambda: tr("Target Branch"), lambda: tr("SELECT"), callback=self._on_select_branch)
+    self._branch_btn.action_item.set_value(ui_state.params.get("UpdaterTargetBranch") or "")
+    self._branch_dialog: MultiOptionDialog | None = None
+
+    self._scroller = Scroller([
+      self._onroad_label,
+      self._version_item,
+      self._download_btn,
+      self._install_btn,
+      self._branch_btn,
+      button_item(lambda: tr("Uninstall"), lambda: tr("UNINSTALL"), callback=self._on_uninstall),
+    ], line_separator=True, spacing=0)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _update_state(self):
+    # Show/hide onroad warning
+    self._onroad_label.set_visible(ui_state.is_onroad())
+
+    # Update current version and release notes
+    current_desc = ui_state.params.get("UpdaterCurrentDescription") or ""
+    current_release_notes = (ui_state.params.get("UpdaterCurrentReleaseNotes") or b"").decode("utf-8", "replace")
+    self._version_item.action_item.set_text(current_desc)
+    self._version_item.set_description(current_release_notes)
+
+    # Update download button visibility and state
+    self._download_btn.set_visible(ui_state.is_offroad())
+
+    updater_state = ui_state.params.get("UpdaterState") or "idle"
+    failed_count = ui_state.params.get("UpdateFailedCount") or 0
+    fetch_available = ui_state.params.get_bool("UpdaterFetchAvailable")
+    update_available = ui_state.params.get_bool("UpdateAvailable")
+
+    if updater_state != "idle":
+      # Updater responded
+      self._waiting_for_updater = False
+      self._download_btn.action_item.set_enabled(False)
+      # Use the mapping, with a fallback to the original state string
+      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
+      self._download_btn.action_item.set_value(display_text)
+    else:
+      if failed_count > 0:
+        self._download_btn.action_item.set_value(tr("failed to check for update"))
+        self._download_btn.action_item.set_text(tr("CHECK"))
+      elif fetch_available:
+        self._download_btn.action_item.set_value(tr("update available"))
+        self._download_btn.action_item.set_text(tr("DOWNLOAD"))
+      else:
+        last_update = ui_state.params.get("LastUpdateTime")
+        if last_update:
+          formatted = time_ago(last_update)
+          self._download_btn.action_item.set_value(tr("up to date, last checked {}").format(formatted))
+        else:
+          self._download_btn.action_item.set_value(tr("up to date, last checked never"))
+        self._download_btn.action_item.set_text(tr("CHECK"))
+
+      # If we've been waiting too long without a state change, reset state
+      if self._waiting_for_updater and (time.monotonic() - self._waiting_start_ts > UPDATED_TIMEOUT):
+        self._waiting_for_updater = False
+
+      # Only enable if we're not waiting for updater to flip out of idle
+      self._download_btn.action_item.set_enabled(not self._waiting_for_updater)
+
+    # Update target branch button value
+    current_branch = ui_state.params.get("UpdaterTargetBranch") or ""
+    self._branch_btn.action_item.set_value(current_branch)
+
+    # Update install button
+    self._install_btn.set_visible(ui_state.is_offroad() and update_available)
+    if update_available:
+      new_desc = ui_state.params.get("UpdaterNewDescription") or ""
+      new_release_notes = (ui_state.params.get("UpdaterNewReleaseNotes") or b"").decode("utf-8", "replace")
+      self._install_btn.action_item.set_text(tr("INSTALL"))
+      self._install_btn.action_item.set_value(new_desc)
+      self._install_btn.set_description(new_release_notes)
+      # Enable install button for testing (like Qt showEvent)
+      self._install_btn.action_item.set_enabled(True)
+    else:
+      self._install_btn.set_visible(False)
+
+  def _on_download_update(self):
+    # Check if we should start checking or start downloading
+    self._download_btn.action_item.set_enabled(False)
+    if self._download_btn.action_item.text == tr("CHECK"):
+      # Start checking for updates
+      self._waiting_for_updater = True
+      self._waiting_start_ts = time.monotonic()
+      os.system("pkill -SIGUSR1 -f system.updated.updated")
+    else:
+      # Start downloading
+      self._waiting_for_updater = True
+      self._waiting_start_ts = time.monotonic()
+      os.system("pkill -SIGHUP -f system.updated.updated")
+
+  def _on_uninstall(self):
+    def handle_uninstall_confirmation(result: DialogResult):
+      if result == DialogResult.CONFIRM:
+        ui_state.params.put_bool("DoUninstall", True)
+
+    dialog = ConfirmDialog(tr("Are you sure you want to uninstall?"), tr("Uninstall"), callback=handle_uninstall_confirmation)
+    gui_app.push_widget(dialog)
+
+  def _on_install_update(self):
+    # Trigger reboot to install update
+    self._install_btn.action_item.set_enabled(False)
+    ui_state.params.put_bool("DoReboot", True)
+
+  def _on_select_branch(self):
+    # Get available branches and order
+    current_git_branch = ui_state.params.get("GitBranch") or ""
+    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
+    branches = [b for b in branches_str.split(",") if b]
+
+    for b in [current_git_branch, "devel-staging", "devel", "nightly", "nightly-dev", "master"]:
+      if b in branches:
+        branches.remove(b)
+        branches.insert(0, b)
+
+    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
+
+    def handle_selection(result: DialogResult):
+      # Confirmed selection
+      if result == DialogResult.CONFIRM and self._branch_dialog is not None and self._branch_dialog.selection:
+        selection = self._branch_dialog.selection
+        ui_state.params.put("UpdaterTargetBranch", selection)
+        self._branch_btn.action_item.set_value(selection)
+        os.system("pkill -SIGUSR1 -f system.updated.updated")
+      self._branch_dialog = None
+
+    self._branch_dialog = MultiOptionDialog(tr("Select a branch"), branches, current_target, callback=handle_selection)
+    gui_app.push_widget(self._branch_dialog)
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
new file mode 100644
index 0000000000..9f704b1fb4
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -0,0 +1,248 @@
+from cereal import log
+from openpilot.common.params import Params, UnknownKeyName
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp as toggle_item
+  from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp as multiple_button_item
+
+PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
+
+# Description constants
+DESCRIPTIONS = {
+  "OpenpilotEnabledToggle": tr_noop(
+    "Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Your attention is required at all times to use this feature."
+  ),
+  "DisengageOnAccelerator": tr_noop("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
+  "LongitudinalPersonality": tr_noop(
+    "Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. " +
+    "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
+    "your steering wheel distance button."
+  ),
+  "IsLdwEnabled": tr_noop(
+    "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
+    "without a turn signal activated while driving over 31 mph (50 km/h)."
+  ),
+  "AlwaysOnDM": tr_noop("Enable driver monitoring even when sunnypilot is not engaged."),
+  'RecordFront': tr_noop("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
+  "IsMetric": tr_noop("Display speed in km/h instead of mph."),
+  "RecordAudio": tr_noop("Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect."),
+}
+
+
+class TogglesLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._is_release = self._params.get_bool("IsReleaseBranch")
+
+    # param, title, desc, icon, needs_restart
+    self._toggle_defs = {
+      "OpenpilotEnabledToggle": (
+        lambda: tr("Enable sunnypilot"),
+        DESCRIPTIONS["OpenpilotEnabledToggle"],
+        "chffr_wheel.png",
+        True,
+      ),
+      "ExperimentalMode": (
+        lambda: tr("Experimental Mode"),
+        "",
+        "experimental_white.png",
+        False,
+      ),
+      "DisengageOnAccelerator": (
+        lambda: tr("Disengage on Accelerator Pedal"),
+        DESCRIPTIONS["DisengageOnAccelerator"],
+        "disengage_on_accelerator.png",
+        False,
+      ),
+      "IsLdwEnabled": (
+        lambda: tr("Enable Lane Departure Warnings"),
+        DESCRIPTIONS["IsLdwEnabled"],
+        "warning.png",
+        False,
+      ),
+      "AlwaysOnDM": (
+        lambda: tr("Always-On Driver Monitoring"),
+        DESCRIPTIONS["AlwaysOnDM"],
+        "monitoring.png",
+        False,
+      ),
+      "RecordFront": (
+        lambda: tr("Record and Upload Driver Camera"),
+        DESCRIPTIONS["RecordFront"],
+        "monitoring.png",
+        True,
+      ),
+      "RecordAudio": (
+        lambda: tr("Record and Upload Microphone Audio"),
+        DESCRIPTIONS["RecordAudio"],
+        "microphone.png",
+        True,
+      ),
+      "IsMetric": (
+        lambda: tr("Use Metric System"),
+        DESCRIPTIONS["IsMetric"],
+        "metric.png",
+        False,
+      ),
+    }
+
+    self._long_personality_setting = multiple_button_item(
+      lambda: tr("Driving Personality"),
+      lambda: tr(DESCRIPTIONS["LongitudinalPersonality"]),
+      buttons=[lambda: tr("Aggressive"), lambda: tr("Standard"), lambda: tr("Relaxed")],
+      button_width=300,
+      callback=self._set_longitudinal_personality,
+      selected_index=self._params.get("LongitudinalPersonality", return_default=True),
+      icon="speed_limit.png"
+    )
+
+    self._toggles = {}
+    self._locked_toggles = set()
+    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
+      toggle = toggle_item(
+        title,
+        desc,
+        self._params.get_bool(param),
+        callback=lambda state, p=param: self._toggle_callback(state, p),
+        icon=icon,
+      )
+
+      try:
+        locked = self._params.get_bool(param + "Lock")
+      except UnknownKeyName:
+        locked = False
+      toggle.action_item.set_enabled(not locked)
+
+      # Make description callable for live translation
+      additional_desc = ""
+      if needs_restart and not locked:
+        additional_desc = tr("Changing this setting will restart sunnypilot if the car is powered on.")
+      toggle.set_description(lambda og_desc=toggle.description, add_desc=additional_desc: tr(og_desc) + (" " + tr(add_desc) if add_desc else ""))
+
+      # track for engaged state updates
+      if locked:
+        self._locked_toggles.add(param)
+
+      self._toggles[param] = toggle
+
+      # insert longitudinal personality after NDOG toggle
+      if param == "DisengageOnAccelerator":
+        self._toggles["LongitudinalPersonality"] = self._long_personality_setting
+
+    self._update_experimental_mode_icon()
+    self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)
+
+    ui_state.add_engaged_transition_callback(self._update_toggles)
+
+  def _update_state(self):
+    if ui_state.sm.updated["selfdriveState"]:
+      personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
+      if personality != ui_state.personality and ui_state.started:
+        self._long_personality_setting.action_item.set_selected_button(personality)
+      ui_state.personality = personality
+
+  def show_event(self):
+    self._scroller.show_event()
+    self._update_toggles()
+
+  def _update_toggles(self):
+    ui_state.update_params()
+
+    e2e_description = tr(
+      "sunnypilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. " +
+      "Experimental features are listed below:<br>" +
+      "<h4>End-to-End Longitudinal Control</h4><br>" +
+      "Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
+      "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
+      "mistakes should be expected.<br>" +
+      "<h4>New Driving Visualization</h4><br>" +
+      "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."
+    )
+
+    if ui_state.CP is not None:
+      if ui_state.has_longitudinal_control:
+        self._toggles["ExperimentalMode"].action_item.set_enabled(True)
+        self._toggles["ExperimentalMode"].set_description(e2e_description)
+        self._long_personality_setting.action_item.set_enabled(True)
+      else:
+        # no long for now
+        self._toggles["ExperimentalMode"].action_item.set_enabled(False)
+        self._toggles["ExperimentalMode"].action_item.set_state(False)
+        self._long_personality_setting.action_item.set_enabled(False)
+        self._params.remove("ExperimentalMode")
+
+        unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.")
+
+        long_desc = unavailable + " " + tr("sunnypilot longitudinal control may come in a future update.")
+        if ui_state.CP.alphaLongitudinalAvailable:
+          if self._is_release:
+            long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with " +
+                                               "Experimental mode, on non-release branches.")
+          else:
+            long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.")
+
+        self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
+    else:
+      self._toggles["ExperimentalMode"].set_description(e2e_description)
+
+    self._update_experimental_mode_icon()
+
+    # TODO: make a param control list item so we don't need to manage internal state as much here
+    # refresh toggles from params to mirror external changes
+    for param in self._toggle_defs:
+      self._toggles[param].action_item.set_state(self._params.get_bool(param))
+
+    # these toggles need restart, block while engaged
+    for toggle_def in self._toggle_defs:
+      if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
+        self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def _update_experimental_mode_icon(self):
+    icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
+    self._toggles["ExperimentalMode"].set_icon(icon)
+
+  def _handle_experimental_mode_toggle(self, state: bool):
+    confirmed = self._params.get_bool("ExperimentalModeConfirmed")
+    if state and not confirmed:
+      def confirm_callback(result: DialogResult):
+        if result == DialogResult.CONFIRM:
+          self._params.put_bool("ExperimentalMode", True)
+          self._params.put_bool("ExperimentalModeConfirmed", True)
+        else:
+          self._toggles["ExperimentalMode"].action_item.set_state(False)
+        self._update_experimental_mode_icon()
+
+      # show confirmation dialog
+      content = (f"<h1>{self._toggles['ExperimentalMode'].title}</h1><br>" +
+                 f"<p>{self._toggles['ExperimentalMode'].description}</p>")
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+    else:
+      self._update_experimental_mode_icon()
+      self._params.put_bool("ExperimentalMode", state)
+
+  def _toggle_callback(self, state: bool, param: str):
+    if param == "ExperimentalMode":
+      self._handle_experimental_mode_toggle(state)
+      return
+
+    self._params.put_bool(param, state)
+    if self._toggle_defs[param][3]:
+      self._params.put_bool("OnroadCycleRequested", True)
+
+  def _set_longitudinal_personality(self, button_index: int):
+    self._params.put("LongitudinalPersonality", button_index)
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
new file mode 100644
index 0000000000..bfa60c88ed
--- /dev/null
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -0,0 +1,240 @@
+import pyray as rl
+import time
+from dataclasses import dataclass
+from collections.abc import Callable
+from cereal import log
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.sidebar import SidebarSP
+
+SIDEBAR_WIDTH = 300
+METRIC_HEIGHT = 126
+METRIC_WIDTH = 240
+METRIC_MARGIN = 30
+FONT_SIZE = 35
+
+SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117)
+HOME_BTN = rl.Rectangle(60, 860, 180, 180)
+
+ThermalStatus = log.DeviceState.ThermalStatus
+NetworkType = log.DeviceState.NetworkType
+
+
+# Color scheme
+class Colors:
+  WHITE = rl.WHITE
+  WHITE_DIM = rl.Color(255, 255, 255, 85)
+  GRAY = rl.Color(84, 84, 84, 255)
+
+  # Status colors
+  GOOD = rl.WHITE
+  WARNING = rl.Color(218, 202, 37, 255)
+  DANGER = rl.Color(201, 34, 49, 255)
+
+  # UI elements
+  METRIC_BORDER = rl.Color(255, 255, 255, 85)
+  BUTTON_NORMAL = rl.WHITE
+  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
+
+
+NETWORK_TYPES = {
+  NetworkType.none: tr_noop("--"),
+  NetworkType.wifi: tr_noop("Wi-Fi"),
+  NetworkType.ethernet: tr_noop("ETH"),
+  NetworkType.cell2G: tr_noop("2G"),
+  NetworkType.cell3G: tr_noop("3G"),
+  NetworkType.cell4G: tr_noop("LTE"),
+  NetworkType.cell5G: tr_noop("5G"),
+}
+
+
+@dataclass(slots=True)
+class MetricData:
+  label: str
+  value: str
+  color: rl.Color
+
+  def update(self, label: str, value: str, color: rl.Color):
+    self.label = label
+    self.value = value
+    self.color = color
+
+
+class Sidebar(Widget, SidebarSP):
+  def __init__(self):
+    Widget.__init__(self)
+    SidebarSP.__init__(self)
+    self._net_type = NETWORK_TYPES.get(NetworkType.none)
+    self._net_strength = 0
+
+    self._temp_status = MetricData(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
+    self._panda_status = MetricData(tr_noop("VEHICLE"), tr_noop("ONLINE"), Colors.GOOD)
+    self._connect_status = MetricData(tr_noop("CONNECT"), tr_noop("OFFLINE"), Colors.WARNING)
+    self._recording_audio = False
+
+    self._home_img = gui_app.texture("images/button_home.png", HOME_BTN.width, HOME_BTN.height)
+    self._flag_img = gui_app.texture("images/button_flag.png", HOME_BTN.width, HOME_BTN.height)
+    self._settings_img = gui_app.texture("images/button_settings.png", SETTINGS_BTN.width, SETTINGS_BTN.height)
+    self._mic_img = gui_app.texture("icons/microphone.png", 30, 30)
+    self._mic_indicator_rect = rl.Rectangle(0, 0, 0, 0)
+    self._font_regular = gui_app.font(FontWeight.NORMAL)
+    self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
+
+    # Callbacks
+    self._on_settings_click: Callable | None = None
+    self._on_flag_click: Callable | None = None
+    self._open_settings_callback: Callable | None = None
+
+  def set_callbacks(self, on_settings: Callable | None = None, on_flag: Callable | None = None,
+                    open_settings: Callable | None = None):
+    self._on_settings_click = on_settings
+    self._on_flag_click = on_flag
+    self._open_settings_callback = open_settings
+
+  def _render(self, rect: rl.Rectangle):
+    # Background
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+
+    self._draw_buttons(rect)
+    self._draw_network_indicator(rect)
+    self._draw_metrics(rect)
+
+  def _update_state(self):
+    sm = ui_state.sm
+    if not sm.updated['deviceState']:
+      return
+
+    device_state = sm['deviceState']
+
+    self._recording_audio = ui_state.recording_audio
+    self._update_network_status(device_state)
+    self._update_temperature_status(device_state)
+    self._update_connection_status(device_state)
+    self._update_panda_status()
+    SidebarSP._update_sunnylink_status(self)
+
+  def _update_network_status(self, device_state):
+    self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, tr_noop("Unknown"))
+    strength = device_state.networkStrength
+    self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
+
+  def _update_temperature_status(self, device_state):
+    thermal_status = device_state.thermalStatus
+
+    if thermal_status == ThermalStatus.green:
+      self._temp_status.update(tr_noop("TEMP"), tr_noop("GOOD"), Colors.GOOD)
+    elif thermal_status == ThermalStatus.yellow:
+      self._temp_status.update(tr_noop("TEMP"), tr_noop("OK"), Colors.WARNING)
+    else:
+      self._temp_status.update(tr_noop("TEMP"), tr_noop("HIGH"), Colors.DANGER)
+
+  def _update_connection_status(self, device_state):
+    last_ping = device_state.lastAthenaPingTime
+    if last_ping == 0:
+      self._connect_status.update(tr_noop("CONNECT"), tr_noop("OFFLINE"), Colors.WARNING)
+    elif time.monotonic_ns() - last_ping < 80_000_000_000:  # 80 seconds in nanoseconds
+      self._connect_status.update(tr_noop("CONNECT"), tr_noop("ONLINE"), Colors.GOOD)
+    else:
+      self._connect_status.update(tr_noop("CONNECT"), tr_noop("ERROR"), Colors.DANGER)
+
+  def _update_panda_status(self):
+    if ui_state.panda_type == log.PandaState.PandaType.unknown:
+      self._panda_status.update(tr_noop("NO"), tr_noop("PANDA"), Colors.DANGER)
+    else:
+      self._panda_status.update(tr_noop("VEHICLE"), tr_noop("ONLINE"), Colors.GOOD)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
+      if self._on_settings_click:
+        self._on_settings_click()
+    elif rl.check_collision_point_rec(mouse_pos, HOME_BTN) and ui_state.started:
+      if self._on_flag_click:
+        self._on_flag_click()
+    elif self._recording_audio and rl.check_collision_point_rec(mouse_pos, self._mic_indicator_rect):
+      if self._open_settings_callback:
+        self._open_settings_callback()
+
+  def _draw_buttons(self, rect: rl.Rectangle):
+    mouse_pos = rl.get_mouse_position()
+    mouse_down = self.is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
+
+    # Settings button
+    settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
+    tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
+    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+
+    # Home/Flag button
+    flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
+    button_img = self._flag_img if ui_state.started else self._home_img
+
+    tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
+    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+
+    # Microphone button
+    if self._recording_audio:
+      self._mic_indicator_rect = rl.Rectangle(rect.x + rect.width - 130, rect.y + 245, 75, 40)
+
+      mic_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, self._mic_indicator_rect)
+      bg_color = rl.Color(Colors.DANGER.r, Colors.DANGER.g, Colors.DANGER.b, int(255 * 0.65)) if mic_pressed else Colors.DANGER
+
+      rl.draw_rectangle_rounded(self._mic_indicator_rect, 1, 10, bg_color)
+      rl.draw_texture(self._mic_img, int(self._mic_indicator_rect.x + (self._mic_indicator_rect.width - self._mic_img.width) / 2),
+                      int(self._mic_indicator_rect.y + (self._mic_indicator_rect.height - self._mic_img.height) / 2), Colors.WHITE)
+
+  def _draw_network_indicator(self, rect: rl.Rectangle):
+    # Signal strength dots
+    x_start = rect.x + 58
+    y_pos = rect.y + 196
+    dot_size = 27
+    dot_spacing = 37
+
+    for i in range(5):
+      color = Colors.WHITE if i < self._net_strength else Colors.GRAY
+      x = int(x_start + i * dot_spacing + dot_size // 2)
+      y = int(y_pos + dot_size // 2)
+      rl.draw_circle(x, y, dot_size // 2, color)
+
+    # Network type text
+    text_y = rect.y + 247
+    text_pos = rl.Vector2(rect.x + 58, text_y)
+    rl.draw_text_ex(self._font_regular, tr(self._net_type), text_pos, FONT_SIZE, 0, Colors.WHITE)
+
+  def _draw_metrics(self, rect: rl.Rectangle):
+    if gui_app.sunnypilot_ui():
+      metrics, start_y, spacing = SidebarSP._draw_metrics_w_sunnylink(self, rect, self._temp_status, self._panda_status, self._connect_status)
+      for idx, metric in enumerate(metrics):
+        self._draw_metric(rect, metric, start_y + idx * spacing)
+
+      return
+
+    metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
+
+    for metric, y_offset in metrics:
+      self._draw_metric(rect, metric, rect.y + y_offset)
+
+  def _draw_metric(self, rect: rl.Rectangle, metric: MetricData, y: float):
+    metric_rect = rl.Rectangle(rect.x + METRIC_MARGIN, y, METRIC_WIDTH, METRIC_HEIGHT)
+    # Draw colored left edge (clipped rounded rectangle)
+    edge_rect = rl.Rectangle(metric_rect.x + 4, metric_rect.y + 4, 100, 118)
+    rl.begin_scissor_mode(int(metric_rect.x + 4), int(metric_rect.y), 18, int(metric_rect.height))
+    rl.draw_rectangle_rounded(edge_rect, 0.3, 10, metric.color)
+    rl.end_scissor_mode()
+
+    # Draw border
+    rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.3, 10, 2, Colors.METRIC_BORDER)
+
+    # Draw label and value
+    labels = [tr(metric.label), tr(metric.value)]
+    text_y = metric_rect.y + (metric_rect.height / 2 - len(labels) * FONT_SIZE * FONT_SCALE)
+    for text in labels:
+      text_size = measure_text_cached(self._font_bold, text, FONT_SIZE)
+      text_y += text_size.y
+      text_pos = rl.Vector2(
+        metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2,
+        text_y
+      )
+      rl.draw_text_ex(self._font_bold, text, text_pos, FONT_SIZE, 0, Colors.WHITE)
diff --git a/selfdrive/ui/lib/api_helpers.py b/selfdrive/ui/lib/api_helpers.py
new file mode 100644
index 0000000000..8ed1c22a63
--- /dev/null
+++ b/selfdrive/ui/lib/api_helpers.py
@@ -0,0 +1,18 @@
+import time
+from functools import lru_cache
+from openpilot.common.api import Api
+from openpilot.common.time_helpers import system_time_valid
+
+TOKEN_EXPIRY_HOURS = 2
+
+
+@lru_cache(maxsize=1)
+def _get_token(dongle_id: str, t: int):
+  if not system_time_valid():
+    raise RuntimeError("System time is not valid, cannot generate token")
+
+  return Api(dongle_id).get_token(expiry_hours=TOKEN_EXPIRY_HOURS)
+
+
+def get_token(dongle_id: str):
+  return _get_token(dongle_id, int(time.monotonic() / (TOKEN_EXPIRY_HOURS / 2 * 60 * 60)))
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
new file mode 100644
index 0000000000..1aed949bee
--- /dev/null
+++ b/selfdrive/ui/lib/prime_state.py
@@ -0,0 +1,107 @@
+from enum import IntEnum
+import os
+import requests
+import threading
+import time
+
+from openpilot.common.api import api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
+
+
+class PrimeType(IntEnum):
+  UNKNOWN = -2
+  UNPAIRED = -1
+  NONE = 0
+  MAGENTA = 1
+  LITE = 2
+  BLUE = 3
+  MAGENTA_NEW = 4
+  PURPLE = 5
+
+
+class PrimeState:
+  FETCH_INTERVAL = 5.0  # seconds between API calls
+  API_TIMEOUT = 10.0  # seconds for API requests
+  SLEEP_INTERVAL = 0.5  # seconds to sleep between checks in the worker thread
+
+  def __init__(self):
+    self._params = Params()
+    self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
+    self.prime_type: PrimeType = self._load_initial_state()
+
+    self._running = False
+    self._thread = None
+
+  def _load_initial_state(self) -> PrimeType:
+    prime_type_str = os.getenv("PRIME_TYPE") or self._params.get("PrimeType")
+    try:
+      if prime_type_str is not None:
+        return PrimeType(int(prime_type_str))
+    except (ValueError, TypeError):
+      pass
+    return PrimeType.UNKNOWN
+
+  def _fetch_prime_status(self) -> None:
+    dongle_id = self._params.get("DongleId")
+    if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+      return
+
+    try:
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1.1/devices/{dongle_id}", timeout=self.API_TIMEOUT, access_token=identity_token, session=self._session)
+      if response.status_code == 200:
+        data = response.json()
+        is_paired = data.get("is_paired", False)
+        prime_type = data.get("prime_type", 0)
+        self.set_type(PrimeType(prime_type) if is_paired else PrimeType.UNPAIRED)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch prime status: {e}")
+
+  def set_type(self, prime_type: PrimeType) -> None:
+    with self._lock:
+      if prime_type != self.prime_type:
+        self.prime_type = prime_type
+        self._params.put("PrimeType", int(prime_type))
+        cloudlog.info(f"Prime type updated to {prime_type}")
+
+  def _worker_thread(self) -> None:
+    from openpilot.selfdrive.ui.ui_state import ui_state, device
+    while self._running:
+      if not ui_state.started and device._awake:
+        self._fetch_prime_status()
+
+      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
+        if not self._running:
+          break
+        time.sleep(self.SLEEP_INTERVAL)
+
+  def start(self) -> None:
+    if self._thread and self._thread.is_alive():
+      return
+    self._running = True
+    self._thread = threading.Thread(target=self._worker_thread, daemon=True)
+    self._thread.start()
+
+  def stop(self) -> None:
+    self._running = False
+    if self._thread and self._thread.is_alive():
+      self._thread.join(timeout=1.0)
+
+  def get_type(self) -> PrimeType:
+    with self._lock:
+      return self.prime_type
+
+  def is_prime(self) -> bool:
+    with self._lock:
+      return bool(self.prime_type > PrimeType.NONE)
+
+  def is_paired(self) -> bool:
+    with self._lock:
+      return self.prime_type > PrimeType.UNPAIRED
+
+  def __del__(self):
+    self.stop()
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
deleted file mode 100644
index db96817f1a..0000000000
--- a/selfdrive/ui/main.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-#include <sys/resource.h>
-
-#include <QApplication>
-#include <QTranslator>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/window.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/window.h"
-#define MainWindow MainWindowSP
-#else
-#include "selfdrive/ui/qt/qt_window.h"
-#endif
-
-int main(int argc, char *argv[]) {
-  setpriority(PRIO_PROCESS, 0, -20);
-
-  qInstallMessageHandler(swagLogMessageHandler);
-  initApp(argc, argv);
-
-  QTranslator translator;
-  QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
-  if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) {
-    qCritical() << "Failed to load translation file:" << translation_file;
-  }
-
-  QApplication a(argc, argv);
-  a.installTranslator(&translator);
-
-  MainWindow w;
-  setMainWindow(&w);
-  a.installEventFilter(&w);
-  return a.exec();
-}
diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/ui/mici/layouts/__init__.py
similarity index 100%
rename from selfdrive/modeld/tests/__init__.py
rename to selfdrive/ui/mici/layouts/__init__.py
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
new file mode 100644
index 0000000000..1d6d8dad2a
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -0,0 +1,204 @@
+import datetime
+import time
+
+from cereal import log
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.layouts import HBoxLayout
+from openpilot.system.ui.widgets.icon_widget import IconWidget
+from openpilot.system.ui.widgets.label import MiciLabel, UnifiedLabel
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.version import RELEASE_BRANCHES
+
+HEAD_BUTTON_FONT_SIZE = 40
+HOME_PADDING = 8
+
+NetworkType = log.DeviceState.NetworkType
+
+NETWORK_TYPES = {
+  NetworkType.none: "Offline",
+  NetworkType.wifi: "WiFi",
+  NetworkType.cell2G: "2G",
+  NetworkType.cell3G: "3G",
+  NetworkType.cell4G: "LTE",
+  NetworkType.cell5G: "5G",
+  NetworkType.ethernet: "Ethernet",
+}
+
+
+class NetworkIcon(Widget):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 54, 44))  # max size of all icons
+    self._net_type = NetworkType.none
+    self._net_strength = 0
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
+    self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37)
+
+    self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36)
+    self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36)
+    self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36)
+    self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36)
+    self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36)
+
+  def _update_state(self):
+    device_state = ui_state.sm['deviceState']
+    self._net_type = device_state.networkType
+    strength = device_state.networkStrength
+    self._net_strength = max(0, min(5, strength.raw + 1)) if strength.raw > 0 else 0
+
+  def _render(self, _):
+    if self._net_type == NetworkType.wifi:
+      # There is no 1
+      draw_net_txt = {0: self._wifi_none_txt,
+                      2: self._wifi_low_txt,
+                      3: self._wifi_medium_txt,
+                      4: self._wifi_full_txt,
+                      5: self._wifi_full_txt}.get(self._net_strength, self._wifi_low_txt)
+    elif self._net_type in (NetworkType.cell2G, NetworkType.cell3G, NetworkType.cell4G, NetworkType.cell5G):
+      draw_net_txt = {0: self._cell_none_txt,
+                      2: self._cell_low_txt,
+                      3: self._cell_medium_txt,
+                      4: self._cell_high_txt,
+                      5: self._cell_full_txt}.get(self._net_strength, self._cell_none_txt)
+    else:
+      draw_net_txt = self._wifi_slash_txt
+
+    draw_x = self._rect.x + (self._rect.width - draw_net_txt.width) / 2
+    draw_y = self._rect.y + (self._rect.height - draw_net_txt.height) / 2
+
+    if draw_net_txt == self._wifi_slash_txt:
+      # Offset by difference in height between slashless and slash icons to make center align match
+      draw_y -= (self._wifi_slash_txt.height - self._wifi_none_txt.height) / 2
+
+    rl.draw_texture(draw_net_txt, int(draw_x), int(draw_y), rl.Color(255, 255, 255, int(255 * 0.9)))
+
+
+class MiciHomeLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._on_settings_click: Callable | None = None
+
+    self._last_refresh = 0
+    self._mouse_down_t: None | float = None
+    self._did_long_press = False
+    self._is_pressed_prev = False
+
+    self._version_text = None
+    self._experimental_mode = False
+
+    self._experimental_icon = IconWidget("icons_mici/experimental_mode.png", (48, 48))
+    self._mic_icon = IconWidget("icons_mici/microphone.png", (32, 46))
+
+    self._status_bar_layout = HBoxLayout([
+      IconWidget("icons_mici/settings.png", (48, 48), opacity=0.9),
+      NetworkIcon(),
+      self._experimental_icon,
+      self._mic_icon,
+    ], spacing=18)
+
+    self._openpilot_label = MiciLabel("sunnypilot", font_size=90, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.AUDIOWIDE)
+    self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
+    self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
+    self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
+
+  def show_event(self):
+    self._version_text = self._get_version_text()
+    self._update_params()
+
+  def _update_params(self):
+    self._experimental_mode = ui_state.params.get_bool("ExperimentalMode")
+
+  def _update_state(self):
+    if self.is_pressed and not self._is_pressed_prev:
+      self._mouse_down_t = time.monotonic()
+    elif not self.is_pressed and self._is_pressed_prev:
+      self._mouse_down_t = None
+      self._did_long_press = False
+    self._is_pressed_prev = self.is_pressed
+
+    if self._mouse_down_t is not None:
+      if time.monotonic() - self._mouse_down_t > 0.5:
+        # long gating for experimental mode - only allow toggle if longitudinal control is available
+        if ui_state.has_longitudinal_control:
+          self._experimental_mode = not self._experimental_mode
+          ui_state.params.put("ExperimentalMode", self._experimental_mode)
+        self._mouse_down_t = None
+        self._did_long_press = True
+
+    if rl.get_time() - self._last_refresh > 5.0:
+      # Update version text
+      self._version_text = self._get_version_text()
+      self._last_refresh = rl.get_time()
+      self._update_params()
+
+  def set_callbacks(self, on_settings: Callable | None = None):
+    self._on_settings_click = on_settings
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if not self._did_long_press:
+      if self._on_settings_click:
+        self._on_settings_click()
+    self._did_long_press = False
+
+  def _get_version_text(self) -> tuple[str, str, str, str] | None:
+    version = ui_state.params.get("Version")
+    branch = ui_state.params.get("GitBranch")
+    commit = ui_state.params.get("GitCommit")
+
+    if not all((version, branch, commit)):
+      return None
+
+    commit_date_raw = ui_state.params.get("GitCommitDate")
+    try:
+      # GitCommitDate format from get_commit_date(): '%ct %ci' e.g. "'1708012345 2024-02-15 ...'"
+      unix_ts = int(commit_date_raw.strip("'").split()[0])
+      date_str = datetime.datetime.fromtimestamp(unix_ts).strftime("%b %d")
+    except (ValueError, IndexError, TypeError, AttributeError):
+      date_str = ""
+
+    return version, branch, commit[:7], date_str
+
+  def _render(self, _):
+    # TODO: why is there extra space here to get it to be flush?
+    text_pos = rl.Vector2(self.rect.x - 2 + HOME_PADDING, self.rect.y - 16)
+    self._openpilot_label.set_position(text_pos.x, text_pos.y)
+    self._openpilot_label.render()
+
+    if self._version_text is not None:
+      # release branch
+      release_branch = self._version_text[1] in RELEASE_BRANCHES
+      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+      self._version_label.set_text(self._version_text[0])
+      self._version_label.set_position(version_pos.x, version_pos.y)
+      self._version_label.render()
+
+      self._date_label.set_text(" " + self._version_text[3])
+      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.render()
+
+      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
+      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+      self._branch_label.render()
+
+      if not release_branch:
+        # 2nd line
+        self._version_commit_label.set_text(self._version_text[2])
+        self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
+        self._version_commit_label.render()
+
+    # ***** Center-aligned bottom section icons *****
+    self._experimental_icon.set_visible(self._experimental_mode)
+    self._mic_icon.set_visible(ui_state.recording_audio)
+
+    footer_rect = rl.Rectangle(self.rect.x + HOME_PADDING, self.rect.y + self.rect.height - 48, self.rect.width - HOME_PADDING, 48)
+    self._status_bar_layout.render(footer_rect)
diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py
new file mode 100644
index 0000000000..2f41e1f172
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/main.py
@@ -0,0 +1,126 @@
+import pyray as rl
+import cereal.messaging as messaging
+from openpilot.selfdrive.ui.mici.layouts.home import MiciHomeLayout
+from openpilot.selfdrive.ui.mici.layouts.settings.settings import SettingsLayout
+from openpilot.selfdrive.ui.mici.layouts.offroad_alerts import MiciOffroadAlerts
+from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.selfdrive.ui.mici.layouts.onboarding import OnboardingWindow
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.lib.application import gui_app
+
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.layouts.settings import SettingsLayoutSP as SettingsLayout
+
+
+ONROAD_DELAY = 2.5  # seconds
+
+
+class MiciMainLayout(Scroller):
+  def __init__(self):
+    super().__init__(snap_items=True, spacing=0, pad=0, scroll_indicator=False, edge_shadows=False)
+
+    self._pm = messaging.PubMaster(['bookmarkButton'])
+
+    self._prev_onroad = False
+    self._prev_standstill = False
+    self._onroad_time_delay: float | None = None
+    self._setup = False
+
+    # Initialize widgets
+    self._home_layout = MiciHomeLayout()
+    self._alerts_layout = MiciOffroadAlerts()
+    self._settings_layout = SettingsLayout()
+    self._onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
+
+    # Initialize widget rects
+    for widget in (self._home_layout, self._settings_layout, self._alerts_layout, self._onroad_layout):
+      # TODO: set parent rect and use it if never passed rect from render (like in Scroller)
+      widget.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+    self._scroller.add_widgets([
+      self._alerts_layout,
+      self._home_layout,
+      self._onroad_layout,
+    ])
+    self._scroller.set_reset_scroll_at_show(False)
+
+    # Disable scrolling when onroad is interacting with bookmark
+    self._scroller.set_scrolling_enabled(lambda: not self._onroad_layout.is_swiping_left())
+
+    # Set callbacks
+    self._setup_callbacks()
+
+    gui_app.add_nav_stack_tick(self._handle_transitions)
+    gui_app.push_widget(self)
+
+    # Start onboarding if terms or training not completed, make sure to push after self
+    self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
+    if not self._onboarding_window.completed:
+      gui_app.push_widget(self._onboarding_window)
+
+  def _setup_callbacks(self):
+    self._home_layout.set_callbacks(on_settings=lambda: gui_app.push_widget(self._settings_layout))
+    self._onroad_layout.set_click_callback(lambda: self._scroll_to(self._home_layout))
+    device.add_interactive_timeout_callback(self._on_interactive_timeout)
+
+  def _scroll_to(self, layout: Widget):
+    layout_x = int(layout.rect.x)
+    self._scroller.scroll_to(layout_x, smooth=True)
+
+  def _render(self, _):
+    if not self._setup:
+      if self._alerts_layout.active_alerts() > 0:
+        self._scroller.scroll_to(self._alerts_layout.rect.x)
+      else:
+        self._scroller.scroll_to(self._rect.width)
+      self._setup = True
+
+    # Render
+    super()._render(self._rect)
+
+  def _handle_transitions(self):
+    # Don't pop if onboarding
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+
+    if ui_state.started != self._prev_onroad:
+      self._prev_onroad = ui_state.started
+
+      # onroad: after delay, pop nav stack and scroll to onroad
+      # offroad: immediately scroll to home, but don't pop nav stack (can stay in settings)
+      if ui_state.started:
+        self._onroad_time_delay = rl.get_time()
+      else:
+        self._scroll_to(self._home_layout)
+
+    # FIXME: these two pops can interrupt user interacting in the settings
+    if self._onroad_time_delay is not None and rl.get_time() - self._onroad_time_delay >= ONROAD_DELAY:
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+      self._onroad_time_delay = None
+
+    # When car leaves standstill, pop nav stack and scroll to onroad
+    CS = ui_state.sm["carState"]
+    if not CS.standstill and self._prev_standstill:
+      gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+    self._prev_standstill = CS.standstill
+
+  def _on_interactive_timeout(self):
+    # Don't pop if onboarding
+    if gui_app.widget_in_stack(self._onboarding_window):
+      return
+
+    if ui_state.started:
+      # Don't pop if at standstill
+      if not ui_state.sm["carState"].standstill:
+        gui_app.pop_widgets_to(self, lambda: self._scroll_to(self._onroad_layout))
+    else:
+      # Screen turns off on timeout offroad, so pop immediately without animation
+      gui_app.pop_widgets_to(self, instant=True)
+      self._scroll_to(self._home_layout)
+
+  def _on_bookmark_clicked(self):
+    user_bookmark = messaging.new_message('bookmarkButton')
+    user_bookmark.valid = True
+    self._pm.send('bookmarkButton', user_bookmark)
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
new file mode 100644
index 0000000000..3aec5bbfed
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -0,0 +1,307 @@
+import pyray as rl
+import re
+import time
+from dataclasses import dataclass
+from enum import IntEnum
+from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+
+REFRESH_INTERVAL = 5.0  # seconds
+
+
+class AlertSize(IntEnum):
+  SMALL = 0
+  MEDIUM = 1
+  BIG = 2
+
+
+@dataclass
+class AlertData:
+  key: str
+  text: str
+  severity: int
+  visible: bool = False
+
+
+class AlertItem(Widget):
+  # TODO: click should always go somewhere: home or specific settings pane
+  """Individual alert item widget with background image and text."""
+  ALERT_WIDTH = 520
+  ALERT_HEIGHT_SMALL = 212
+  ALERT_HEIGHT_MED = 240
+  ALERT_HEIGHT_BIG = 324
+  ALERT_PADDING = 28
+  ICON_SIZE = 64
+  ICON_MARGIN = 12
+  TEXT_COLOR = rl.Color(255, 255, 255, int(255 * 0.9))
+  TITLE_BODY_SPACING = 24
+
+  def __init__(self, alert_data: AlertData):
+    super().__init__()
+    self.alert_data = alert_data
+
+    # Load background textures
+    self._bg_small = gui_app.texture("icons_mici/offroad_alerts/small_alert.png", self.ALERT_WIDTH, self.ALERT_HEIGHT_SMALL)
+    self._bg_small_pressed = gui_app.texture("icons_mici/offroad_alerts/small_alert_pressed.png", self.ALERT_WIDTH, self.ALERT_HEIGHT_SMALL)
+    self._bg_medium = gui_app.texture("icons_mici/offroad_alerts/medium_alert.png", self.ALERT_WIDTH, self.ALERT_HEIGHT_MED)
+    self._bg_medium_pressed = gui_app.texture("icons_mici/offroad_alerts/medium_alert_pressed.png", self.ALERT_WIDTH, self.ALERT_HEIGHT_MED)
+    self._bg_big = gui_app.texture("icons_mici/offroad_alerts/big_alert.png", self.ALERT_WIDTH, self.ALERT_HEIGHT_BIG)
+    self._bg_big_pressed = gui_app.texture("icons_mici/offroad_alerts/big_alert_pressed.png", self.ALERT_WIDTH, self.ALERT_HEIGHT_BIG)
+
+    # Load warning icons
+    self._icon_orange = gui_app.texture("icons_mici/offroad_alerts/orange_warning.png", self.ICON_SIZE, self.ICON_SIZE)
+    self._icon_red = gui_app.texture("icons_mici/offroad_alerts/red_warning.png", self.ICON_SIZE, self.ICON_SIZE)
+    self._icon_green = gui_app.texture("icons_mici/offroad_alerts/green_wheel.png", self.ICON_SIZE, self.ICON_SIZE)
+
+    self._title_label = UnifiedLabel(text="", font_size=32, font_weight=FontWeight.SEMI_BOLD, text_color=self.TEXT_COLOR,
+                                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP, line_height=0.95)
+
+    self._body_label = UnifiedLabel(text="", font_size=28, font_weight=FontWeight.ROMAN, text_color=self.TEXT_COLOR,
+                                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.95)
+
+    self._title_text = ""
+    self._body_text = ""
+    self._alert_size = AlertSize.SMALL
+
+    self._update_content()
+
+  def _split_text(self, text: str) -> tuple[str, str]:
+    """Split text into title (first sentence) and body (remaining text)."""
+    # Find the end of the first sentence (period, exclamation, or question mark followed by space or end)
+    match = re.search(r'[.!?](?:\s+|$)', text)
+    if match:
+      # Found a sentence boundary - split at the end of the sentence
+      title = text[:match.start()].strip()
+      body = text[match.end():].strip()
+      return title, body
+    else:
+      # No sentence boundary found, return full text as title
+      return "", text
+
+  def _update_content(self):
+    """Update text and calculate height."""
+    if not self.alert_data.visible or not self.alert_data.text:
+      self.set_visible(False)
+      return
+
+    self.set_visible(True)
+
+    # Split text into title and body
+    self._title_text, self._body_text = self._split_text(self.alert_data.text)
+
+    # Calculate text width (alert width minus padding and icon space on right)
+    title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
+    body_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2)
+
+    # Update labels
+    self._title_label.set_text(self._title_text)
+    self._body_label.set_text(self._body_text)
+
+    # Calculate content height
+    title_height = self._title_label.get_content_height(title_width) if self._title_text else 0
+    body_height = self._body_label.get_content_height(body_width) if self._body_text else 0
+    spacing = self.TITLE_BODY_SPACING if (self._title_text and self._body_text) else 0
+    total_text_height = title_height + spacing + body_height
+
+    # Determine which background size to use based on content height
+    min_height_with_padding = total_text_height + (self.ALERT_PADDING * 2)
+    if min_height_with_padding > self.ALERT_HEIGHT_MED:
+      self._alert_size = AlertSize.BIG
+      height = self.ALERT_HEIGHT_BIG
+    elif min_height_with_padding > self.ALERT_HEIGHT_SMALL:
+      self._alert_size = AlertSize.MEDIUM
+      height = self.ALERT_HEIGHT_MED
+    else:
+      self._alert_size = AlertSize.SMALL
+      height = self.ALERT_HEIGHT_SMALL
+
+    # Set rect size
+    self.set_rect(rl.Rectangle(0, 0, self.ALERT_WIDTH, height))
+
+  def update_alert_data(self, alert_data: AlertData):
+    """Update alert data and refresh display."""
+    self.alert_data = alert_data
+    self._update_content()
+
+  def _render(self, _):
+    if not self.alert_data.visible or not self.alert_data.text:
+      return
+
+    # Choose background based on size
+    if self._alert_size == AlertSize.BIG:
+      bg_texture = self._bg_big_pressed if self.is_pressed else self._bg_big
+    elif self._alert_size == AlertSize.MEDIUM:
+      bg_texture = self._bg_medium_pressed if self.is_pressed else self._bg_medium
+    else:  # AlertSize.SMALL
+      bg_texture = self._bg_small_pressed if self.is_pressed else self._bg_small
+
+    # Draw background
+    rl.draw_texture(bg_texture, int(self._rect.x), int(self._rect.y), rl.WHITE)
+
+    # Calculate text area (left side, avoiding icon on right)
+    title_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2) - self.ICON_SIZE - self.ICON_MARGIN
+    body_width = self.ALERT_WIDTH - (self.ALERT_PADDING * 2)
+    text_x = self._rect.x + self.ALERT_PADDING
+    text_y = self._rect.y + self.ALERT_PADDING
+
+    # Draw title label
+    if self._title_text:
+      title_rect = rl.Rectangle(
+        text_x,
+        text_y,
+        title_width,
+        self._title_label.get_content_height(title_width),
+      )
+      self._title_label.render(title_rect)
+      text_y += title_rect.height + self.TITLE_BODY_SPACING
+
+    # Draw body label
+    if self._body_text:
+      body_rect = rl.Rectangle(
+        text_x,
+        text_y,
+        body_width,
+        self._rect.height - text_y + self._rect.y - self.ALERT_PADDING,
+      )
+      self._body_label.render(body_rect)
+
+    # Draw warning icon on the right side
+    # Use green icon for update alerts (severity = -1), red for high severity, orange for low severity
+    if self.alert_data.severity == -1:
+      icon_texture = self._icon_green
+    elif self.alert_data.severity > 0:
+      icon_texture = self._icon_red
+    else:
+      icon_texture = self._icon_orange
+    icon_x = self._rect.x + self.ALERT_WIDTH - self.ALERT_PADDING - self.ICON_SIZE
+    icon_y = self._rect.y + self.ALERT_PADDING
+    rl.draw_texture(icon_texture, int(icon_x), int(icon_y), rl.WHITE)
+
+
+class MiciOffroadAlerts(Scroller):
+  """Offroad alerts layout with vertical scrolling."""
+
+  def __init__(self):
+    # Create vertical scroller
+    super().__init__(horizontal=False, spacing=12, pad=0)
+    self.params = Params()
+    self.sorted_alerts: list[AlertData] = []
+    self.alert_items: list[AlertItem] = []
+    self._last_refresh = 0.0
+
+    # Create empty state label
+    self._empty_label = UnifiedLabel(tr("no alerts"), 65, FontWeight.DISPLAY, rl.WHITE,
+                                     alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    # Build initial alert list
+    self._build_alerts()
+
+  def active_alerts(self) -> int:
+    return sum(alert.visible for alert in self.sorted_alerts)
+
+  def scrolling(self):
+    return self._scroller.scroll_panel.is_touch_valid()
+
+  def _build_alerts(self):
+    """Build sorted list of alerts from OFFROAD_ALERTS."""
+    self.sorted_alerts = []
+
+    # Add UpdateAvailable alert at the top (severity = -1 to indicate special handling)
+    update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
+    self.sorted_alerts.append(update_alert_data)
+    update_alert_item = AlertItem(update_alert_data)
+    update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
+    self.alert_items.append(update_alert_item)
+    self._scroller.add_widget(update_alert_item)
+
+    # Add regular alerts sorted by severity
+    for key, config in sorted(OFFROAD_ALERTS.items(), key=lambda x: x[1].get("severity", 0), reverse=True):
+      severity = config.get("severity", 0)
+      alert_data = AlertData(key=key, text="", severity=severity)
+      self.sorted_alerts.append(alert_data)
+
+      # Create alert item widget
+      alert_item = AlertItem(alert_data)
+      self.alert_items.append(alert_item)
+      self._scroller.add_widget(alert_item)
+
+  def refresh(self) -> int:
+    """Refresh alerts from params and return active count."""
+    active_count = 0
+
+    # Handle UpdateAvailable alert specially
+    update_available = self.params.get_bool("UpdateAvailable")
+    update_alert_data = next((alert_data for alert_data in self.sorted_alerts if alert_data.key == "UpdateAvailable"), None)
+
+    if update_alert_data:
+      if update_available:
+        version_string = ""
+
+        # Get new version description and parse version and date
+        new_desc = self.params.get("UpdaterNewDescription") or ""
+        if new_desc:
+          # format: "version / branch / commit / date"
+          parts = new_desc.split(" / ")
+          if len(parts) > 3:
+            version, date = parts[0], parts[3]
+            version_string = f"\nsunnypilot {version}, {date}\n"
+
+        update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
+        update_alert_data.visible = True
+        active_count += 1
+      else:
+        update_alert_data.text = ""
+        update_alert_data.visible = False
+
+    # Handle regular alerts
+    for alert_data in self.sorted_alerts:
+      if alert_data.key == "UpdateAvailable":
+        continue  # Skip, already handled above
+
+      text = ""
+      alert_json = self.params.get(alert_data.key)
+
+      if alert_json:
+        text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
+
+      alert_data.text = text
+      alert_data.visible = bool(text)
+
+      if alert_data.visible:
+        active_count += 1
+
+    # Update alert items (they reference the same alert_data objects)
+    for alert_item in self.alert_items:
+      alert_item.update_alert_data(alert_item.alert_data)
+
+    return active_count
+
+  def show_event(self):
+    """Reset scroll position when shown and refresh alerts."""
+    super().show_event()
+    self._last_refresh = time.monotonic()
+    self.refresh()
+
+  def _update_state(self):
+    """Periodically refresh alerts."""
+    # Refresh alerts periodically, not every frame
+    current_time = time.monotonic()
+    if current_time - self._last_refresh >= REFRESH_INTERVAL:
+      self.refresh()
+      self._last_refresh = current_time
+
+  def _render(self, rect: rl.Rectangle):
+    """Render the alerts scroller or empty state."""
+    if self.active_alerts() == 0:
+      self._empty_label.render(rect)
+    else:
+      self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
new file mode 100644
index 0000000000..043755e7a6
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -0,0 +1,453 @@
+import math
+import numpy as np
+import qrcode
+import pyray as rl
+from collections.abc import Callable
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import SmallCircleIconButton
+from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.version import terms_version, training_version, terms_version_sp
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
+
+
+class DriverCameraSetupDialog(BaseDriverCameraDialog):
+  def __init__(self):
+    super().__init__()
+    self.driver_state_renderer = DriverStateRenderer(inset=True)
+    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 120, 120))
+    self.driver_state_renderer.load_icons()
+    self.driver_state_renderer.set_force_active(True)
+
+  def _render(self, rect):
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._camera_view._render(rect)
+
+    if not self._camera_view.frame:
+      gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      rl.end_scissor_mode()
+      return
+
+    # Position dmoji on opposite side from driver
+    is_rhd = self.driver_state_renderer.is_rhd
+    self.driver_state_renderer.set_position(
+      rect.x + 8 if is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width - 8,
+      rect.y + 8,
+    )
+    self.driver_state_renderer.render()
+
+    self._draw_face_detection(rect)
+
+    rl.end_scissor_mode()
+
+
+class TrainingGuidePreDMTutorial(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver monitoring\ncheck", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Next, we'll check if comma four can detect the driver properly."),
+      GreyBigButton("", "sunnypilot uses the cabin camera to check if the driver is distracted."),
+      GreyBigButton("", "If it does not have a clear view of the driver, unplug and remount before continuing."),
+      continue_button,
+    ])
+
+  def show_event(self):
+    super().show_event()
+    # Get driver monitoring model ready for next step
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+
+
+class DMBadFaceDetected(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    back_button = BigPillButton("back")
+    back_button.set_click_callback(self.dismiss)
+
+    self._scroller.add_widgets([
+      GreyBigButton("looking for driver", "make sure comma\nfour can see your face",
+                    gui_app.texture("icons_mici/setup/orange_dm.png", 64, 64)),
+      GreyBigButton("", "Remount if your face is blocked, or driver monitoring has difficulty tracking your face."),
+      back_button,
+    ])
+
+
+class TrainingGuideDMTutorial(NavWidget):
+  PROGRESS_DURATION = 4
+  LOOKING_THRESHOLD_DEG = 30.0
+
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
+    self._back_button.set_click_callback(lambda: gui_app.push_widget(self._bad_face_page))
+    self._back_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+    self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
+    self._good_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+
+    self._good_button.set_click_callback(continue_callback)
+    self._good_button.set_enabled(False)
+
+    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
+    self._dialog = DriverCameraSetupDialog()
+    self._bad_face_page = DMBadFaceDetected()
+
+    # Disable driver monitoring model when device times out for inactivity
+    def inactivity_callback():
+      ui_state.params.put_bool("IsDriverViewEnabled", False)
+
+    device.add_interactive_timeout_callback(inactivity_callback)
+
+  def show_event(self):
+    super().show_event()
+    self._dialog.show_event()
+    self._progress.x = 0.0
+
+  def _update_state(self):
+    super()._update_state()
+    if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
+      ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
+
+    sm = ui_state.sm
+    if sm.recv_frame.get("driverMonitoringState", 0) == 0:
+      return
+
+    dm_state = sm["driverMonitoringState"]
+    driver_data = self._dialog.driver_state_renderer.get_driver_data()
+
+    if len(driver_data.faceOrientation) == 3:
+      pitch, yaw, _ = driver_data.faceOrientation
+      looking_center = abs(math.degrees(pitch)) < self.LOOKING_THRESHOLD_DEG and abs(math.degrees(yaw)) < self.LOOKING_THRESHOLD_DEG
+    else:
+      looking_center = False
+
+    # stay at 100% once reached
+    in_bad_face = gui_app.get_active_widget() == self._bad_face_page
+    if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
+      slow = self._progress.x < 0.25
+      duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
+      self._progress.x += 1.0 / (duration * gui_app.target_fps)
+      self._progress.x = min(1.0, self._progress.x)
+    else:
+      self._progress.update(0.0)
+
+    self._good_button.set_enabled(self._progress.x >= 0.999)
+
+  def _render(self, _):
+    self._dialog.render(self._rect)
+
+    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
+                                 int(self._rect.width), 80, rl.BLANK, rl.BLACK)
+
+    # draw white ring around dm icon to indicate progress
+    ring_thickness = 8
+
+    # DM icon is 120x120, positioned on opposite side from driver
+    dm_size = 120
+    is_rhd = self._dialog.driver_state_renderer._is_rhd
+    dm_center_x = (self._rect.x + dm_size / 2 + 8) if is_rhd else (self._rect.x + self._rect.width - dm_size / 2 - 8)
+    dm_center_y = self._rect.y + dm_size / 2 + 8
+    icon_edge_radius = dm_size / 2
+    outer_radius = icon_edge_radius + 1  # 2px outward from icon edge
+    inner_radius = outer_radius - ring_thickness  # Inset by ring_thickness
+    start_angle = 90.0  # Start from bottom
+    end_angle = start_angle + self._progress.x * 360.0  # Clockwise
+
+    # Fade in alpha
+    current_angle = end_angle - start_angle
+    alpha = int(np.interp(current_angle, [0.0, 45.0], [0, 255]))
+
+    # White to green
+    color_t = np.clip(np.interp(current_angle, [45.0, 360.0], [0.0, 1.0]), 0.0, 1.0)
+    r = int(np.interp(color_t, [0.0, 1.0], [255, 0]))
+    g = int(np.interp(color_t, [0.0, 1.0], [255, 255]))
+    b = int(np.interp(color_t, [0.0, 1.0], [255, 64]))
+    ring_color = rl.Color(r, g, b, alpha)
+
+    rl.draw_ring(
+      rl.Vector2(dm_center_x, dm_center_y),
+      inner_radius,
+      outer_radius,
+      start_angle,
+      end_angle,
+      36,
+      ring_color,
+    )
+
+    if self._dialog._camera_view.frame:
+      self._back_button.render(rl.Rectangle(
+        self._rect.x + 8,
+        self._rect.y + self._rect.height - self._back_button.rect.height,
+        self._back_button.rect.width,
+        self._back_button.rect.height,
+      ))
+
+      self._good_button.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._good_button.rect.width - 8,
+        self._rect.y + self._rect.height - self._good_button.rect.height,
+        self._good_button.rect.width,
+        self._good_button.rect.height,
+      ))
+
+    # rounded border
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height))
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+    rl.end_scissor_mode()
+
+
+class TrainingGuideRecordFront(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    def show_accept_dialog():
+      def on_accept():
+        ui_state.params.put_bool_nonblocking("RecordFront", True)
+        continue_callback()
+
+      gui_app.push_widget(BigConfirmationDialogV2("allow data uploading", "icons_mici/setup/driver_monitoring/dm_check.png", exit_on_confirm=False,
+                                                  confirm_callback=on_accept))
+
+    def show_decline_dialog():
+      def on_decline():
+        ui_state.params.put_bool_nonblocking("RecordFront", False)
+        continue_callback()
+
+      gui_app.push_widget(BigConfirmationDialogV2("no, don't upload", "icons_mici/setup/cancel.png", exit_on_confirm=False, confirm_callback=on_decline))
+
+    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
+    self._accept_button.set_click_callback(show_accept_dialog)
+
+    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png")
+    self._decline_button.set_click_callback(show_decline_dialog)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver camera data", "do you want to share video data for training?",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Sharing your data with comma helps improve openpilot and sunnypilot for everyone."),
+      self._accept_button,
+      self._decline_button,
+    ])
+
+
+class TrainingGuideAttentionNotice(Scroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("what is sunnypilot?", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "1. sunnypilot is a driver assistance system."),
+      GreyBigButton("", "2. You must pay attention at all times."),
+      GreyBigButton("", "3. You must be ready to take over at any time."),
+      GreyBigButton("", "4. You are fully responsible for driving the car."),
+      continue_button,
+    ])
+
+
+class TrainingGuide(NavWidget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()
+
+    self._steps = [
+      TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
+      TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
+      TrainingGuideDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[3])),
+      TrainingGuideRecordFront(continue_callback=completed_callback),
+    ]
+
+    self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+
+  def show_event(self):
+    super().show_event()
+    self._steps[0].show_event()
+
+  def _render(self, _):
+    self._steps[0].render(self._rect)
+
+
+class QRCodeWidget(Widget):
+  def __init__(self, url: str, size: int = 170):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, size, size))
+    self._size = size
+    self._qr_texture: rl.Texture | None = None
+    self._generate_qr(url)
+
+  def _generate_qr(self, url: str):
+    qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
+    qr.add_data(url)
+    qr.make(fit=True)
+
+    pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
+    img_array = np.array(pil_img, dtype=np.uint8)
+
+    rl_image = rl.Image()
+    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+    rl_image.width = pil_img.width
+    rl_image.height = pil_img.height
+    rl_image.mipmaps = 1
+    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+    self._qr_texture = rl.load_texture_from_image(rl_image)
+
+  def _render(self, _):
+    if self._qr_texture:
+      scale = self._size / self._qr_texture.height
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, scale, rl.WHITE)
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
+
+
+class TermsPage(Scroller):
+  def __init__(self, on_accept, on_decline):
+    super().__init__()
+
+    def show_accept_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("accept\nterms", "icons_mici/setup/driver_monitoring/dm_check.png",
+                                                  confirm_callback=on_accept))
+
+    def show_decline_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("decline &\nuninstall", "icons_mici/setup/cancel.png",
+                                                  red=True, exit_on_confirm=False, confirm_callback=on_decline))
+
+    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
+    self._accept_button.set_click_callback(show_accept_dialog)
+
+    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True)
+    self._decline_button.set_click_callback(show_decline_dialog)
+
+    self._scroller.add_widgets([
+      GreyBigButton("terms and\nconditions", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
+                    gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
+      QRCodeWidget("https://sunnypilot.ai/terms"),
+      GreyBigButton("", "You must accept the Terms & Conditions to use sunnypilot."),
+      self._accept_button,
+      self._decline_button,
+    ])
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+    super()._render(_)
+
+
+class OnboardingWindow(Widget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()
+    self._completed_callback = completed_callback
+    self._accepted_terms: bool = (ui_state.params.get("HasAcceptedTerms") == terms_version and
+                                  ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp)
+    self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
+    self._sunnylink_consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {
+      sunnylink_consent_version, sunnylink_consent_declined
+    }
+
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+    # Windows — all pushed onto nav stack, _terms is always rendered as base layer
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
+    self._terms.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._sunnylink_consent = SunnylinkConsentPage(
+      on_accept=self._on_sunnylink_accepted,
+      on_decline=self._on_sunnylink_declined,
+    )
+
+    self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
+    self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._needs_initial_push = False
+
+  def _on_uninstall(self):
+    ui_state.params.put_bool("DoUninstall", True)
+
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+    device.set_offroad_brightness(100)
+    self._needs_initial_push = True
+
+  def hide_event(self):
+    super().hide_event()
+    # FIXME: when nav stack sends hide event to widget 2 below on push, this needs to be moved
+    device.set_override_interactive_timeout(None)
+    device.set_offroad_brightness(None)
+
+  @property
+  def completed(self) -> bool:
+    return self._accepted_terms and self._sunnylink_consent_done and self._training_done
+
+  def close(self):
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    self._completed_callback()
+
+  def _on_terms_accepted(self):
+    ui_state.params.put("HasAcceptedTerms", terms_version)
+    ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
+    self._accepted_terms = True
+    if not self._sunnylink_consent_done:
+      gui_app.push_widget(self._sunnylink_consent)
+    elif not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_accepted(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+    ui_state.params.put_bool("SunnylinkEnabled", True)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_declined(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+    ui_state.params.put_bool("SunnylinkEnabled", False)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_completed_training(self):
+    ui_state.params.put("CompletedTrainingVersion", training_version)
+    self._training_done = True
+    self.close()
+
+  def _render(self, _):
+    rl.draw_rectangle_rec(self._rect, rl.BLACK)
+
+    # Deferred from show_event to avoid nested push_widget re-enable bug
+    if self._needs_initial_push:
+      self._needs_initial_push = False
+      if self._accepted_terms and not self._sunnylink_consent_done:
+        gui_app.push_widget(self._sunnylink_consent)
+      elif self._accepted_terms and self._sunnylink_consent_done and not self._training_done:
+        gui_app.push_widget(self._training_guide)
+
+    self._terms.render(self._rect)
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
new file mode 100644
index 0000000000..4e7796814e
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -0,0 +1,146 @@
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.widgets.ssh_key import SshKeyAction
+
+
+class DeveloperLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    def github_username_callback(username: str):
+      if username:
+        ssh_keys = SshKeyAction()
+        ssh_keys._fetch_ssh_key(username)
+        if not ssh_keys._error_message:
+          self._ssh_keys_btn.set_value(username)
+        else:
+          dlg = BigDialog("", ssh_keys._error_message)
+          gui_app.push_widget(dlg)
+      else:
+        ui_state.params.remove("GithubUsername")
+        ui_state.params.remove("GithubSshKeys")
+        self._ssh_keys_btn.set_value("Not set")
+
+    def ssh_keys_callback():
+      github_username = ui_state.params.get("GithubUsername") or ""
+      dlg = BigInputDialog("enter GitHub username...", github_username, minimum_length=0, confirm_callback=github_username_callback)
+      if not system_time_valid():
+        dlg = BigDialog("Please connect to Wi-Fi to fetch your key", "")
+        gui_app.push_widget(dlg)
+        return
+      gui_app.push_widget(dlg)
+
+    txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64)
+    github_username = ui_state.params.get("GithubUsername") or ""
+    self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
+    self._ssh_keys_btn.set_click_callback(ssh_keys_callback)
+
+    # adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
+    # ******** Main Scroller ********
+    self._adb_toggle = BigCircleParamControl("icons_mici/adb_short.png", "AdbEnabled", icon_size=(82, 82), icon_offset=(0, 12))
+    self._ssh_toggle = BigCircleParamControl("icons_mici/ssh_short.png", "SshEnabled", icon_size=(82, 82), icon_offset=(0, 12))
+    self._joystick_toggle = BigToggle("joystick debug mode",
+                                      initial_state=ui_state.params.get_bool("JoystickDebugMode"),
+                                      toggle_callback=self._on_joystick_debug_mode)
+    self._long_maneuver_toggle = BigToggle("longitudinal maneuver mode",
+                                           initial_state=ui_state.params.get_bool("LongitudinalManeuverMode"),
+                                           toggle_callback=self._on_long_maneuver_mode)
+    self._alpha_long_toggle = BigToggle("alpha longitudinal",
+                                        initial_state=ui_state.params.get_bool("AlphaLongitudinalEnabled"),
+                                        toggle_callback=self._on_alpha_long_enabled)
+    self._debug_mode_toggle = BigParamControl("ui debug mode", "ShowDebugInfo",
+                                              toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
+                                                                               gui_app.set_show_fps(checked)))
+
+    self._scroller.add_widgets([
+      self._adb_toggle,
+      self._ssh_toggle,
+      self._ssh_keys_btn,
+      self._joystick_toggle,
+      self._long_maneuver_toggle,
+      self._alpha_long_toggle,
+      self._debug_mode_toggle,
+    ])
+
+    # Toggle lists
+    self._refresh_toggles = (
+      ("AdbEnabled", self._adb_toggle),
+      ("SshEnabled", self._ssh_toggle),
+      ("JoystickDebugMode", self._joystick_toggle),
+      ("LongitudinalManeuverMode", self._long_maneuver_toggle),
+      ("AlphaLongitudinalEnabled", self._alpha_long_toggle),
+      ("ShowDebugInfo", self._debug_mode_toggle),
+    )
+    onroad_blocked_toggles = (self._adb_toggle, self._joystick_toggle)
+    release_blocked_toggles = (self._joystick_toggle, self._long_maneuver_toggle, self._alpha_long_toggle)
+    engaged_blocked_toggles = (self._long_maneuver_toggle, self._alpha_long_toggle)
+
+    # Hide non-release toggles on release builds
+    for item in release_blocked_toggles:
+      item.set_visible(not ui_state.is_release)
+
+    # Disable toggles that require offroad
+    for item in onroad_blocked_toggles:
+      item.set_enabled(lambda: ui_state.is_offroad())
+
+    # Disable toggles that require not engaged
+    for item in engaged_blocked_toggles:
+      item.set_enabled(lambda: not ui_state.engaged)
+
+    # Set initial state
+    if ui_state.params.get_bool("ShowDebugInfo"):
+      gui_app.set_show_touches(True)
+      gui_app.set_show_fps(True)
+
+    ui_state.add_offroad_transition_callback(self._update_toggles)
+
+  def show_event(self):
+    super().show_event()
+    self._update_toggles()
+
+  def _update_toggles(self):
+    ui_state.update_params()
+
+    # CP gating
+    if ui_state.CP is not None:
+      alpha_avail = ui_state.CP.alphaLongitudinalAvailable
+      if not alpha_avail or ui_state.is_release:
+        self._alpha_long_toggle.set_visible(False)
+        ui_state.params.remove("AlphaLongitudinalEnabled")
+      else:
+        self._alpha_long_toggle.set_visible(True)
+
+      long_man_enabled = ui_state.has_longitudinal_control and ui_state.is_offroad()
+      self._long_maneuver_toggle.set_enabled(long_man_enabled)
+      if not long_man_enabled:
+        self._long_maneuver_toggle.set_checked(False)
+        ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    else:
+      self._long_maneuver_toggle.set_enabled(False)
+      self._alpha_long_toggle.set_visible(False)
+
+    # Refresh toggles from params to mirror external changes
+    for key, item in self._refresh_toggles:
+      item.set_checked(ui_state.params.get_bool(key))
+
+  def _on_joystick_debug_mode(self, state: bool):
+    ui_state.params.put_bool("JoystickDebugMode", state)
+    ui_state.params.put_bool("LongitudinalManeuverMode", False)
+    self._long_maneuver_toggle.set_checked(False)
+
+  def _on_long_maneuver_mode(self, state: bool):
+    ui_state.params.put_bool("LongitudinalManeuverMode", state)
+    ui_state.params.put_bool("JoystickDebugMode", False)
+    self._joystick_toggle.set_checked(False)
+    restart_needed_callback(state)
+
+  def _on_alpha_long_enabled(self, state: bool):
+    # TODO: show confirmation dialog before enabling
+    ui_state.params.put_bool("AlphaLongitudinalEnabled", state)
+    restart_needed_callback(state)
+    self._update_toggles()
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
new file mode 100644
index 0000000000..b818872913
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -0,0 +1,362 @@
+import os
+import threading
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.system.ui.widgets.scroller import NavRawScrollPanel, NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
+from openpilot.system.ui.mici_setup import BigPillButton
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.widgets.label import MiciLabel
+from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+
+
+class ReviewTermsPage(TermsPage, NavScroller):
+  """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings."""
+  def __init__(self):
+    super().__init__(on_accept=self.dismiss, on_decline=self.dismiss)
+    self._accept_button.set_visible(False)
+    self._decline_button.set_visible(False)
+
+    close_button = BigPillButton("close")
+    close_button.set_click_callback(self.dismiss)
+    self._scroller.add_widget(close_button)
+
+
+class ReviewTrainingGuide(TrainingGuide):
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+
+
+class MiciFccModal(NavRawScrollPanel):
+  def __init__(self, file_path: str | None = None, text: str | None = None):
+    super().__init__()
+    self._content = HtmlRenderer(file_path=file_path, text=text)
+    self._fcc_logo = gui_app.texture("icons_mici/settings/device/fcc_logo.png", 76, 64)
+
+  def _render(self, rect: rl.Rectangle):
+    content_height = self._content.get_total_height(int(rect.width))
+    content_height += self._fcc_logo.height + 20
+
+    scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
+    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
+
+    fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
+
+    scroll_content_rect.y += scroll_offset + self._fcc_logo.height + 20
+    self._content.render(scroll_content_rect)
+
+    rl.draw_texture_ex(self._fcc_logo, fcc_pos, 0.0, 1.0, rl.WHITE)
+
+
+def _engaged_confirmation_callback(callback: Callable, action_text: str):
+  if not ui_state.engaged:
+    def confirm_callback():
+      # Check engaged again in case it changed while the dialog was open
+      if not ui_state.engaged:
+        callback()
+
+    red = False
+    if action_text == "power off":
+      icon = "icons_mici/settings/device/power.png"
+      red = True
+    elif action_text == "reboot":
+      icon = "icons_mici/settings/device/reboot.png"
+    elif action_text == "reset":
+      icon = "icons_mici/settings/device/lkas.png"
+    elif action_text == "uninstall":
+      icon = "icons_mici/settings/device/uninstall.png"
+    else:
+      # TODO: check
+      icon = "icons_mici/settings/comma_icon.png"
+
+    dlg: BigConfirmationDialogV2 | BigDialog = BigConfirmationDialogV2(f"slide to\n{action_text.lower()}", icon, red=red,
+                                                                       exit_on_confirm=action_text == "reset",
+                                                                       confirm_callback=confirm_callback)
+    gui_app.push_widget(dlg)
+  else:
+    dlg = BigDialog(f"Disengage to {action_text}", "")
+    gui_app.push_widget(dlg)
+
+
+class DeviceInfoLayoutMici(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.set_rect(rl.Rectangle(0, 0, 360, 180))
+
+    params = Params()
+    header_color = rl.Color(255, 255, 255, int(255 * 0.9))
+    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
+    max_width = int(self._rect.width - 20)
+    self._dongle_id_label = MiciLabel("device ID", 48, width=max_width, color=header_color, font_weight=FontWeight.DISPLAY)
+    self._dongle_id_text_label = MiciLabel(params.get("DongleId") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+
+    self._serial_number_label = MiciLabel("serial", 48, color=header_color, font_weight=FontWeight.DISPLAY)
+    self._serial_number_text_label = MiciLabel(params.get("HardwareSerial") or 'N/A', 32, width=max_width, color=subheader_color, font_weight=FontWeight.ROMAN)
+
+  def _render(self, _):
+    self._dongle_id_label.set_position(self._rect.x + 20, self._rect.y - 10)
+    self._dongle_id_label.render()
+
+    self._dongle_id_text_label.set_position(self._rect.x + 20, self._rect.y + 68 - 25)
+    self._dongle_id_text_label.render()
+
+    self._serial_number_label.set_position(self._rect.x + 20, self._rect.y + 114 - 30)
+    self._serial_number_label.render()
+
+    self._serial_number_text_label.set_position(self._rect.x + 20, self._rect.y + 161 - 25)
+    self._serial_number_text_label.render()
+
+
+class UpdaterState(IntEnum):
+  IDLE = 0
+  WAITING_FOR_UPDATER = 1
+  UPDATER_RESPONDING = 2
+
+
+class PairBigButton(BigButton):
+  def __init__(self):
+    super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60))
+
+  def _get_label_font_size(self):
+    return 64
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.prime_state.is_paired():
+      self.set_text("paired")
+      if ui_state.prime_state.is_prime():
+        self.set_value("subscribed")
+      else:
+        self.set_value("upgrade to prime")
+    else:
+      self.set_text("pair")
+      self.set_value("connect.comma.ai")
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    # TODO: show ad dialog when clicked if not prime
+    if ui_state.prime_state.is_paired():
+      return
+    dlg: BigDialog | PairingDialog
+    if not system_time_valid():
+      dlg = BigDialog(tr("Please connect to Wi-Fi to complete initial pairing"), "")
+    elif UNREGISTERED_DONGLE_ID == (ui_state.params.get("DongleId") or UNREGISTERED_DONGLE_ID):
+      dlg = BigDialog(tr("Device must be registered with the comma.ai backend to pair"), "")
+    else:
+      dlg = PairingDialog()
+    gui_app.push_widget(dlg)
+
+
+UPDATER_TIMEOUT = 10.0  # seconds to wait for updater to respond
+
+
+class UpdateOpenpilotBigButton(BigButton):
+  def __init__(self):
+    self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
+    self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)
+    self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
+    super().__init__("update sunnypilot", "", self._txt_update_icon)
+
+    self._waiting_for_updater_t: float | None = None
+    self._hide_value_t: float | None = None
+    self._state: UpdaterState = UpdaterState.IDLE
+
+    ui_state.add_offroad_transition_callback(self.offroad_transition)
+
+  def offroad_transition(self):
+    if ui_state.is_offroad():
+      self.set_enabled(True)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    if not system_time_valid():
+      dlg = BigDialog(tr("Please connect to Wi-Fi to update"), "")
+      gui_app.push_widget(dlg)
+      return
+
+    self.set_enabled(False)
+    self._state = UpdaterState.WAITING_FOR_UPDATER
+    self.set_icon(self._txt_update_icon)
+
+    def run():
+      if self.get_value() == "download update":
+        os.system("pkill -SIGHUP -f system.updated.updated")
+      elif self.get_value() == "update now":
+        ui_state.params.put_bool("DoReboot", True)
+      else:
+        os.system("pkill -SIGUSR1 -f system.updated.updated")
+
+    threading.Thread(target=run, daemon=True).start()
+
+  def set_value(self, value: str):
+    super().set_value(value)
+    if value:
+      self.set_text("")
+    else:
+      self.set_text("update sunnypilot")
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.started:
+      self.set_enabled(False)
+      return
+
+    updater_state = ui_state.params.get("UpdaterState") or ""
+    failed_count = ui_state.params.get("UpdateFailedCount")
+    failed = False if failed_count is None else int(failed_count) > 0
+
+    if ui_state.params.get_bool("UpdateAvailable"):
+      self.set_rotate_icon(False)
+      self.set_enabled(True)
+      if self.get_value() != "update now":
+        self.set_value("update now")
+        self.set_icon(self._txt_reboot_icon)
+
+    elif self._state == UpdaterState.WAITING_FOR_UPDATER:
+      self.set_rotate_icon(True)
+      if updater_state != "idle":
+        self._state = UpdaterState.UPDATER_RESPONDING
+
+      # Recover from updater not responding (time invalid shortly after boot)
+      if self._waiting_for_updater_t is None:
+        self._waiting_for_updater_t = rl.get_time()
+
+      if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT:
+        self.set_rotate_icon(False)
+        self.set_value("updater failed\nto respond")
+        self._state = UpdaterState.IDLE
+        self._hide_value_t = rl.get_time()
+
+    elif self._state == UpdaterState.UPDATER_RESPONDING:
+      if updater_state == "idle":
+        self.set_rotate_icon(False)
+        self._state = UpdaterState.IDLE
+        self._hide_value_t = rl.get_time()
+      else:
+        if self.get_value() != updater_state:
+          self.set_value(updater_state)
+
+    elif self._state == UpdaterState.IDLE:
+      self.set_rotate_icon(False)
+      if failed:
+        if self.get_value() != "failed to update":
+          self.set_value("failed to update")
+
+      elif ui_state.params.get_bool("UpdaterFetchAvailable"):
+        self.set_enabled(True)
+        if self.get_value() != "download update":
+          self.set_value("download update")
+
+      elif self._hide_value_t is not None:
+        self.set_enabled(True)
+        if self.get_value() == "checking...":
+          self.set_value("up to date")
+          self.set_icon(self._txt_up_to_date_icon)
+
+        # Hide previous text after short amount of time (up to date or failed)
+        if rl.get_time() - self._hide_value_t > 3.0:
+          self._hide_value_t = None
+          self.set_value("")
+          self.set_icon(self._txt_update_icon)
+      else:
+        if self.get_value() != "":
+          self.set_value("")
+
+    if self._state != UpdaterState.WAITING_FOR_UPDATER:
+      self._waiting_for_updater_t = None
+
+
+class DeviceLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._fcc_dialog: HtmlModal | None = None
+
+    def power_off_callback():
+      ui_state.params.put_bool("DoShutdown", True)
+
+    def reboot_callback():
+      ui_state.params.put_bool("DoReboot", True)
+
+    def reset_calibration_callback():
+      params = ui_state.params
+      params.remove("CalibrationParams")
+      params.remove("LiveTorqueParameters")
+      params.remove("LiveParameters")
+      params.remove("LiveParametersV2")
+      params.remove("LiveDelay")
+      params.put_bool("OnroadCycleRequested", True)
+
+    def uninstall_openpilot_callback():
+      ui_state.params.put_bool("DoUninstall", True)
+
+    reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png", icon_size=(114, 60))
+    reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
+
+    uninstall_openpilot_btn = BigButton("uninstall sunnypilot", "", "icons_mici/settings/device/uninstall.png")
+    uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
+
+    reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False, icon_size=(64, 70))
+    reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot"))
+
+    self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66))
+    self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))
+    self._power_off_btn.set_visible(lambda: not ui_state.ignition)
+
+    regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png")
+    regulatory_btn.set_click_callback(self._on_regulatory)
+
+    driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png")
+    driver_cam_btn.set_click_callback(lambda: gui_app.push_widget(DriverCameraDialog()))
+    driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())
+
+    review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
+    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
+    review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())
+
+    terms_btn = BigButton("terms &\nconditions", "", "icons_mici/settings/device/info.png")
+    terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage()))
+    terms_btn.set_enabled(lambda: ui_state.is_offroad())
+
+    self._scroller.add_widgets([
+      DeviceInfoLayoutMici(),
+      UpdateOpenpilotBigButton(),
+      PairBigButton(),
+      review_training_guide_btn,
+      driver_cam_btn,
+      terms_btn,
+      regulatory_btn,
+      reset_calibration_btn,
+      uninstall_openpilot_btn,
+      reboot_btn,
+      self._power_off_btn,
+    ])
+
+  def _on_regulatory(self):
+    if not self._fcc_dialog:
+      self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html"))
+    gui_app.push_widget(self._fcc_dialog)
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
new file mode 100644
index 0000000000..741ea9655a
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -0,0 +1,222 @@
+import requests
+import threading
+import time
+import pyray as rl
+
+from openpilot.common.api import api_get
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
+from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import NavRawScrollPanel
+
+TITLE = tr_noop("Firehose Mode")
+DESCRIPTION = tr_noop(
+  "sunnypilot learns to drive by watching humans, like you, drive.\n\n"
+  + "Firehose Mode allows you to maximize your training data uploads to improve "
+  + "openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+)
+INSTRUCTIONS_INTRO = tr_noop(
+  "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n\n"
+  + "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card."
+)
+FAQ_HEADER = tr_noop("Frequently Asked Questions")
+FAQ_ITEMS = [
+  (tr_noop("Does it matter how or where I drive?"), tr_noop("Nope, just drive as you normally would.")),
+  (tr_noop("Do all of my segments get pulled in Firehose Mode?"), tr_noop("No, we selectively pull a subset of your segments.")),
+  (tr_noop("What's a good USB-C adapter?"), tr_noop("Any fast phone or laptop charger should be fine.")),
+  (tr_noop("Does it matter which software I run?"), tr_noop("Yes, only upstream openpilot (and particular forks) are able to be used for training.")),
+]
+
+
+class FirehoseLayoutBase(Widget):
+  PARAM_KEY = "ApiCache_FirehoseStats"
+  GREEN = rl.Color(46, 204, 113, 255)
+  RED = rl.Color(231, 76, 60, 255)
+  GRAY = rl.Color(68, 68, 68, 255)
+  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
+  UPDATE_INTERVAL = 30  # seconds
+
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
+    self._segment_count = self._get_segment_count()
+
+    self._scroll_panel = GuiScrollPanel2(horizontal=False)
+    self._content_height = 0
+
+    self._running = True
+    self._update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self._update_thread.start()
+
+  def __del__(self):
+    self._running = False
+    try:
+      if self._update_thread and self._update_thread.is_alive():
+        self._update_thread.join(timeout=1.0)
+    except Exception:
+      pass
+
+  def show_event(self):
+    super().show_event()
+    self._scroll_panel.set_offset(0)
+
+  def _get_segment_count(self) -> int:
+    stats = self._params.get(self.PARAM_KEY)
+    if not stats:
+      return 0
+    try:
+      return int(stats.get("firehose", 0))
+    except Exception:
+      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
+      return 0
+
+  def _render(self, rect: rl.Rectangle):
+    # compute total content height for scrolling
+    content_height = self._measure_content_height(rect)
+    scroll_offset = round(self._scroll_panel.update(rect, content_height))
+
+    # start drawing with offset
+    x = int(rect.x + 40)
+    y = int(rect.y + 40 + scroll_offset)
+    w = int(rect.width - 80)
+
+    # Title
+    title_text = tr(TITLE)
+    title_font = gui_app.font(FontWeight.BOLD)
+    title_size = 64
+    rl.draw_text_ex(title_font, title_text, rl.Vector2(x, y), title_size, 0, rl.WHITE)
+    y += int(title_size * FONT_SCALE) + 20
+
+    # Description
+    y = self._draw_wrapped_text(x, y, w, tr(DESCRIPTION), gui_app.font(FontWeight.ROMAN), 36, rl.WHITE)
+    y += 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 20
+
+    # Status
+    status_text, status_color = self._get_status()
+    y = self._draw_wrapped_text(x, y, w, status_text, gui_app.font(FontWeight.BOLD), 48, status_color)
+    y += 20
+
+    # Contribution count (if available)
+    if self._segment_count > 0:
+      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+      y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
+      y += 20
+
+    # Separator
+    rl.draw_rectangle(x, y, w, 2, self.GRAY)
+    y += 20
+
+    # Instructions intro
+    y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS_INTRO), gui_app.font(FontWeight.ROMAN), 32, self.LIGHT_GRAY)
+    y += 20
+
+    # FAQ Header
+    y = self._draw_wrapped_text(x, y, w, tr(FAQ_HEADER), gui_app.font(FontWeight.BOLD), 44, rl.WHITE)
+    y += 20
+
+    # FAQ Items
+    for question, answer in FAQ_ITEMS:
+      y = self._draw_wrapped_text(x, y, w, tr(question), gui_app.font(FontWeight.BOLD), 32, self.LIGHT_GRAY)
+      y = self._draw_wrapped_text(x, y, w, tr(answer), gui_app.font(FontWeight.ROMAN), 32, self.LIGHT_GRAY)
+      y += 20
+
+  def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
+    wrapped = wrap_text(font, text, font_size, width)
+    for line in wrapped:
+      rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
+      y += int(font_size * FONT_SCALE)
+    return y
+
+  def _measure_content_height(self, rect: rl.Rectangle) -> int:
+    # Rough measurement using the same wrapping as rendering
+    w = int(rect.width - 80)
+    y = 40
+
+    # Title
+    title_size = 72
+    y += int(title_size * FONT_SCALE) + 20
+
+    # Description
+    desc_lines = wrap_text(gui_app.font(FontWeight.ROMAN), tr(DESCRIPTION), 36, w)
+    y += int(len(desc_lines) * 36 * FONT_SCALE) + 20
+
+    # Separator + Status
+    y += 2 + 20
+    status_text, _ = self._get_status()
+    status_lines = wrap_text(gui_app.font(FontWeight.BOLD), status_text, 48, w)
+    y += int(len(status_lines) * 48 * FONT_SCALE) + 20
+
+    # Contribution count
+    if self._segment_count > 0:
+      contrib_text = trn("{} segment of your driving is in the training dataset so far.",
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
+      contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
+      y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
+
+    # Separator + Instructions
+    y += 2 + 20
+
+    # Instructions intro
+    intro_lines = wrap_text(gui_app.font(FontWeight.ROMAN), tr(INSTRUCTIONS_INTRO), 32, w)
+    y += int(len(intro_lines) * 32 * FONT_SCALE) + 20
+
+    # FAQ Header
+    faq_header_lines = wrap_text(gui_app.font(FontWeight.BOLD), tr(FAQ_HEADER), 44, w)
+    y += int(len(faq_header_lines) * 44 * FONT_SCALE) + 20
+
+    # FAQ Items
+    for question, answer in FAQ_ITEMS:
+      q_lines = wrap_text(gui_app.font(FontWeight.BOLD), tr(question), 32, w)
+      y += int(len(q_lines) * 32 * FONT_SCALE)
+      a_lines = wrap_text(gui_app.font(FontWeight.ROMAN), tr(answer), 32, w)
+      y += int(len(a_lines) * 32 * FONT_SCALE) + 20
+
+    # bottom padding
+    y += 40
+    return y
+
+  def _get_status(self) -> tuple[str, rl.Color]:
+    network_type = ui_state.sm["deviceState"].networkType
+    network_metered = ui_state.sm["deviceState"].networkMetered
+
+    if not network_metered and network_type != 0:  # Not metered and connected
+      return tr("ACTIVE"), self.GREEN
+    else:
+      return tr("INACTIVE: connect to an unmetered network"), self.RED
+
+  def _fetch_firehose_stats(self):
+    try:
+      dongle_id = self._params.get("DongleId")
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token, session=self._session)
+      if response.status_code == 200:
+        data = response.json()
+        self._segment_count = data.get("firehose", 0)
+        self._params.put(self.PARAM_KEY, data)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch firehose stats: {e}")
+
+  def _update_loop(self):
+    while self._running:
+      if not ui_state.started and device._awake:
+        self._fetch_firehose_stats()
+      time.sleep(self.UPDATE_INTERVAL)
+
+
+class FirehoseLayout(NavRawScrollPanel, FirehoseLayoutBase):
+  pass
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py
new file mode 100644
index 0000000000..ddbab4b478
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -0,0 +1,60 @@
+import pyray as rl
+
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiIcon
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus, SecurityType, normalize_ssid
+
+
+class WifiNetworkButton(BigButton):
+  def __init__(self, wifi_manager: WifiManager):
+    self._wifi_manager = wifi_manager
+    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 28, 36)
+    self._draw_lock = False
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47)
+
+    super().__init__("wi-fi", "not connected", self._wifi_slash_txt, scroll=True)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Update wi-fi button with ssid and ip address
+    # TODO: make sure we handle hidden ssids
+    wifi_state = self._wifi_manager.wifi_state
+    display_network = next((n for n in self._wifi_manager.networks if n.ssid == wifi_state.ssid), None)
+    if wifi_state.status == ConnectStatus.CONNECTING:
+      self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi"))
+      self.set_value("starting" if self._wifi_manager.is_tethering_active() else "connecting...")
+    elif wifi_state.status == ConnectStatus.CONNECTED:
+      self.set_text(normalize_ssid(wifi_state.ssid or "wi-fi"))
+      self.set_value(self._wifi_manager.ipv4_address or "obtaining IP...")
+    else:
+      display_network = None
+      self.set_text("wi-fi")
+      self.set_value("not connected")
+
+    if display_network is not None:
+      strength = WifiIcon.get_strength_icon_idx(display_network.strength)
+      self.set_icon(self._wifi_full_txt if strength == 2 else self._wifi_medium_txt if strength == 1 else self._wifi_low_txt)
+      self._draw_lock = display_network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED)
+    elif self._wifi_manager.is_tethering_active():
+      # takes a while to get Network
+      self.set_icon(self._wifi_full_txt)
+      self._draw_lock = True
+    else:
+      self.set_icon(self._wifi_slash_txt)
+      self._draw_lock = False
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+    # Render lock icon at lower right of wifi icon if secured
+    if self._draw_lock:
+      icon_x = self._rect.x + self._rect.width - 30 - self._txt_icon.width
+      icon_y = btn_y + 30
+      lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7
+      lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8
+      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
diff --git a/selfdrive/ui/mici/layouts/settings/network/network_layout.py b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
new file mode 100644
index 0000000000..9f6fae4b5f
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/network/network_layout.py
@@ -0,0 +1,154 @@
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._tethering_password_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._tethering_toggle_btn.set_enabled(False)
+        self._tethering_password_btn.set_enabled(False)
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.push_widget(dlg)
+
+    txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller.add_widgets([
+      self._wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+    ])
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._wifi_manager.set_active(True)
+
+    # Process wifi callbacks while at any point in the nav stack
+    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_manager.set_active(False)
+
+    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.push_widget(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._tethering_password_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
new file mode 100644
index 0000000000..22d3d1d0da
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -0,0 +1,386 @@
+import math
+import numpy as np
+import pyray as rl
+from collections.abc import Callable
+
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, LABEL_COLOR
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, normalize_ssid
+
+
+class LoadingAnimation(Widget):
+  HIDE_TIME = 4
+
+  def __init__(self):
+    super().__init__()
+    self._opacity_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._opacity_target = 1.0
+    self._hide_time = 0.0
+
+  def show_event(self):
+    self._opacity_target = 1.0
+    self._hide_time = rl.get_time()
+
+  def _render(self, _):
+    if rl.get_time() - self._hide_time > self.HIDE_TIME:
+      self._opacity_target = 0.0
+
+    self._opacity_filter.update(self._opacity_target)
+
+    if self._opacity_filter.x < 0.01:
+      return
+
+    cx = int(self._rect.x + self._rect.width / 2)
+    cy = int(self._rect.y + self._rect.height / 2)
+
+    y_mag = 7
+    anim_scale = 4
+    spacing = 14
+
+    for i in range(3):
+      x = cx - spacing + i * spacing
+      y = int(cy + min(math.sin((rl.get_time() - i * 0.2) * anim_scale) * y_mag, 0))
+      alpha = int(np.interp(cy - y, [0, y_mag], [255 * 0.45, 255 * 0.9]) * self._opacity_filter.x)
+      rl.draw_circle(x, y, 5, rl.Color(255, 255, 255, alpha))
+
+
+class WifiIcon(Widget):
+  def __init__(self, network: Network):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 48 + 5, 36 + 5))
+
+    self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 48, 42)
+    self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 48, 36)
+    self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 48, 36)
+    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 48, 36)
+    self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 21, 27)
+
+    self._network: Network = network
+    self._network_missing = False  # if network disappeared from scan results
+
+  def update_network(self, network: Network):
+    self._network = network
+
+  def set_network_missing(self, missing: bool):
+    self._network_missing = missing
+
+  @staticmethod
+  def get_strength_icon_idx(strength: int) -> int:
+    return round(strength / 100 * 2)
+
+  def _render(self, _):
+    # Determine which wifi strength icon to use
+    strength = self.get_strength_icon_idx(self._network.strength)
+    if self._network_missing:
+      strength_icon = self._wifi_slash_txt
+    elif strength == 2:
+      strength_icon = self._wifi_full_txt
+    elif strength == 1:
+      strength_icon = self._wifi_medium_txt
+    else:
+      strength_icon = self._wifi_low_txt
+
+    rl.draw_texture_ex(strength_icon, (self._rect.x, self._rect.y + self._rect.height - strength_icon.height), 0.0, 1.0, rl.WHITE)
+
+    # Render lock icon at lower right of wifi icon if secured
+    if self._network.security_type not in (SecurityType.OPEN, SecurityType.UNSUPPORTED):
+      lock_x = self._rect.x + self._rect.width - self._lock_txt.width
+      lock_y = self._rect.y + self._rect.height - self._lock_txt.height + 6
+      rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
+
+
+class WifiButton(BigButton):
+  LABEL_PADDING = 98
+  LABEL_WIDTH = 402 - 98 - 28  # button width - left padding - right padding
+  SUB_LABEL_WIDTH = 402 - BigButton.LABEL_HORIZONTAL_PADDING * 2
+
+  def __init__(self, network: Network, wifi_manager: WifiManager):
+    super().__init__(normalize_ssid(network.ssid), scroll=True)
+
+    self._network = network
+    self._wifi_manager = wifi_manager
+
+    self._wifi_icon = WifiIcon(network)
+    self._forget_btn = ForgetButton(self._forget_network)
+    self._check_txt = gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 32, 32)
+
+    # Eager state (not sourced from Network)
+    self._network_missing = False
+    self._network_forgetting = False
+    self._wrong_password = False
+
+  def update_network(self, network: Network):
+    self._network = network
+    self._wifi_icon.update_network(network)
+
+    # We can assume network is not missing if got new Network
+    self._network_missing = False
+    self._wifi_icon.set_network_missing(False)
+    if self._is_connected or self._is_connecting:
+      self._wrong_password = False
+
+  def _forget_network(self):
+    if self._network_forgetting:
+      return
+
+    self._network_forgetting = True
+    self._wifi_manager.forget_connection(self._network.ssid)
+
+  def on_forgotten(self):
+    self._network_forgetting = False
+
+  def set_network_missing(self, missing: bool):
+    self._network_missing = missing
+    self._wifi_icon.set_network_missing(missing)
+
+  def set_wrong_password(self):
+    self._wrong_password = True
+    self.trigger_shake()
+
+  @property
+  def network(self) -> Network:
+    return self._network
+
+  @property
+  def _show_forget_btn(self):
+    if self._network.is_tethering or self._network_forgetting:
+      return False
+
+    return (self._is_saved and not self._wrong_password) or self._is_connecting
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._show_forget_btn and rl.check_collision_point_rec(mouse_pos, self._forget_btn.rect):
+      return
+    super()._handle_mouse_release(mouse_pos)
+
+  def _get_label_font_size(self):
+    return 48
+
+  def _draw_content(self, btn_y: float):
+    self._label.set_color(LABEL_COLOR)
+    label_rect = rl.Rectangle(self._rect.x + self.LABEL_PADDING, btn_y + self.LABEL_VERTICAL_PADDING,
+                              self.LABEL_WIDTH, self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
+    self._label.render(label_rect)
+
+    if self.value:
+      sub_label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
+      label_y = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING
+      sub_label_w = self.SUB_LABEL_WIDTH - (self._forget_btn.rect.width if self._show_forget_btn else 0)
+      sub_label_height = self._sub_label.get_content_height(sub_label_w)
+
+      if self._is_connected and not self._network_forgetting:
+        check_y = int(label_y - sub_label_height + (sub_label_height - self._check_txt.height) / 2)
+        rl.draw_texture(self._check_txt, int(sub_label_x), check_y, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)))
+        sub_label_x += self._check_txt.width + 14
+
+      sub_label_rect = rl.Rectangle(sub_label_x, label_y - sub_label_height, sub_label_w, sub_label_height)
+      self._sub_label.render(sub_label_rect)
+
+    # Wifi icon
+    self._wifi_icon.render(rl.Rectangle(
+      self._rect.x + 30,
+      btn_y + 30,
+      self._wifi_icon.rect.width,
+      self._wifi_icon.rect.height,
+    ))
+
+    # Forget button
+    if self._show_forget_btn:
+      self._forget_btn.render(rl.Rectangle(
+        self._rect.x + self._rect.width - self._forget_btn.rect.width,
+        btn_y + self._rect.height - self._forget_btn.rect.height,
+        self._forget_btn.rect.width,
+        self._forget_btn.rect.height,
+      ))
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and not self._forget_btn.is_pressed)
+    self._forget_btn.set_touch_valid_callback(touch_callback)
+
+  @property
+  def _is_saved(self):
+    return self._wifi_manager.is_connection_saved(self._network.ssid)
+
+  @property
+  def _is_connecting(self):
+    return self._wifi_manager.connecting_to_ssid == self._network.ssid
+
+  @property
+  def _is_connected(self):
+    return self._wifi_manager.connected_ssid == self._network.ssid
+
+  def _update_state(self):
+    super()._update_state()
+
+    if any((self._network_missing, self._is_connecting, self._is_connected, self._network_forgetting,
+            self._network.security_type == SecurityType.UNSUPPORTED)):
+      self.set_enabled(False)
+      self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.585)))
+      self._sub_label.set_font_weight(FontWeight.ROMAN)
+
+      if self._network_forgetting:
+        self.set_value("forgetting...")
+      elif self._is_connecting:
+        self.set_value("starting..." if self._network.is_tethering else "connecting...")
+      elif self._is_connected:
+        self.set_value("tethering" if self._network.is_tethering else "connected")
+      elif self._network_missing:
+        # after connecting/connected since NM will still attempt to connect/stay connected for a while
+        self.set_value("not in range")
+      else:
+        self.set_value("unsupported")
+
+    else:  # saved, wrong password, or unknown
+      self.set_value("wrong password" if self._wrong_password else "connect")
+      self.set_enabled(True)
+      self._sub_label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+      self._sub_label.set_font_weight(FontWeight.SEMI_BOLD)
+
+
+class ForgetButton(Widget):
+  MARGIN = 12  # bottom and right
+
+  def __init__(self, forget_network: Callable):
+    super().__init__()
+    self._forget_network = forget_network
+
+    self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 84, 84)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 84, 84)
+    self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 29, 35)
+    self.set_rect(rl.Rectangle(0, 0, 84 + self.MARGIN * 2, 84 + self.MARGIN * 2))
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    dlg = BigConfirmationDialogV2("slide to forget", "icons_mici/settings/network/new/trash.png", red=True,
+                                  confirm_callback=self._forget_network)
+    gui_app.push_widget(dlg)
+
+  def _render(self, _):
+    bg_txt = self._bg_pressed_txt if self.is_pressed else self._bg_txt
+    rl.draw_texture_ex(bg_txt, (self._rect.x + (self._rect.width - self._bg_txt.width) / 2,
+                                self._rect.y + (self._rect.height - self._bg_txt.height) / 2), 0, 1.0, rl.WHITE)
+
+    trash_x = self._rect.x + (self._rect.width - self._trash_txt.width) / 2
+    trash_y = self._rect.y + (self._rect.height - self._trash_txt.height) / 2
+    rl.draw_texture_ex(self._trash_txt, (trash_x, trash_y), 0, 1.0, rl.WHITE)
+
+
+class WifiUIMici(NavScroller):
+  def __init__(self, wifi_manager: WifiManager):
+    super().__init__()
+
+    self._loading_animation = LoadingAnimation()
+
+    self._wifi_manager = wifi_manager
+    self._networks: dict[str, Network] = {}
+
+    self._wifi_manager.add_callbacks(
+      need_auth=self._on_need_auth,
+      forgotten=self._on_forgotten,
+      networks_updated=self._on_network_updated,
+    )
+
+  def show_event(self):
+    # Clear scroller items and update from latest scan results
+    super().show_event()
+    self._loading_animation.show_event()
+    self._wifi_manager.set_active(True)
+    self._scroller.items.clear()
+    # trigger button update on latest sorted networks
+    self._on_network_updated(self._wifi_manager.networks)
+
+  def _on_network_updated(self, networks: list[Network]):
+    self._networks = {network.ssid: network for network in networks}
+    self._update_buttons()
+
+  def _update_buttons(self):
+    # Update existing buttons, add new ones to the end
+    existing = {btn.network.ssid: btn for btn in self._scroller.items if isinstance(btn, WifiButton)}
+
+    for network in self._networks.values():
+      if network.ssid in existing:
+        existing[network.ssid].update_network(network)
+      else:
+        btn = WifiButton(network, self._wifi_manager)
+        btn.set_click_callback(lambda ssid=network.ssid: self._connect_to_network(ssid))
+        self._scroller.add_widget(btn)
+
+    # Mark networks no longer in scan results (display handled by _update_state)
+    for btn in self._scroller.items:
+      if isinstance(btn, WifiButton) and btn.network.ssid not in self._networks:
+        btn.set_network_missing(True)
+
+  def _connect_with_password(self, ssid: str, password: str):
+    self._wifi_manager.connect_to_network(ssid, password)
+    self._move_network_to_front(ssid, scroll=True)
+
+  def _connect_to_network(self, ssid: str):
+    network = self._networks.get(ssid)
+    if network is None:
+      cloudlog.warning(f"Trying to connect to unknown network: {ssid}")
+      return
+
+    if self._wifi_manager.is_connection_saved(network.ssid):
+      self._wifi_manager.activate_connection(network.ssid)
+    elif network.security_type == SecurityType.OPEN:
+      self._wifi_manager.connect_to_network(network.ssid, "")
+    else:
+      self._on_need_auth(network.ssid, False)
+      return
+
+    self._move_network_to_front(ssid, scroll=True)
+
+  def _on_need_auth(self, ssid, incorrect_password=True):
+    if incorrect_password:
+      for btn in self._scroller.items:
+        if isinstance(btn, WifiButton) and btn.network.ssid == ssid:
+          btn.set_wrong_password()
+          break
+      return
+
+    dlg = BigInputDialog("enter password...", "", minimum_length=8,
+                         confirm_callback=lambda _password: self._connect_with_password(ssid, _password))
+    gui_app.push_widget(dlg)
+
+  def _on_forgotten(self, ssid):
+    # For eager UI forget
+    for btn in self._scroller.items:
+      if isinstance(btn, WifiButton) and btn.network.ssid == ssid:
+        btn.on_forgotten()
+
+  def _move_network_to_front(self, ssid: str | None, scroll: bool = False):
+    # Move connecting/connected network to the front with animation
+    front_btn_idx = next((i for i, btn in enumerate(self._scroller.items)
+                          if isinstance(btn, WifiButton) and
+                          btn.network.ssid == ssid), None) if ssid else None
+
+    if front_btn_idx is not None and front_btn_idx > 0:
+      self._scroller.move_item(front_btn_idx, 0)
+
+      if scroll:
+        # Scroll to the new position of the network
+        self._scroller.scroll_to(self._scroller.scroll_panel.get_offset(), smooth=True)
+
+  def _update_state(self):
+    super()._update_state()
+
+    self._move_network_to_front(self._wifi_manager.wifi_state.ssid)
+
+    # Show loading animation near end
+    max_scroll = max(self._scroller.content_size - self._scroller.rect.width, 1)
+    progress = -self._scroller.scroll_panel.get_offset() / max_scroll
+    if progress > 0.8 or len(self._scroller.items) <= 1:
+      self._loading_animation.show_event()
+
+  def _render(self, _):
+    super()._render(self._rect)
+
+    anim_w = 90
+    anim_x = self._rect.x + self._rect.width - anim_w
+    anim_y = self._rect.y + self._rect.height - 25 + 2
+    self._loading_animation.render(rl.Rectangle(anim_x, anim_y, anim_w, 20))
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
new file mode 100644
index 0000000000..8e037ccf88
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -0,0 +1,52 @@
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
+from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+
+class SettingsBigButton(BigButton):
+  def _get_label_font_size(self):
+    return 64
+
+
+class SettingsLayout(NavScroller):
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+
+    toggles_panel = TogglesLayoutMici()
+    toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png")
+    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))
+
+    network_panel = NetworkLayoutMici()
+    network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
+    network_btn.set_click_callback(lambda: gui_app.push_widget(network_panel))
+
+    device_panel = DeviceLayoutMici()
+    device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
+    device_btn.set_click_callback(lambda: gui_app.push_widget(device_panel))
+
+    developer_panel = DeveloperLayoutMici()
+    developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
+    developer_btn.set_click_callback(lambda: gui_app.push_widget(developer_panel))
+
+    firehose_panel = FirehoseLayout()
+    firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
+    firehose_btn.set_click_callback(lambda: gui_app.push_widget(firehose_panel))
+
+    self._scroller.add_widgets([
+      toggles_btn,
+      network_btn,
+      device_btn,
+      PairBigButton(),
+      #BigDialogButton("manual", "", "icons_mici/settings/manual_icon.png", "Check out the mici user\nmanual at comma.ai/setup"),
+      firehose_btn,
+      developer_btn,
+    ])
+
+    self._font_medium = gui_app.font(FontWeight.MEDIUM)
diff --git a/selfdrive/ui/mici/layouts/settings/toggles.py b/selfdrive/ui/mici/layouts/settings/toggles.py
new file mode 100644
index 0000000000..8635336f97
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/toggles.py
@@ -0,0 +1,87 @@
+from cereal import log
+
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.widgets.button import BigParamControl, BigMultiParamToggle
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.settings.common import restart_needed_callback
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants
+
+
+class TogglesLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._personality_toggle = BigMultiParamToggle("driving personality", "LongitudinalPersonality", ["aggressive", "standard", "relaxed"])
+    self._experimental_btn = BigParamControl("experimental mode", "ExperimentalMode")
+    is_metric_toggle = BigParamControl("use metric units", "IsMetric")
+    ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled")
+    always_on_dm_toggle = BigParamControl("always-on driver monitor", "AlwaysOnDM")
+    record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
+    record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
+    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
+
+    self._scroller.add_widgets([
+      self._personality_toggle,
+      self._experimental_btn,
+      is_metric_toggle,
+      ldw_toggle,
+      always_on_dm_toggle,
+      record_front,
+      record_mic,
+      enable_openpilot,
+    ])
+
+    # Toggle lists
+    self._refresh_toggles = (
+      ("ExperimentalMode", self._experimental_btn),
+      ("IsMetric", is_metric_toggle),
+      ("IsLdwEnabled", ldw_toggle),
+      ("AlwaysOnDM", always_on_dm_toggle),
+      ("RecordFront", record_front),
+      ("RecordAudio", record_mic),
+      ("OpenpilotEnabledToggle", enable_openpilot),
+    )
+
+    enable_openpilot.set_enabled(lambda: not ui_state.engaged)
+    record_front.set_enabled(False if ui_state.params.get_bool("RecordFrontLock") else (lambda: not ui_state.engaged))
+    record_mic.set_enabled(lambda: not ui_state.engaged)
+
+    if ui_state.params.get_bool("ShowDebugInfo"):
+      gui_app.set_show_touches(True)
+      gui_app.set_show_fps(True)
+
+    ui_state.add_engaged_transition_callback(self._update_toggles)
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.sm.updated["selfdriveState"]:
+      personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
+      if personality != ui_state.personality and ui_state.started:
+        self._personality_toggle.set_value(self._personality_toggle._options[personality])
+      ui_state.personality = personality
+
+  def show_event(self):
+    super().show_event()
+    self._update_toggles()
+
+  def _update_toggles(self):
+    ui_state.update_params()
+
+    # CP gating for experimental mode
+    if ui_state.CP is not None:
+      if ui_state.has_longitudinal_control:
+        self._experimental_btn.set_visible(True)
+        self._personality_toggle.set_visible(True)
+      else:
+        # no long for now
+        self._experimental_btn.set_visible(False)
+        self._experimental_btn.set_checked(False)
+        self._personality_toggle.set_visible(False)
+        ui_state.params.remove("ExperimentalMode")
+
+    # Refresh toggles from params to mirror external changes
+    for key, item in self._refresh_toggles:
+      item.set_checked(ui_state.params.get_bool(key))
diff --git a/selfdrive/ui/mici/onroad/__init__.py b/selfdrive/ui/mici/onroad/__init__.py
new file mode 100644
index 0000000000..bb45117b94
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/__init__.py
@@ -0,0 +1,12 @@
+import pyray as rl
+
+SIDE_PANEL_WIDTH = 60
+
+
+def blend_colors(a: rl.Color, b: rl.Color, f: float) -> rl.Color:
+  h0, s0, v0 = (hsv0 := rl.color_to_hsv(a)).x, hsv0.y, hsv0.z
+  h1, s1, v1 = (hsv1 := rl.color_to_hsv(b)).x, hsv1.y, hsv1.z
+  dh = ((h1 - h0 + 180) % 360) - 180  # shortest hue delta
+  return rl.color_from_hsv((h0 + f * dh) % 360,
+                           s0 + f * (s1 - s0),
+                           v0 + f * (v1 - v0))
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
new file mode 100644
index 0000000000..a9d4f3a48b
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -0,0 +1,371 @@
+import time
+from enum import StrEnum
+from typing import NamedTuple
+import pyray as rl
+import random
+import string
+from dataclasses import dataclass
+from cereal import messaging, log, car
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitAlertRenderer
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+
+ALERT_MARGIN = 18
+
+ALERT_FONT_SMALL = 66 - 50
+ALERT_FONT_BIG = 88 - 40
+
+SELFDRIVE_STATE_TIMEOUT = 5  # Seconds
+SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10  # Seconds
+
+# Constants
+ALERT_COLORS = {
+  AlertStatus.normal: rl.Color(0, 0, 0, 255),
+  AlertStatus.userPrompt: rl.Color(255, 115, 0, 255),
+  AlertStatus.critical: rl.Color(255, 0, 21, 255),
+}
+
+TURN_SIGNAL_BLINK_PERIOD = 1 / (80 / 60)  # Mazda heartbeat turn signal BPM
+
+DEBUG = False
+
+
+class IconSide(StrEnum):
+  left = 'left'
+  right = 'right'
+
+
+class IconLayout(NamedTuple):
+  texture: rl.Texture
+  side: IconSide
+  margin_x: int
+  margin_y: int
+  alpha: float = 255.0
+
+
+class AlertLayout(NamedTuple):
+  text_rect: rl.Rectangle
+  icon: IconLayout | None
+
+
+@dataclass
+class Alert:
+  text1: str = ""
+  text2: str = ""
+  size: int = 0
+  status: int = 0
+  visual_alert: int = car.CarControl.HUDControl.VisualAlert.none
+  alert_type: str = ""
+
+
+# Pre-defined alert instances
+ALERT_STARTUP_PENDING = Alert(
+  text1="sunnypilot Unavailable",
+  text2="Waiting to start",
+  size=AlertSize.mid,
+  status=AlertStatus.normal,
+)
+
+ALERT_CRITICAL_TIMEOUT = Alert(
+  text1="TAKE CONTROL IMMEDIATELY",
+  text2="System Unresponsive",
+  size=AlertSize.full,
+  status=AlertStatus.critical,
+)
+
+ALERT_CRITICAL_REBOOT = Alert(
+  text1="System Unresponsive",
+  text2="Reboot Device",
+  size=AlertSize.full,
+  status=AlertStatus.critical,
+)
+
+
+class AlertRenderer(Widget, SpeedLimitAlertRenderer):
+  def __init__(self):
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
+
+    self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
+                                           letter_spacing=-0.02)
+    self._alert_text2_label = UnifiedLabel(text="", font_size=ALERT_FONT_SMALL, font_weight=FontWeight.ROMAN, line_height=0.86,
+                                           letter_spacing=0.025)
+
+    self._prev_alert: Alert | None = None
+    self._text_gen_time = 0
+    self._alert_text2_gen = ''
+
+    # animation filters
+    # TODO: use 0.1 but with proper alert height calculation
+    self._alert_y_filter = BounceFilter(0, 0.1, 1 / gui_app.target_fps)
+    self._alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._turn_signal_timer = 0.0
+    self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
+    self._last_icon_side: IconSide | None = None
+
+    self._load_icons()
+
+  def _load_icons(self):
+    self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96)
+    self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96, flip_x=True)
+    self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150)
+    self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150, flip_x=True)
+
+  def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
+    """Generate the current alert based on selfdrive state."""
+    ss = sm['selfdriveState']
+
+    # Check if selfdriveState messages have stopped arriving
+    if not sm.updated['selfdriveState']:
+      recv_frame = sm.recv_frame['selfdriveState']
+      time_since_onroad = time.monotonic() - ui_state.started_time
+
+      # 1. Never received selfdriveState since going onroad
+      waiting_for_startup = recv_frame < ui_state.started_frame
+      if waiting_for_startup and time_since_onroad > 5:
+        return ALERT_STARTUP_PENDING
+
+      # 2. Lost communication with selfdriveState after receiving it
+      if TICI and not waiting_for_startup:
+        ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
+        if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+          if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
+            return ALERT_CRITICAL_TIMEOUT
+          return ALERT_CRITICAL_REBOOT
+
+    # No alert if size is none
+    if ss.alertSize == 0:
+      return None
+
+    # Return current alert
+    ret = Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize.raw, status=ss.alertStatus.raw,
+                visual_alert=ss.alertHudVisual, alert_type=ss.alertType)
+    self._prev_alert = ret
+    return ret
+
+  def will_render(self) -> tuple[Alert | None, bool]:
+    alert = self.get_alert(ui_state.sm)
+    return alert or self._prev_alert, alert is None
+
+  def _icon_helper(self, alert: Alert) -> AlertLayout:
+    icon_side = None
+    txt_icon = None
+    icon_alpha = 255.0
+    icon_margin_x = 20
+    icon_margin_y = 18
+
+    # alert_type format is "EventName/eventType" (e.g., "preLaneChangeLeft/warning")
+    event_name = alert.alert_type.split('/')[0] if alert.alert_type else ''
+
+    if event_name == 'preLaneChangeLeft':
+      icon_side = IconSide.left
+      txt_icon = self._txt_turn_signal_left
+      icon_margin_x = 2
+      icon_margin_y = 5
+
+    elif event_name == 'preLaneChangeRight':
+      icon_side = IconSide.right
+      txt_icon = self._txt_turn_signal_right
+      icon_margin_x = 2
+      icon_margin_y = 5
+
+    elif event_name == 'laneChange':
+      icon_side = self._last_icon_side
+      txt_icon = self._txt_turn_signal_left if self._last_icon_side == 'left' else self._txt_turn_signal_right
+      icon_margin_x = 2
+      icon_margin_y = 5
+
+    elif event_name == 'laneChangeBlocked':
+      CS = ui_state.sm['carState']
+      if CS.leftBlinker:
+        icon_side = IconSide.left
+      elif CS.rightBlinker:
+        icon_side = IconSide.right
+      else:
+        icon_side = self._last_icon_side
+      txt_icon = self._txt_blind_spot_left if icon_side == 'left' else self._txt_blind_spot_right
+      icon_margin_x = 8
+      icon_margin_y = 0
+
+    elif event_name == 'speedLimitPreActive':
+      icon_side, txt_icon, icon_alpha, icon_margin_x, icon_margin_y = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+
+    else:
+      self._turn_signal_timer = 0.0
+
+    self._last_icon_side = icon_side
+
+    # create text rect based on icon presence
+    text_x = self._rect.x + ALERT_MARGIN
+    text_width = self._rect.width - ALERT_MARGIN
+    if icon_side == 'left':
+      text_x = self._rect.x + self._txt_turn_signal_right.width
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
+    elif icon_side == 'right':
+      text_x = self._rect.x + ALERT_MARGIN
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
+
+    text_rect = rl.Rectangle(
+      text_x,
+      self._alert_y_filter.x,
+      text_width,
+      self._rect.height,
+    )
+    icon_layout = IconLayout(txt_icon, icon_side, icon_margin_x, icon_margin_y, icon_alpha) if txt_icon is not None and icon_side is not None else None
+    return AlertLayout(text_rect, icon_layout)
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    alert = self.get_alert(ui_state.sm)
+
+    # Animate fade and slide in/out
+    self._alert_y_filter.update(self._rect.y - 50 if alert is None else self._rect.y)
+    self._alpha_filter.update(0 if alert is None else 1)
+
+    if gui_app.sunnypilot_ui():
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)
+
+    if alert is None:
+      # If still animating out, keep the previous alert
+      if self._alpha_filter.x > 0.01 and self._prev_alert is not None:
+        alert = self._prev_alert
+      else:
+        self._prev_alert = None
+        return False
+
+    self._draw_background(alert)
+
+    # update speed limit UI states
+    SpeedLimitAlertRenderer.update(self)
+
+    alert_layout = self._icon_helper(alert)
+    self._draw_text(alert, alert_layout)
+    self._draw_icons(alert_layout)
+
+    return True
+
+  def _draw_icons(self, alert_layout: AlertLayout) -> None:
+    if alert_layout.icon is None:
+      return
+
+    if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
+      self._turn_signal_timer = time.monotonic()
+      self._turn_signal_alpha_filter.x = 255 * 2
+    else:
+      self._turn_signal_alpha_filter.update(255 * 0.2)
+
+    if alert_layout.icon.side == 'left':
+      pos_x = int(self._rect.x + alert_layout.icon.margin_x)
+    else:
+      pos_x = int(self._rect.x + self._rect.width - alert_layout.icon.margin_x - alert_layout.icon.texture.width)
+
+    if alert_layout.icon.texture not in (self._txt_turn_signal_left, self._txt_turn_signal_right):
+      icon_alpha = alert_layout.icon.alpha
+    else:
+      icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
+
+    rl.draw_texture(alert_layout.icon.texture, pos_x, int(self._rect.y + alert_layout.icon.margin_y),
+                    rl.Color(255, 255, 255, int(icon_alpha * self._alpha_filter.x)))
+
+  def _draw_background(self, alert: Alert) -> None:
+    # draw top gradient for alert text at top
+    color = ALERT_COLORS.get(alert.status, ALERT_COLORS[AlertStatus.normal])
+    color = rl.Color(color.r, color.g, color.b, int(255 * 0.90 * self._alpha_filter.x))
+    translucent_color = rl.Color(color.r, color.g, color.b, int(0 * self._alpha_filter.x))
+
+    small_alert_height = round(self._rect.height * 0.583) # 140px at mici height
+    medium_alert_height = round(self._rect.height * 0.833) # 200px at mici height
+
+    # alert_type format is "EventName/eventType" (e.g., "preLaneChangeLeft/warning")
+    event_name = alert.alert_type.split('/')[0] if alert.alert_type else ''
+
+    if event_name == 'preLaneChangeLeft':
+      bg_height = small_alert_height
+    elif event_name == 'preLaneChangeRight':
+      bg_height = small_alert_height
+    elif event_name == 'laneChange':
+      bg_height = small_alert_height
+    elif event_name == 'laneChangeBlocked':
+      bg_height = medium_alert_height
+    else:
+      bg_height = int(self._rect.height)
+
+    solid_height = round(bg_height * 0.2)
+    rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.width), solid_height, color)
+    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + solid_height), int(self._rect.width),
+                                 int(bg_height - solid_height),
+                                 color, translucent_color)
+
+  def _draw_text(self, alert: Alert, alert_layout: AlertLayout) -> None:
+    icon_side = alert_layout.icon.side if alert_layout.icon is not None else None
+
+    # TODO: hack
+    alert_text1 = alert.text1.lower().replace('calibrating: ', 'calibrating:\n')
+    can_draw_second_line = False
+    # TODO: there should be a common way to determine font size based on text length to maximize rect
+    if len(alert_text1) <= 12:
+      can_draw_second_line = True
+      font_size = 92 - 10
+    elif len(alert_text1) <= 16:
+      can_draw_second_line = True
+      font_size = 70
+    else:
+      font_size = 64 - 10
+
+    if icon_side is not None:
+      font_size -= 10
+
+    color = rl.Color(255, 255, 255, int(255 * 0.9 * self._alpha_filter.x))
+
+    text1_y_offset = 11 if font_size >= 70 else 4
+    text_rect1 = rl.Rectangle(
+      alert_layout.text_rect.x,
+      alert_layout.text_rect.y - text1_y_offset,
+      alert_layout.text_rect.width,
+      alert_layout.text_rect.height,
+    )
+    self._alert_text1_label.set_text(alert_text1)
+    self._alert_text1_label.set_text_color(color)
+    self._alert_text1_label.set_font_size(font_size)
+    self._alert_text1_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+    self._alert_text1_label.render(text_rect1)
+
+    alert_text2 = alert.text2.lower()
+
+    # randomize chars and length for testing
+    if DEBUG:
+      if time.monotonic() - self._text_gen_time > 0.5:
+        self._alert_text2_gen = ''.join(random.choices(string.ascii_lowercase + ' ', k=random.randint(0, 40)))
+        self._text_gen_time = time.monotonic()
+      alert_text2 = self._alert_text2_gen or alert_text2
+
+    if can_draw_second_line and alert_text2:
+      last_line_h = self._alert_text1_label.rect.y + self._alert_text1_label.get_content_height(int(alert_layout.text_rect.width))
+      last_line_h -= 4
+      if len(alert_text2) > 18:
+        small_font_size = 36
+      elif len(alert_text2) > 24:
+        small_font_size = 32
+      else:
+        small_font_size = 40
+      text_rect2 = rl.Rectangle(
+        alert_layout.text_rect.x,
+        last_line_h,
+        alert_layout.text_rect.width,
+        alert_layout.text_rect.height - last_line_h
+      )
+      color = rl.Color(255, 255, 255, int(255 * 0.65 * self._alpha_filter.x))
+
+      self._alert_text2_label.set_text(alert_text2)
+      self._alert_text2_label.set_text_color(color)
+      self._alert_text2_label.set_font_size(small_font_size)
+      self._alert_text2_label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_LEFT if icon_side != 'left' else rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+      self._alert_text2_label.render(text_rect2)
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
new file mode 100644
index 0000000000..73dd648518
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -0,0 +1,380 @@
+import time
+import numpy as np
+import pyray as rl
+from cereal import messaging, car, log
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
+from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
+from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import BounceFilter
+from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
+from openpilot.common.transformations.orientation import rot_from_euler
+from enum import IntEnum
+
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.mici.onroad.hud_renderer import HudRendererSP as HudRenderer
+  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
+
+OpState = log.SelfdriveState.OpenpilotState
+CALIBRATED = log.LiveCalibrationData.Status.calibrated
+ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
+DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
+
+
+class BookmarkState(IntEnum):
+  HIDDEN = 0
+  DRAGGING = 1
+  TRIGGERED = 2
+
+WIDE_CAM_MAX_SPEED = 5.0  # m/s (10 mph)
+ROAD_CAM_MIN_SPEED = 10  # m/s (25 mph)
+
+CAM_Y_OFFSET = 20
+
+
+class BookmarkIcon(Widget):
+  PEEK_THRESHOLD = 50  # If icon peeks out this much, snap it fully visible
+  FULL_VISIBLE_OFFSET = 200  # How far onscreen when fully visible
+  HIDDEN_OFFSET = -50  # How far offscreen when hidden
+
+  def __init__(self, bookmark_callback):
+    super().__init__()
+    self._bookmark_callback = bookmark_callback
+    self._icon = gui_app.texture("icons_mici/onroad/bookmark.png", 180, 180)
+    self._offset_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+    # State
+    self._interacting = False
+    self._state = BookmarkState.HIDDEN
+    self._swipe_start_x = 0.0
+    self._swipe_current_x = 0.0
+    self._is_swiping = False
+    self._is_swiping_left: bool = False
+    self._triggered_time: float = 0.0
+
+  def is_swiping_left(self) -> bool:
+    """Check if currently swiping left (for scroller to disable)."""
+    return self._is_swiping_left
+
+  def interacting(self):
+    interacting, self._interacting = self._interacting, False
+    return interacting
+
+  def _update_state(self):
+    if self._state == BookmarkState.DRAGGING:
+      # Allow pulling past activated position with rubber band effect
+      swipe_offset = self._swipe_start_x - self._swipe_current_x
+      swipe_offset = min(swipe_offset, self.FULL_VISIBLE_OFFSET + 50)
+      self._offset_filter.update(swipe_offset)
+
+    elif self._state == BookmarkState.TRIGGERED:
+      # Continue animating to fully visible
+      self._offset_filter.update(self.FULL_VISIBLE_OFFSET)
+      # Stay in TRIGGERED state for 1 second
+      if rl.get_time() - self._triggered_time >= 1.5:
+        self._state = BookmarkState.HIDDEN
+
+    elif self._state == BookmarkState.HIDDEN:
+      self._offset_filter.update(self.HIDDEN_OFFSET)
+
+      if self._offset_filter.x < 1e-3:
+        self._interacting = False
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent):
+    if not ui_state.started:
+      return
+
+    if mouse_event.left_pressed:
+      # Store relative position within widget
+      self._swipe_start_x = mouse_event.pos.x
+      self._swipe_current_x = mouse_event.pos.x
+      self._is_swiping = True
+      self._is_swiping_left = False
+      self._state = BookmarkState.DRAGGING
+
+    elif mouse_event.left_down and self._is_swiping:
+      self._swipe_current_x = mouse_event.pos.x
+      swipe_offset = self._swipe_start_x - self._swipe_current_x
+      self._is_swiping_left = swipe_offset > 0
+      if self._is_swiping_left:
+        self._interacting = True
+
+    elif mouse_event.left_released:
+      if self._is_swiping:
+        swipe_distance = self._swipe_start_x - self._swipe_current_x
+
+        # If peeking past threshold, transition to animating to fully visible and bookmark
+        if swipe_distance > self.PEEK_THRESHOLD:
+          self._state = BookmarkState.TRIGGERED
+          self._triggered_time = rl.get_time()
+          self._bookmark_callback()
+        else:
+          # Otherwise, transition back to hidden
+          self._state = BookmarkState.HIDDEN
+
+        # Reset swipe state
+        self._is_swiping = False
+        self._is_swiping_left = False
+
+  def _render(self, _):
+    """Render the bookmark icon."""
+    if self._offset_filter.x > 0:
+      icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
+      icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2  # Vertically centered
+      rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
+
+
+class AugmentedRoadView(CameraView):
+  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+    super().__init__("camerad", stream_type)
+    self._bookmark_callback = bookmark_callback
+    self._set_placeholder_color(rl.BLACK)
+
+    self.device_camera: DeviceCameraConfig | None = None
+    self.view_from_calib = view_frame_from_device_frame.copy()
+    self.view_from_wide_calib = view_frame_from_device_frame.copy()
+
+    self._last_calib_time: float = 0
+    self._last_rect_dims = (0.0, 0.0)
+    self._last_stream_type = stream_type
+    self._cached_matrix: np.ndarray | None = None
+    self._content_rect = rl.Rectangle()
+    self._last_click_time = 0.0
+
+    # Bookmark icon with swipe gesture
+    self._bookmark_icon = BookmarkIcon(bookmark_callback)
+
+    self._model_renderer = ModelRenderer()
+    self._hud_renderer = HudRenderer()
+    self._alert_renderer = AlertRenderer()
+    self._driver_state_renderer = DriverStateRenderer()
+    self._confidence_ball = ConfidenceBall()
+    self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
+                                       text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                       alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                       alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
+
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
+  def is_swiping_left(self) -> bool:
+    """Check if currently swiping left (for scroller to disable)."""
+    return self._bookmark_icon.is_swiping_left()
+
+  def _update_state(self):
+    super()._update_state()
+
+    # update offroad label
+    if ui_state.panda_type == log.PandaState.PandaType.unknown:
+      self._offroad_label.set_text("system booting")
+    else:
+      self._offroad_label.set_text("start the car to\nuse sunnypilot")
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    # Don't trigger click callback if bookmark was triggered
+    if not self._bookmark_icon.interacting():
+      super()._handle_mouse_release(mouse_pos)
+
+  def _render(self, _):
+    start_draw = time.monotonic()
+    self._switch_stream_if_needed(ui_state.sm)
+
+    # Update calibration before rendering
+    self._update_calibration()
+
+    # Create inner content area with border padding
+    self._content_rect = rl.Rectangle(
+      self.rect.x,
+      self.rect.y,
+      self.rect.width - SIDE_PANEL_WIDTH,
+      self.rect.height,
+    )
+
+    # Enable scissor mode to clip all rendering within content rectangle boundaries
+    # This creates a rendering viewport that prevents graphics from drawing outside the border
+    rl.begin_scissor_mode(
+      int(self._content_rect.x),
+      int(self._content_rect.y),
+      int(self._content_rect.width),
+      int(self._content_rect.height)
+    )
+
+    # Render the base camera view
+    super()._render(self._content_rect)
+
+    # Draw all UI overlays
+    self._model_renderer.render(self._content_rect)
+
+    # Fade out bottom of overlays for looks
+    rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
+
+    alert_to_render, not_animating_out = self._alert_renderer.will_render()
+
+    # Hide DMoji when disengaged unless AlwaysOnDM is enabled
+    should_draw_dmoji = (not self._hud_renderer.drawing_top_icons() and ui_state.is_onroad() and
+                         (ui_state.status != UIStatus.DISENGAGED or ui_state.always_on_dm))
+    self._driver_state_renderer.set_should_draw(should_draw_dmoji)
+    self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
+    self._driver_state_renderer.render()
+
+    self._hud_renderer.set_can_draw_top_icons(alert_to_render is None)
+    self._hud_renderer.set_wheel_critical_icon(alert_to_render is not None and not not_animating_out and
+                                               alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
+    # TODO: have alert renderer draw offroad mici label below
+    if ui_state.started:
+      self._alert_renderer.render(self._content_rect)
+    self._hud_renderer.render(self._content_rect)
+
+    # Draw fake rounded border
+    rl.draw_rectangle_rounded_lines_ex(self._content_rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+
+    # End clipping region
+    rl.end_scissor_mode()
+
+    # Custom UI extension point - add custom overlays here
+    # Use self._content_rect for positioning within camera bounds
+    self._confidence_ball.render(self.rect)
+
+    self._bookmark_icon.render(self.rect)
+
+    # Draw darkened background and text if not onroad
+    if not ui_state.started:
+      rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
+      self._offroad_label.render(self._rect)
+
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
+  def _switch_stream_if_needed(self, sm):
+    if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
+      v_ego = sm['carState'].vEgo
+      if v_ego < WIDE_CAM_MAX_SPEED:
+        target = WIDE_CAM
+      elif v_ego > ROAD_CAM_MIN_SPEED:
+        target = ROAD_CAM
+      else:
+        # Hysteresis zone - keep current stream
+        target = self.stream_type
+    else:
+      target = ROAD_CAM
+
+    if self.stream_type != target:
+      self.switch_stream(target)
+
+  def _update_calibration(self):
+    # Update device camera if not already set
+    sm = ui_state.sm
+    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+
+    # Check if live calibration data is available and valid
+    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+      return
+
+    calib = sm['liveCalibration']
+    if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
+      return
+
+    # Update view_from_calib matrix
+    device_from_calib = rot_from_euler(calib.rpyCalib)
+    self.view_from_calib = view_frame_from_device_frame @ device_from_calib
+
+    # Update wide calibration if available
+    if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3:
+      wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
+      self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    # Get camera configuration
+    # TODO: cache with vEgo?
+    calib_time = ui_state.sm.recv_frame['liveCalibration']
+    current_dims = (self._content_rect.width, self._content_rect.height)
+    device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
+    is_wide_camera = self.stream_type == WIDE_CAM
+    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
+    if is_wide_camera:
+      zoom = 0.7 * 1.5
+    else:
+      zoom = np.interp(ui_state.sm['carState'].vEgo, [10, 30], [0.8, 1.0])
+
+    # Calculate transforms for vanishing point
+    inf_point = np.array([1000.0, 0.0, 0.0])
+    calib_transform = intrinsic @ calibration
+    kep = calib_transform @ inf_point
+
+    # Calculate center points and dimensions
+    x, y = self._content_rect.x, self._content_rect.y
+    w, h = self._content_rect.width, self._content_rect.height
+    cx, cy = intrinsic[0, 2], intrinsic[1, 2]
+
+    # Calculate max allowed offsets with margins
+    margin = 5
+    max_x_offset = cx * zoom - w / 2 - margin
+    max_y_offset = cy * zoom - h / 2 - margin
+
+    # Calculate and clamp offsets to prevent out-of-bounds issues
+    try:
+      if abs(kep[2]) > 1e-6:
+        x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset)
+        y_offset = np.clip((kep[1] / kep[2] - cy) * zoom + CAM_Y_OFFSET, -max_y_offset, max_y_offset)
+      else:
+        x_offset, y_offset = 0, 0
+    except (ZeroDivisionError, OverflowError):
+      x_offset, y_offset = 0, 0
+
+    # Cache the computed transformation matrix to avoid recalculations
+    self._last_calib_time = calib_time
+    self._last_rect_dims = current_dims
+    self._last_stream_type = self.stream_type
+    self._cached_matrix = np.array([
+      [zoom * 2 * cx / w, 0, -x_offset / w * 2],
+      [0, zoom * 2 * cy / h, -y_offset / h * 2],
+      [0, 0, 1.0]
+    ])
+
+    video_transform = np.array([
+      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [0.0, 0.0, 1.0]
+    ])
+    self._model_renderer.set_transform(video_transform @ calib_transform)
+
+    return self._cached_matrix
+
+  def show_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
+
+  def hide_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("OnRoad Camera View")
+  road_camera_view = AugmentedRoadView(lambda: None, stream_type=ROAD_CAM)
+  print("***press space to switch camera view***")
+  try:
+    for _ in gui_app.render():
+      ui_state.update()
+      if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
+        if WIDE_CAM in road_camera_view.available_streams:
+          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          road_camera_view.switch_stream(stream)
+      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    road_camera_view.close()
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
new file mode 100644
index 0000000000..62fcfd0654
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -0,0 +1,417 @@
+import platform
+import numpy as np
+import pyray as rl
+
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+
+CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
+
+VERSION = """
+#version 300 es
+precision mediump float;
+"""
+if platform.system() == "Darwin":
+  VERSION = """
+    #version 330 core
+  """
+
+
+VERTEX_SHADER = VERSION + """
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+in vec3 vertexNormal;
+in vec4 vertexColor;
+uniform mat4 mvp;
+out vec2 fragTexCoord;
+out vec4 fragColor;
+void main() {
+  fragTexCoord = vertexTexCoord;
+  fragColor = vertexColor;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+
+# Choose fragment shader based on platform capabilities
+if TICI:
+  FRAME_FRAGMENT_SHADER = """
+    #version 300 es
+    #extension GL_OES_EGL_image_external_essl3 : enable
+    precision mediump float;
+    in vec2 fragTexCoord;
+    uniform samplerExternalOES texture0;
+    out vec4 fragColor;
+    uniform int engaged;
+    uniform int enhance_driver;
+
+    void main() {
+      vec4 color = texture(texture0, fragTexCoord);
+      if (engaged == 1) {
+        float gray = dot(color.rgb, vec3(0.299, 0.587, 0.114));  // Luma
+        color.rgb = mix(vec3(gray), color.rgb, 0.2);  // 20% saturation
+        color.rgb = clamp((color.rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0);  // +20% contrast
+        color.rgb = pow(color.rgb, vec3(1.0/1.28));
+        fragColor = vec4(color.rgb, color.a);
+      } else {
+        color.rgb *= 0.85;  // 85% opacity
+      }
+      if (enhance_driver == 1) {
+        float brightness = 1.1;
+        color.rgb = color.rgb + 0.15;
+        color.rgb = clamp((color.rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
+        color.rgb = color.rgb * color.rgb * (3.0 - 2.0 * color.rgb);
+        color.rgb = pow(color.rgb, vec3(0.8));
+      }
+      fragColor = vec4(color.rgb, color.a);
+    }
+    """
+else:
+  FRAME_FRAGMENT_SHADER = VERSION + """
+    in vec2 fragTexCoord;
+    uniform sampler2D texture0;
+    uniform sampler2D texture1;
+    out vec4 fragColor;
+    uniform int engaged;
+    uniform int enhance_driver;
+
+    void main() {
+      float y = texture(texture0, fragTexCoord).r;
+      vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
+      vec3 rgb = vec3(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x);
+      if (engaged == 1) {
+        float gray = dot(rgb, vec3(0.299, 0.587, 0.114));
+        rgb = mix(vec3(gray), rgb, 0.2);  // 20% saturation
+        rgb = clamp((rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0);  // +20% contrast
+      } else {
+        rgb *= 0.85;  // 85% opacity
+      }
+      // TODO: the images out of camerad need some more correction and
+      // the ui should apply a gamma curve for the device display
+      if (enhance_driver == 1) {
+        float brightness = 1.1;
+        rgb = rgb + 0.15;
+        rgb = clamp((rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
+        rgb = rgb * rgb * (3.0 - 2.0 * rgb);
+        rgb = pow(rgb, vec3(0.8));
+      }
+      fragColor = vec4(rgb, 1.0);
+    }
+    """
+
+
+class CameraView(Widget):
+  def __init__(self, name: str, stream_type: VisionStreamType):
+    super().__init__()
+    self._name = name
+    # Primary stream
+    self.client = VisionIpcClient(name, stream_type, conflate=True)
+    self._stream_type = stream_type
+    self.available_streams: list[VisionStreamType] = []
+
+    # Target stream for switching
+    self._target_client: VisionIpcClient | None = None
+    self._target_stream_type: VisionStreamType | None = None
+    self._switching: bool = False
+
+    self._texture_needs_update = True
+    self.last_connection_attempt: float = 0.0
+    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+    self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
+    self._engaged_val = rl.ffi.new("int[1]", [1])
+    self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
+    self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
+
+    self.frame: VisionBuf | None = None
+    self.texture_y: rl.Texture | None = None
+    self.texture_uv: rl.Texture | None = None
+
+    # EGL resources
+    self.egl_images: dict[int, EGLImage] = {}
+    self.egl_texture: rl.Texture | None = None
+
+    self._placeholder_color: rl.Color | None = None
+
+    # Initialize EGL for zero-copy rendering on TICI
+    if TICI:
+      if not init_egl():
+        raise RuntimeError("Failed to initialize EGL")
+
+      # Create a 1x1 pixel placeholder texture for EGL image binding
+      temp_image = rl.gen_image_color(1, 1, rl.BLACK)
+      self.egl_texture = rl.load_texture_from_image(temp_image)
+      rl.unload_image(temp_image)
+
+    ui_state.add_offroad_transition_callback(self._offroad_transition)
+
+  def _offroad_transition(self):
+    # Reconnect if not first time going onroad
+    if ui_state.is_onroad() and self.frame is not None:
+      # Prevent old frames from showing when going onroad. Qt has a separate thread
+      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
+      # and only clears internal buffers, not the message queue.
+      self.available_streams.clear()
+      if self.client:
+        del self.client
+      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    self.frame = None
+
+  def _set_placeholder_color(self, color: rl.Color):
+    """Set a placeholder color to be drawn when no frame is available."""
+    self._placeholder_color = color
+
+  def switch_stream(self, stream_type: VisionStreamType) -> None:
+    if self._stream_type == stream_type:
+      return
+
+    if self._switching and self._target_stream_type == stream_type:
+      return
+
+    cloudlog.debug(f'Preparing switch from {self._stream_type} to {stream_type}')
+
+    if self._target_client:
+      del self._target_client
+
+    self._target_stream_type = stream_type
+    self._target_client = VisionIpcClient(self._name, stream_type, conflate=True)
+    self._switching = True
+
+  @property
+  def stream_type(self) -> VisionStreamType:
+    return self._stream_type
+
+  def close(self) -> None:
+    self._clear_textures()
+
+    # Clean up EGL texture
+    if TICI and self.egl_texture:
+      rl.unload_texture(self.egl_texture)
+      self.egl_texture = None
+
+    # Clean up shader
+    if self.shader and self.shader.id:
+      rl.unload_shader(self.shader)
+      self.shader.id = 0
+
+    self.frame = None
+    self.available_streams.clear()
+    self.client = None
+
+  def __del__(self):
+    self.close()
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    if not self.frame:
+      return np.eye(3)
+
+    # Calculate aspect ratios
+    widget_aspect_ratio = rect.width / rect.height
+    frame_aspect_ratio = self.frame.width / self.frame.height
+
+    # Calculate scaling factors to maintain aspect ratio
+    zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0)
+    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
+
+    return np.array([
+      [zx, 0.0, 0.0],
+      [0.0, zy, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+  def _render(self, rect: rl.Rectangle):
+    if self._switching:
+      self._handle_switch()
+
+    if not self._ensure_connection():
+      self._draw_placeholder(rect)
+      return
+
+    # Try to get a new buffer without blocking
+    buffer = self.client.recv(timeout_ms=0)
+    if buffer:
+      self._texture_needs_update = True
+      self.frame = buffer
+    elif not self.client.is_connected():
+      # ensure we clear the displayed frame when the connection is lost
+      self.frame = None
+
+    if not self.frame:
+      self._draw_placeholder(rect)
+      return
+
+    transform = self._calc_frame_matrix(rect)
+    src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
+    # Flip driver camera horizontally
+    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+      src_rect.width = -src_rect.width
+
+    # Calculate scale
+    scale_x = rect.width * transform[0, 0]  # zx
+    scale_y = rect.height * transform[1, 1]  # zy
+
+    # Calculate base position (centered)
+    x_offset = rect.x + (rect.width - scale_x) / 2
+    y_offset = rect.y + (rect.height - scale_y) / 2
+
+    x_offset += transform[0, 2] * rect.width / 2
+    y_offset += transform[1, 2] * rect.height / 2
+
+    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
+
+    # Render with appropriate method
+    if TICI:
+      self._render_egl(src_rect, dst_rect)
+    else:
+      self._render_textures(src_rect, dst_rect)
+
+  def _draw_placeholder(self, rect: rl.Rectangle):
+    if self._placeholder_color:
+      rl.draw_rectangle_rec(rect, self._placeholder_color)
+
+  def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
+    """Render using EGL for direct buffer access"""
+    if self.frame is None or self.egl_texture is None:
+      return
+
+    idx = self.frame.idx
+    egl_image = self.egl_images.get(idx)
+
+    # Create EGL image if needed
+    if egl_image is None:
+      egl_image = create_egl_image(self.frame.width, self.frame.height, self.frame.stride, self.frame.fd, self.frame.uv_offset)
+      if egl_image:
+        self.egl_images[idx] = egl_image
+      else:
+        return
+
+    # Update texture dimensions to match current frame
+    self.egl_texture.width = self.frame.width
+    self.egl_texture.height = self.frame.height
+
+    # Bind the EGL image to our texture
+    bind_egl_image_to_texture(self.egl_texture.id, egl_image)
+
+    # Render with shader
+    rl.begin_shader_mode(self.shader)
+    self._update_texture_color_filtering()
+    rl.draw_texture_pro(self.egl_texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
+    """Render using texture copies"""
+    if not self.texture_y or not self.texture_uv or self.frame is None:
+      return
+
+    # Update textures with new frame data
+    if self._texture_needs_update:
+      y_data = self.frame.data[: self.frame.uv_offset]
+      uv_data = self.frame.data[self.frame.uv_offset:]
+
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      self._texture_needs_update = False
+
+    # Render with shader
+    rl.begin_shader_mode(self.shader)
+    self._update_texture_color_filtering()
+    rl.set_shader_value_texture(self.shader, self._texture1_loc, self.texture_uv)
+    rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _update_texture_color_filtering(self):
+    self._engaged_val[0] = 1 if ui_state.status != UIStatus.DISENGAGED else 0
+    rl.set_shader_value(self.shader, self._engaged_loc, self._engaged_val, rl.ShaderUniformDataType.SHADER_UNIFORM_INT)
+    rl.set_shader_value(self.shader, self._enhance_driver_loc, self._enhance_driver_val, rl.ShaderUniformDataType.SHADER_UNIFORM_INT)
+
+  def _ensure_connection(self) -> bool:
+    if not self.client.is_connected():
+      self.frame = None
+      self.available_streams.clear()
+
+      # Throttle connection attempts
+      current_time = rl.get_time()
+      if current_time - self.last_connection_attempt < CONNECTION_RETRY_INTERVAL:
+        return False
+      self.last_connection_attempt = current_time
+
+      if not self.client.connect(False) or not self.client.num_buffers:
+        return False
+
+      cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}")
+      self._initialize_textures()
+      self.available_streams = self.client.available_streams(self._name, block=False)
+
+    return True
+
+  def _handle_switch(self) -> None:
+    """Check if target stream is ready and switch immediately."""
+    if not self._target_client or not self._switching:
+      return
+
+    # Try to connect target if needed
+    if not self._target_client.is_connected():
+      if not self._target_client.connect(False) or not self._target_client.num_buffers:
+        return
+
+      cloudlog.debug(f"Target stream connected: {self._target_stream_type}")
+
+    # Check if target has frames ready
+    target_frame = self._target_client.recv(timeout_ms=0)
+    if target_frame:
+      self.frame = target_frame  # Update current frame to target frame
+      self._complete_switch()
+
+  def _complete_switch(self) -> None:
+    """Instantly switch to target stream."""
+    cloudlog.debug(f"Switching to {self._target_stream_type}")
+    # Clean up current resources
+    if self.client:
+      del self.client
+
+    # Switch to target
+    self.client = self._target_client
+    self._stream_type = self._target_stream_type
+    self._texture_needs_update = True
+
+    # Reset state
+    self._target_client = None
+    self._target_stream_type = None
+    self._switching = False
+
+    # Initialize textures for new stream
+    self._initialize_textures()
+
+  def _initialize_textures(self):
+      self._clear_textures()
+      if not TICI:
+        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+
+  def _clear_textures(self):
+    if self.texture_y and self.texture_y.id:
+      rl.unload_texture(self.texture_y)
+      self.texture_y = None
+
+    if self.texture_uv and self.texture_uv.id:
+      rl.unload_texture(self.texture_uv)
+      self.texture_uv = None
+
+    # Clean up EGL resources
+    if TICI:
+      for data in self.egl_images.values():
+        destroy_egl_image(data)
+      self.egl_images = {}
+
+
+if __name__ == "__main__":
+  gui_app.init_window("camera view")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/mici/onroad/confidence_ball.py b/selfdrive/ui/mici/onroad/confidence_ball.py
new file mode 100644
index 0000000000..54699eab54
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/confidence_ball.py
@@ -0,0 +1,86 @@
+import math
+import pyray as rl
+from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.filter_simple import FirstOrderFilter
+
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.confidence_ball import ConfidenceBallSP
+
+
+def draw_circle_gradient(center_x: float, center_y: float, radius: int,
+                         top: rl.Color, bottom: rl.Color) -> None:
+  # Draw a square with the gradient
+  rl.draw_rectangle_gradient_v(int(center_x - radius), int(center_y - radius),
+                               radius * 2, radius * 2,
+                               top, bottom)
+
+  # Paint over square with a ring
+  outer_radius = math.ceil(radius * math.sqrt(2)) + 1
+  rl.draw_ring(rl.Vector2(int(center_x), int(center_y)), radius, outer_radius,
+               0.0, 360.0,
+               20, rl.BLACK)
+
+
+class ConfidenceBall(Widget, ConfidenceBallSP):
+  def __init__(self, demo: bool = False):
+    Widget.__init__(self)
+    ConfidenceBallSP.__init__(self)
+    self._demo = demo
+    self._confidence_filter = FirstOrderFilter(-0.5, 0.5, 1 / gui_app.target_fps)
+
+  def update_filter(self, value: float):
+    self._confidence_filter.update(value)
+
+  def _update_state(self):
+    if self._demo:
+      return
+
+    # animate status dot in from bottom
+    if ui_state.status == UIStatus.DISENGAGED:
+      self._confidence_filter.update(-0.5)
+    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
+      self._confidence_filter.update(1 - max(self.get_animate_status_probs() or [1]))
+    else:
+      self._confidence_filter.update((1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs or [1])) *
+                                                        (1 - max(ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs or [1])))
+
+  def _render(self, _):
+    content_rect = rl.Rectangle(
+      self.rect.x + self.rect.width - SIDE_PANEL_WIDTH,
+      self.rect.y,
+      SIDE_PANEL_WIDTH,
+      self.rect.height,
+    )
+
+    status_dot_radius = 24
+    dot_height = (1 - self._confidence_filter.x) * (content_rect.height - 2 * status_dot_radius) + status_dot_radius
+    dot_height = self._rect.y + dot_height
+
+    # confidence zones
+    if ui_state.status == UIStatus.ENGAGED or self._demo:
+      if self._confidence_filter.x > 0.5:
+        top_dot_color = rl.Color(0, 255, 204, 255)
+        bottom_dot_color = rl.Color(0, 255, 38, 255)
+      elif self._confidence_filter.x > 0.2:
+        top_dot_color = rl.Color(255, 200, 0, 255)
+        bottom_dot_color = rl.Color(255, 115, 0, 255)
+      else:
+        top_dot_color = rl.Color(255, 0, 21, 255)
+        bottom_dot_color = rl.Color(255, 0, 89, 255)
+
+    elif ui_state.status in (UIStatus.LAT_ONLY, UIStatus.LONG_ONLY):
+      top_dot_color = bottom_dot_color = self.get_lat_long_dot_color()
+
+    elif ui_state.status == UIStatus.OVERRIDE:
+      top_dot_color = rl.Color(255, 255, 255, 255)
+      bottom_dot_color = rl.Color(82, 82, 82, 255)
+
+    else:
+      top_dot_color = rl.Color(50, 50, 50, 255)
+      bottom_dot_color = rl.Color(13, 13, 13, 255)
+
+    draw_circle_gradient(content_rect.x + content_rect.width - status_dot_radius,
+                         dot_height, status_dot_radius,
+                         top_dot_color, bottom_dot_color)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
new file mode 100644
index 0000000000..e8321b099c
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -0,0 +1,247 @@
+import pyray as rl
+from cereal import log, messaging
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.selfdrived.events import EVENTS, ET
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import gui_label
+
+EventName = log.OnroadEvent.EventName
+
+EVENT_TO_INT = EventName.schema.enumerants
+
+
+class DriverCameraView(CameraView):
+  def _calc_frame_matrix(self, rect: rl.Rectangle):
+    base = super()._calc_frame_matrix(rect)
+    driver_view_ratio = 1.5
+    base[0, 0] *= driver_view_ratio
+    base[1, 1] *= driver_view_ratio
+    return base
+
+
+class BaseDriverCameraDialog(Widget):
+  # Not a NavWidget so training guide can use this without back navigation
+  def __init__(self):
+    super().__init__()
+    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self.driver_state_renderer = DriverStateRenderer(lines=True)
+    self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
+    self.driver_state_renderer.load_icons()
+    self._pm: messaging.PubMaster | None = None
+
+    # Load eye icons
+    self._eye_fill_texture = None
+    self._eye_orange_texture = None
+    self._eye_size = 74
+    self._glasses_texture = None
+    self._glasses_size = 171
+
+    self._load_eye_textures()
+
+  def show_event(self):
+    super().show_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
+    self._publish_alert_sound(None)
+    device.set_override_interactive_timeout(300)
+    ui_state.params.remove("DriverTooDistracted")
+    self._pm = messaging.PubMaster(['selfdriveState'])
+
+  def hide_event(self):
+    super().hide_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    device.set_override_interactive_timeout(None)
+
+  def _handle_mouse_release(self, _):
+    ui_state.params.remove("DriverTooDistracted")
+
+  def __del__(self):
+    self.close()
+
+  def close(self):
+    if self._camera_view:
+      self._camera_view.close()
+
+  def _update_state(self):
+    if self._camera_view:
+      self._camera_view._update_state()
+    # Enable driver state renderer to show Dmoji in preview
+    self.driver_state_renderer.set_should_draw(True)
+    self.driver_state_renderer.set_force_active(True)
+    super()._update_state()
+
+  def _render(self, rect):
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._camera_view._render(rect)
+
+    if not self._camera_view.frame:
+      gui_label(rect, tr("camera starting"), font_size=54, font_weight=FontWeight.BOLD,
+                alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+      rl.end_scissor_mode()
+      self._publish_alert_sound(None)
+      return
+
+    driver_data = self._draw_face_detection(rect)
+    if driver_data is not None:
+      self._draw_eyes(rect, driver_data)
+
+    # Position dmoji on opposite side from driver
+    driver_state_rect = (
+      rect.x if self.driver_state_renderer.is_rhd else rect.x + rect.width - self.driver_state_renderer.rect.width,
+      rect.y + (rect.height - self.driver_state_renderer.rect.height) / 2,
+    )
+    self.driver_state_renderer.set_position(*driver_state_rect)
+    self.driver_state_renderer.render()
+
+    # Render driver monitoring alerts
+    self._render_dm_alerts(rect)
+
+    rl.end_scissor_mode()
+    return
+
+  def _publish_alert_sound(self, dm_state):
+    """Publish selfdriveState with only alertSound field set"""
+    if self._pm is None:
+      return
+
+    msg = messaging.new_message('selfdriveState')
+    if dm_state is not None and len(dm_state.events):
+      event_name = EVENT_TO_INT[dm_state.events[0].name]
+      if event_name is not None and event_name in EVENTS and ET.PERMANENT in EVENTS[event_name]:
+        msg.selfdriveState.alertSound = EVENTS[event_name][ET.PERMANENT].audible_alert
+    self._pm.send('selfdriveState', msg)
+
+  def _render_dm_alerts(self, rect: rl.Rectangle):
+    """Render driver monitoring event names"""
+    dm_state = ui_state.sm["driverMonitoringState"]
+    self._publish_alert_sound(dm_state)
+
+    gui_label(rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height),
+              f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+              color=rl.Color(0, 0, 0, 180))
+    gui_label(rect, f"Awareness: {dm_state.awarenessStatus * 100:.0f}%", font_size=44, font_weight=FontWeight.MEDIUM,
+              alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+              color=rl.Color(255, 255, 255, int(255 * 0.9)))
+
+    if not dm_state.events:
+      return
+
+    # Show first event (only one should be active at a time)
+    event_name_str = str(dm_state.events[0].name).split('.')[-1]
+    alignment = rl.GuiTextAlignment.TEXT_ALIGN_RIGHT if self.driver_state_renderer.is_rhd else rl.GuiTextAlignment.TEXT_ALIGN_LEFT
+
+    shadow_rect = rl.Rectangle(rect.x + 2, rect.y + 2, rect.width, rect.height)
+    gui_label(shadow_rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+              alignment=alignment,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
+              color=rl.Color(0, 0, 0, 180))
+    gui_label(rect, event_name_str, font_size=40, font_weight=FontWeight.BOLD,
+              alignment=alignment,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM,
+              color=rl.Color(255, 255, 255, int(255 * 0.9)))
+
+  def _load_eye_textures(self):
+    """Lazy load eye textures"""
+    if self._eye_fill_texture is None:
+      self._eye_fill_texture = gui_app.texture("icons_mici/onroad/eye_fill.png", self._eye_size, self._eye_size)
+    if self._eye_orange_texture is None:
+      self._eye_orange_texture = gui_app.texture("icons_mici/onroad/eye_orange.png", self._eye_size, self._eye_size)
+    if self._glasses_texture is None:
+      self._glasses_texture = gui_app.texture("icons_mici/onroad/glasses.png", self._glasses_size, self._glasses_size)
+
+  def _draw_face_detection(self, rect: rl.Rectangle):
+    dm_state = ui_state.sm["driverMonitoringState"]
+    driver_data = self.driver_state_renderer.get_driver_data()
+    if not dm_state.faceDetected:
+      return
+
+    # Get face position and orientation
+    face_x, face_y = driver_data.facePosition
+    face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    alpha = 0.7
+    if face_std > 0.15:
+      alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0)
+
+    # use approx instead of distort_points
+    # TODO: replace with distort_points
+    tici_x = 1080.0 - 1714.0 * face_x
+    tici_y = -135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y
+
+    # Tici coords are relative to center, scale offset
+    offset_x = (tici_x - 1080.0) * 1.25
+    offset_y = (tici_y - 540.0) * 1.25
+
+    # Map to mici screen (scale from 2160x1080 to rect dimensions)
+    scale_x = rect.width / 2160.0
+    scale_y = rect.height / 1080.0
+    fbox_x = rect.x + rect.width / 2 + offset_x * scale_x
+    fbox_y = rect.y + rect.height / 2 + offset_y * scale_y
+    box_size = 75
+    line_thickness = 3
+
+    line_color = rl.Color(255, 255, 255, int(alpha * 255))
+    rl.draw_rectangle_rounded_lines_ex(
+      rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size),
+      35.0 / box_size / 2,
+      line_thickness,
+      line_thickness,
+      line_color,
+    )
+    return driver_data
+
+  def _draw_eyes(self, rect: rl.Rectangle, driver_data):
+    # Draw eye indicators based on eye probabilities
+    eye_offset_x = 10
+    eye_offset_y = 10
+    eye_spacing = self._eye_size + 15
+
+    left_eye_x = rect.x + eye_offset_x
+    left_eye_y = rect.y + eye_offset_y
+    left_eye_prob = driver_data.leftEyeProb
+
+    right_eye_x = rect.x + eye_offset_x + eye_spacing
+    right_eye_y = rect.y + eye_offset_y
+    right_eye_prob = driver_data.rightEyeProb
+
+    # Draw eyes with opacity based on probability
+    for eye_x, eye_y, eye_prob in [(left_eye_x, left_eye_y, left_eye_prob), (right_eye_x, right_eye_y, right_eye_prob)]:
+      fill_opacity = eye_prob
+      orange_opacity = 1.0 - eye_prob
+
+      rl.draw_texture_v(self._eye_orange_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * orange_opacity)))
+      rl.draw_texture_v(self._eye_fill_texture, (eye_x, eye_y), rl.Color(255, 255, 255, int(255 * fill_opacity)))
+
+    # Draw sunglasses indicator based on sunglasses probability
+    # Position glasses centered between the two eyes at top left
+    glasses_x = rect.x + eye_offset_x - 4
+    glasses_y = rect.y
+    glasses_pos = rl.Vector2(glasses_x, glasses_y)
+    glasses_prob = driver_data.sunglassesProb
+    rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
+
+
+class DriverCameraDialog(NavWidget, BaseDriverCameraDialog):
+  def __init__(self):
+    super().__init__()
+    # TODO: this can grow unbounded, should be given some thought
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Driver Camera View (mici)")
+
+  driver_camera_view = DriverCameraDialog()
+  gui_app.push_widget(driver_camera_view)
+  try:
+    for _ in gui_app.render():
+      ui_state.update()
+  finally:
+    driver_camera_view.close()
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
new file mode 100644
index 0000000000..356d7ac832
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -0,0 +1,220 @@
+import pyray as rl
+import numpy as np
+import math
+from cereal import log
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+AlertSize = log.SelfdriveState.AlertSize
+
+DEBUG = False
+
+LOOKING_CENTER_THRESHOLD_UPPER = math.radians(6)
+LOOKING_CENTER_THRESHOLD_LOWER = math.radians(3)
+
+
+class DriverStateRenderer(Widget):
+  BASE_SIZE = 60
+  LINES_ANGLE_INCREMENT = 5
+  LINES_STALE_ANGLES = 3.0  # seconds
+
+  def __init__(self, lines: bool = False, inset: bool = False):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, self.BASE_SIZE, self.BASE_SIZE))
+    self._lines = lines
+    self._inset = inset
+
+    # In line mode, track smoothed angles
+    assert 360 % self.LINES_ANGLE_INCREMENT == 0
+    self._head_angles = {i * self.LINES_ANGLE_INCREMENT: FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps) for i in range(360 // self.LINES_ANGLE_INCREMENT)}
+
+    self._is_active = False
+    self._is_rhd = False
+    self._face_detected = False
+    self._should_draw = False
+    self._force_active = False
+    self._looking_center = False
+
+    self._fade_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._pitch_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
+    self._yaw_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps, initialized=False)
+    self._rotation_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps, initialized=False)
+    self._looking_center_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+    # Load the driver face icons
+    self.load_icons()
+
+  def load_icons(self):
+    """Load or reload the driver face icon texture"""
+    cone_and_person_size = round(52 / self.BASE_SIZE * self._rect.width)
+
+    # If inset is enabled, push cone and person smaller by 2x the current inset space
+    if self._inset:
+      # Current inset space = (rect.width - cone_and_person_size) / 2
+      current_inset = (self._rect.width - cone_and_person_size) / 2
+      # Reduce size by 2x the current inset (1x on each side)
+      cone_and_person_size = round(cone_and_person_size - current_inset * 2)
+
+    self._dm_person = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_person.png", cone_and_person_size, cone_and_person_size)
+    self._dm_cone = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_cone.png", cone_and_person_size, cone_and_person_size)
+    center_size = round(36 / self.BASE_SIZE * self._rect.width)
+    self._dm_center = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_center.png", center_size, center_size)
+    self._dm_background = gui_app.texture("icons_mici/onroad/driver_monitoring/dm_background.png", self._rect.width, self._rect.height)
+
+  def set_should_draw(self, should_draw: bool):
+    self._should_draw = should_draw
+
+  @property
+  def should_draw(self):
+    return (self._should_draw and ui_state.sm["selfdriveState"].alertSize == AlertSize.none and
+            ui_state.sm.recv_frame["driverStateV2"] > ui_state.started_frame)
+
+  def set_force_active(self, force_active: bool):
+    """Force the dmoji to always appear active (green) regardless of actual state"""
+    self._force_active = force_active
+
+  @property
+  def effective_active(self) -> bool:
+    """Returns True if dmoji should appear active (either actually active or forced)"""
+    return bool(self._force_active or self._is_active)
+
+  @property
+  def is_rhd(self) -> bool:
+    return self._is_rhd
+
+  def _render(self, _):
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(self._rect, 1, rl.RED)
+
+    rl.draw_texture(self._dm_background,
+                    int(self._rect.x),
+                    int(self._rect.y),
+                    rl.Color(255, 255, 255, int(255 * self._fade_filter.x)))
+
+    rl.draw_texture(self._dm_person,
+                    int(self._rect.x + (self._rect.width - self._dm_person.width) / 2),
+                    int(self._rect.y + (self._rect.height - self._dm_person.height) / 2),
+                    rl.Color(255, 255, 255, int(255 * 0.9 * self._fade_filter.x)))
+
+    if self.effective_active:
+      source_rect = rl.Rectangle(0, 0, self._dm_cone.width, self._dm_cone.height)
+      dest_rect = rl.Rectangle(
+        self._rect.x + self._rect.width / 2,
+        self._rect.y + self._rect.height / 2,
+        self._dm_cone.width,
+        self._dm_cone.height,
+      )
+
+      if not self._lines:
+        rl.draw_texture_pro(
+          self._dm_cone,
+          source_rect,
+          dest_rect,
+          rl.Vector2(dest_rect.width / 2, dest_rect.height / 2),
+          self._rotation_filter.x - 90,
+          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * (1 - self._looking_center_filter.x))),
+        )
+
+        rl.draw_texture_ex(
+          self._dm_center,
+          (int(self._rect.x + (self._rect.width - self._dm_center.width) / 2),
+           int(self._rect.y + (self._rect.height - self._dm_center.height) / 2)),
+          0,
+          1.0,
+          rl.Color(255, 255, 255, int(255 * self._fade_filter.x * self._looking_center_filter.x)),
+        )
+
+      else:
+        # remove old angles
+        for angle, f in self._head_angles.items():
+          dst_from_current = ((angle - self._rotation_filter.x) % 360) - 180
+          target = 1.0 if abs(dst_from_current) <= self.LINES_ANGLE_INCREMENT * 5 else 0.0
+          if not self._face_detected:
+            target = 0.0
+
+          # Reduce all line lengths when looking center
+          if self._looking_center:
+            target = np.interp(self._looking_center_filter.x, [0.0, 1.0], [target, 0.45])
+
+          f.update(target)
+          self._draw_line(angle, f, self._looking_center)
+
+  def _draw_line(self, angle: int, f: FirstOrderFilter, grey: bool):
+    line_length = self._rect.width / 6
+    line_length = round(np.interp(f.x, [0.0, 1.0], [0, line_length]))
+    line_offset = self._rect.width / 2 - line_length * 2  # ensure line ends within rect
+    center_x = self._rect.x + self._rect.width / 2
+    center_y = self._rect.y + self._rect.height / 2
+    start_x = center_x + (line_offset + line_length) * math.cos(math.radians(angle))
+    start_y = center_y + (line_offset + line_length) * math.sin(math.radians(angle))
+    end_x = start_x + line_length * math.cos(math.radians(angle))
+    end_y = start_y + line_length * math.sin(math.radians(angle))
+    color = rl.Color(0, 255, 64, 255)
+
+    if grey:
+      color = rl.Color(166, 166, 166, 255)
+
+    if f.x > 0.01:
+      rl.draw_line_ex((start_x, start_y), (end_x, end_y), 12, color)
+
+  def get_driver_data(self):
+    sm = ui_state.sm
+
+    dm_state = sm["driverMonitoringState"]
+    self._is_active = dm_state.isActiveMode
+    self._is_rhd = dm_state.isRHD
+    self._face_detected = dm_state.faceDetected
+
+    driverstate = sm["driverStateV2"]
+    driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData
+    return driver_data
+
+  def _update_state(self):
+    # Get monitoring state
+    driver_data = self.get_driver_data()
+    driver_orient = driver_data.faceOrientation
+
+    if len(driver_orient) != 3:
+      return
+
+    pitch, yaw, roll = driver_orient
+    pitch = self._pitch_filter.update(pitch)
+    yaw = self._yaw_filter.update(yaw)
+
+    # hysteresis on looking center
+    if abs(pitch) < LOOKING_CENTER_THRESHOLD_LOWER and abs(yaw) < LOOKING_CENTER_THRESHOLD_LOWER:
+      self._looking_center = True
+    elif abs(pitch) > LOOKING_CENTER_THRESHOLD_UPPER or abs(yaw) > LOOKING_CENTER_THRESHOLD_UPPER:
+      self._looking_center = False
+    self._looking_center_filter.update(1 if self._looking_center else 0)
+
+    if DEBUG:
+      pitchd = math.degrees(pitch)
+      yawd = math.degrees(yaw)
+      rolld = math.degrees(roll)
+
+      rl.draw_line_ex((0, 100), (200, 100), 3, rl.RED)
+      rl.draw_line_ex((0, 120), (200, 120), 3, rl.RED)
+      rl.draw_line_ex((0, 140), (200, 140), 3, rl.RED)
+
+      pitch_x = 100 + pitchd
+      yaw_x = 100 + yawd
+      roll_x = 100 + rolld
+      rl.draw_circle(int(pitch_x), 100, 5, rl.GREEN)
+      rl.draw_circle(int(yaw_x), 120, 5, rl.GREEN)
+      rl.draw_circle(int(roll_x), 140, 5, rl.GREEN)
+
+    # filter head rotation, handling wrap-around
+    rotation = math.degrees(math.atan2(pitch, yaw))
+    angle_diff = rotation - self._rotation_filter.x
+    angle_diff = ((angle_diff + 180) % 360) - 180
+    self._rotation_filter.update(self._rotation_filter.x + angle_diff)
+
+    if not self.should_draw:
+      self._fade_filter.update(0.0)
+    elif not self.effective_active:
+      self._fade_filter.update(0.35)
+    else:
+      self._fade_filter.update(1.0)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
new file mode 100644
index 0000000000..269b244ea0
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -0,0 +1,278 @@
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+from cereal import log
+
+EventName = log.OnroadEvent.EventName
+
+# Constants
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
+CRUISE_DISABLED_CHAR = '–'
+
+SET_SPEED_PERSISTENCE = 2.5  # seconds
+
+
+@dataclass(frozen=True)
+class FontSizes:
+  current_speed: int = 176
+  speed_unit: int = 66
+  max_speed: int = 36
+  set_speed: int = 112
+
+
+@dataclass(frozen=True)
+class Colors:
+  WHITE = rl.WHITE
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+
+
+FONT_SIZES = FontSizes()
+COLORS = Colors()
+
+
+class TurnIntent(Widget):
+  FADE_IN_ANGLE = 30  # degrees
+
+  def __init__(self):
+    super().__init__()
+    self._pre = False
+    self._turn_intent_direction: int = 0
+
+    self._turn_intent_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+    self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+
+    self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20)
+    self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20, flip_x=True)
+
+  def _render(self, _):
+    if self._turn_intent_alpha_filter.x > 1e-2:
+      turn_intent_texture = self._txt_turn_intent_right if self._turn_intent_direction == 1 else self._txt_turn_intent_left
+      src_rect = rl.Rectangle(0, 0, turn_intent_texture.width, turn_intent_texture.height)
+      dest_rect = rl.Rectangle(self._rect.x + self._rect.width / 2, self._rect.y + self._rect.height / 2,
+                               turn_intent_texture.width, turn_intent_texture.height)
+
+      origin = (turn_intent_texture.width / 2, self._rect.height / 2)
+      color = rl.Color(255, 255, 255, int(255 * self._turn_intent_alpha_filter.x))
+      rl.draw_texture_pro(turn_intent_texture, src_rect, dest_rect, origin, self._turn_intent_rotation_filter.x, color)
+
+  def _update_state(self) -> None:
+    sm = ui_state.sm
+
+    left = any(e.name == EventName.preLaneChangeLeft for e in sm['onroadEvents'])
+    right = any(e.name == EventName.preLaneChangeRight for e in sm['onroadEvents'])
+    if left or right:
+      # pre lane change
+      if not self._pre:
+        self._turn_intent_rotation_filter.x = self.FADE_IN_ANGLE if left else -self.FADE_IN_ANGLE
+
+      self._pre = True
+      self._turn_intent_direction = -1 if left else 1
+      self._turn_intent_alpha_filter.update(1)
+      self._turn_intent_rotation_filter.update(0)
+    elif any(e.name == EventName.laneChange for e in sm['onroadEvents']):
+      # fade out and rotate away
+      self._pre = False
+      self._turn_intent_alpha_filter.update(0)
+
+      if self._turn_intent_direction == 0:
+        # unknown. missed pre frame?
+        self._turn_intent_rotation_filter.update(0)
+      else:
+        self._turn_intent_rotation_filter.update(self._turn_intent_direction * self.FADE_IN_ANGLE)
+    else:
+      # didn't complete lane change, just hide
+      self._pre = False
+      self._turn_intent_direction = 0
+      self._turn_intent_alpha_filter.update(0)
+      self._turn_intent_rotation_filter.update(0)
+
+
+class HudRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    """Initialize the HUD renderer."""
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = True
+    self.set_speed: float = SET_SPEED_NA
+    self._set_speed_changed_time: float = 0
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+    self._engaged: bool = False
+
+    self._can_draw_top_icons = True
+    self._show_wheel_critical = False
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
+
+    self._turn_intent = TurnIntent()
+    self._torque_bar = TorqueBar()
+
+    self._txt_wheel: rl.Texture = gui_app.texture('icons_mici/wheel.png', 50, 50)
+    self._txt_wheel_critical: rl.Texture = gui_app.texture('icons_mici/wheel_critical.png', 50, 50)
+    self._txt_exclamation_point: rl.Texture = gui_app.texture('icons_mici/exclamation_point.png', 44, 44)
+
+    self._wheel_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+    self._wheel_y_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+
+    self._set_speed_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+  def set_wheel_critical_icon(self, critical: bool):
+    """Set the wheel icon to critical or normal state."""
+    self._show_wheel_critical = critical
+
+  def set_can_draw_top_icons(self, can_draw_top_icons: bool):
+    """Set whether to draw the top part of the HUD."""
+    self._can_draw_top_icons = can_draw_top_icons
+
+  def drawing_top_icons(self) -> bool:
+    # whether we're drawing any top icons currently
+    return bool(self._set_speed_alpha_filter.x > 1e-2)
+
+  def _update_state(self) -> None:
+    """Update HUD state based on car state and controls state."""
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.is_cruise_set = False
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
+      return
+
+    controls_state = sm['controlsState']
+    car_state = sm['carState']
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    engaged = sm['selfdriveState'].enabled
+    if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):
+      self._set_speed_changed_time = rl.get_time()
+    self._engaged = engaged
+    self.set_speed = set_speed
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    """Render HUD elements to the screen."""
+
+    self._torque_bar.render(rect)
+
+    if self.is_cruise_set:
+      self._draw_set_speed(rect)
+
+    self._draw_steering_wheel(rect)
+
+  def _draw_steering_wheel(self, rect: rl.Rectangle) -> None:
+    wheel_txt = self._txt_wheel_critical if self._show_wheel_critical else self._txt_wheel
+
+    bsm_detected = self._has_blind_spot_detected() if gui_app.sunnypilot_ui() else False
+
+    if self._show_wheel_critical:
+      self._wheel_alpha_filter.update(255)
+      self._wheel_y_filter.update(0)
+    else:
+      if ui_state.status == UIStatus.DISENGAGED or bsm_detected:
+        self._wheel_alpha_filter.update(0)
+        self._wheel_y_filter.update(wheel_txt.height / 2)
+      else:
+        self._wheel_alpha_filter.update(255 * 0.9)
+        self._wheel_y_filter.update(0)
+
+    # pos
+    pos_x = int(rect.x + 21 + wheel_txt.width / 2)
+    pos_y = int(rect.y + rect.height - 14 - wheel_txt.height / 2 + self._wheel_y_filter.x)
+    rotation = -ui_state.sm['carState'].steeringAngleDeg
+
+    turn_intent_margin = 25
+    self._turn_intent.render(rl.Rectangle(
+      pos_x - wheel_txt.width / 2 - turn_intent_margin,
+      pos_y - wheel_txt.height / 2 - turn_intent_margin,
+      wheel_txt.width + turn_intent_margin * 2,
+      wheel_txt.height + turn_intent_margin * 2,
+    ))
+
+    src_rect = rl.Rectangle(0, 0, wheel_txt.width, wheel_txt.height)
+    dest_rect = rl.Rectangle(pos_x, pos_y, wheel_txt.width, wheel_txt.height)
+    origin = (wheel_txt.width / 2, wheel_txt.height / 2)
+
+    # color and draw
+    color = rl.Color(255, 255, 255, int(self._wheel_alpha_filter.x))
+    rl.draw_texture_pro(wheel_txt, src_rect, dest_rect, origin, rotation, color)
+
+    if self._show_wheel_critical:
+      # Draw exclamation point icon
+      EXCLAMATION_POINT_SPACING = 10
+      exclamation_pos_x = pos_x - self._txt_exclamation_point.width / 2 + wheel_txt.width / 2 + EXCLAMATION_POINT_SPACING
+      exclamation_pos_y = pos_y - self._txt_exclamation_point.height / 2
+      rl.draw_texture(self._txt_exclamation_point, int(exclamation_pos_x), int(exclamation_pos_y), rl.WHITE)
+
+  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the MAX speed indicator box."""
+    alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
+                                                self._can_draw_top_icons and self._engaged)
+    if alpha < 1e-2:
+      return
+
+    x = rect.x
+    y = rect.y
+
+    # draw drop shadow
+    circle_radius = 162 // 2
+    rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
+                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
+
+    set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
+    max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
+
+    set_speed = self.set_speed
+    if self.is_cruise_set and not ui_state.is_metric:
+      set_speed *= KM_TO_MILE
+
+    set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(set_speed))
+    rl.draw_text_ex(
+      self._font_display,
+      set_speed_text,
+      rl.Vector2(x + 13 + 4, y + 3 - 8 - 3 + 4),
+      FONT_SIZES.set_speed,
+      0,
+      set_speed_color,
+    )
+
+    max_text = tr("MAX")
+    rl.draw_text_ex(
+      self._font_semi_bold,
+      max_text,
+      rl.Vector2(x + 25, y + FONT_SIZES.set_speed - 7 + 4),
+      FONT_SIZES.max_speed,
+      0,
+      max_color,
+    )
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the current vehicle speed and unit."""
+    speed_text = str(round(self.speed))
+    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+
+    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
+    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
new file mode 100644
index 0000000000..ca051c6d94
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -0,0 +1,494 @@
+import colorsys
+import numpy as np
+import pyray as rl
+from cereal import messaging, car
+from dataclasses import dataclass, field
+from openpilot.common.params import Params
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.mici.onroad import blend_colors
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.widgets import Widget
+
+from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP, ModelRendererSP
+
+CLIP_MARGIN = 500
+MIN_DRAW_DISTANCE = 10.0
+MAX_DRAW_DISTANCE = 100.0
+
+THROTTLE_COLORS = [
+  rl.Color(13, 248, 122, 102),   # HSLF(148/360, 0.94, 0.51, 0.4)
+  rl.Color(114, 255, 92, 89),    # HSLF(112/360, 1.0, 0.68, 0.35)
+  rl.Color(114, 255, 92, 0),     # HSLF(112/360, 1.0, 0.68, 0.0)
+]
+
+NO_THROTTLE_COLORS = [
+  rl.Color(242, 242, 242, 102), # HSLF(148/360, 0.0, 0.95, 0.4)
+  rl.Color(242, 242, 242, 89),  # HSLF(112/360, 0.0, 0.95, 0.35)
+  rl.Color(242, 242, 242, 0),   # HSLF(112/360, 0.0, 0.95, 0.0)
+]
+
+LANE_LINE_COLORS = {
+  UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
+  UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
+  UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
+  **LANE_LINE_COLORS_SP,
+}
+
+
+@dataclass
+class ModelPoints:
+  raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
+  projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
+
+
+@dataclass
+class LeadVehicle:
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
+  fill_alpha: int = 0
+
+
+class ModelRenderer(Widget, ModelRendererSP):
+  def __init__(self):
+    Widget.__init__(self)
+    ModelRendererSP.__init__(self)
+    self._longitudinal_control = False
+    self._experimental_mode = False
+    self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
+    self._prev_allow_throttle = True
+    self._lane_line_probs = np.zeros(4, dtype=np.float32)
+    self._road_edge_stds = np.zeros(2, dtype=np.float32)
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    self._path_offset_z = HEIGHT_INIT[0]
+
+    # Initialize ModelPoints objects
+    self._path = ModelPoints()
+    self._lane_lines = [ModelPoints() for _ in range(4)]
+    self._road_edges = [ModelPoints() for _ in range(2)]
+    self._acceleration_x = np.empty((0,), dtype=np.float32)
+
+    self._acceleration_x_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._acceleration_x_filter2 = FirstOrderFilter(0.0, 1, 1 / gui_app.target_fps)
+
+    self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+    self._ll_color_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+    # Transform matrix (3x3 for car space to screen space)
+    self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
+    self._transform_dirty = True
+    self._clip_region = None
+
+    self._counter = -1
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+
+    self._exp_gradient = Gradient(
+      start=(0.0, 1.0),  # Bottom of path
+      end=(0.0, 0.0),  # Top of path
+      colors=[],
+      stops=[],
+    )
+
+    # Get longitudinal control setting from car parameters
+    if car_params := Params().get("CarParams"):
+      cp = messaging.log_from_bytes(car_params, car.CarParams)
+      self._longitudinal_control = cp.openpilotLongitudinalControl
+
+  def set_transform(self, transform: np.ndarray):
+    self._car_space_transform = transform.astype(np.float32)
+    self._transform_dirty = True
+
+  def _render(self, rect: rl.Rectangle):
+    sm = ui_state.sm
+
+    if self._counter % 180 == 0:  # This runs at 60fps, so we query every 3 seconds
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    self._counter += 1
+
+    self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
+
+    # Check if data is up-to-date
+    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+        sm.recv_frame["modelV2"] < ui_state.started_frame):
+      return
+
+    # Set up clipping region
+    self._clip_region = rl.Rectangle(
+      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
+    )
+
+    # Update state
+    self._experimental_mode = sm['selfdriveState'].experimentalMode
+
+    live_calib = sm['liveCalibration']
+    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+
+    if sm.updated['carParams']:
+      self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
+
+    model = sm['modelV2']
+    radar_state = sm['radarState'] if sm.valid['radarState'] else None
+    lead_one = radar_state.leadOne if radar_state else None
+    render_lead_indicator = self._longitudinal_control and radar_state is not None
+
+    # Update model data when needed
+    model_updated = sm.updated['modelV2']
+    if model_updated or sm.updated['radarState'] or self._transform_dirty:
+      if model_updated:
+        self._update_raw_points(model)
+
+      path_x_array = self._path.raw_points[:, 0]
+      if path_x_array.size == 0:
+        return
+
+      self._update_model(lead_one, path_x_array)
+      if render_lead_indicator:
+        self._update_leads(radar_state, path_x_array)
+      self._transform_dirty = False
+
+    # Draw elements (hide when disengaged)
+    if ui_state.status != UIStatus.DISENGAGED:
+      self._draw_lane_lines()
+      self._draw_path(sm)
+
+    # if render_lead_indicator and radar_state:
+    #   self._draw_lead_indicator()
+
+  def _update_raw_points(self, model):
+    """Update raw 3D points from model data"""
+    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
+
+    for i, lane_line in enumerate(model.laneLines):
+      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
+
+    for i, road_edge in enumerate(model.roadEdges):
+      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
+
+    self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
+    self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
+    self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
+
+  def _update_leads(self, radar_state, path_x_array):
+    """Update positions of lead vehicles"""
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    leads = [radar_state.leadOne, radar_state.leadTwo]
+
+    for i, lead_data in enumerate(leads):
+      if lead_data and lead_data.status:
+        d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
+        idx = self._get_path_length_idx(path_x_array, d_rel)
+
+        # Get z-coordinate from path at the lead vehicle position
+        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
+        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
+        if point:
+          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
+
+  def _update_model(self, lead, path_x_array):
+    """Update model visualization data based on model message"""
+    max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
+    max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], max_distance)
+
+    # Update lane lines using raw points
+    line_width_factor = 0.12
+    for i, lane_line in enumerate(self._lane_lines):
+      if i in (1, 2):
+        line_width_factor = 0.16
+      lane_line.projected_points = self._map_line_to_polygon(
+        lane_line.raw_points, line_width_factor * self._lane_line_probs[i], 0.0, max_idx
+      )
+
+    # Update road edges using raw points
+    for road_edge in self._road_edges:
+      road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
+
+    # Update path using raw points
+    if lead and lead.status:
+      lead_d = lead.dRel * 2.0
+      max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
+
+    soon_acceleration = self._acceleration_x[len(self._acceleration_x) // 4] if len(self._acceleration_x) > 0 else 0
+    self._acceleration_x_filter.update(soon_acceleration)
+    self._acceleration_x_filter2.update(soon_acceleration)
+
+    # make path width wider/thinner when initially braking/accelerating
+    if self._experimental_mode and False:
+      high_pass_acceleration = self._acceleration_x_filter.x - self._acceleration_x_filter2.x
+      y_off = np.interp(high_pass_acceleration, [-1, 0, 1], [0.9 * 2, 0.9, 0.9 / 2])
+    else:
+      y_off = 0.9
+
+    max_idx = self._get_path_length_idx(path_x_array, max_distance)
+    self._path.projected_points = self._map_line_to_polygon(
+      self._path.raw_points, y_off, self._path_offset_z, max_idx, allow_invert=False
+    )
+
+    self._update_experimental_gradient()
+
+  def _update_experimental_gradient(self):
+    """Pre-calculate experimental mode gradient colors"""
+    if not self._experimental_mode:
+      return
+
+    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+
+    segment_colors = []
+    gradient_stops = []
+
+    i = 0
+    while i < max_len:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
+        i += 1
+        continue
+
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
+
+      # speed up: 120, slow down: 0
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
+
+      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
+
+      # Use HSL to RGB conversion
+      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
+
+      gradient_stops.append(lin_grad_point)
+      segment_colors.append(color)
+
+      # Skip a point, unless next is last
+      i += 1 + (1 if (i + 2) < max_len else 0)
+
+    # Store the gradient in the path object
+    self._exp_gradient.colors = segment_colors
+    self._exp_gradient.stops = gradient_stops
+
+  def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
+    speed_buff, lead_buff = 10.0, 40.0
+
+    # Calculate fill alpha
+    fill_alpha = 0
+    if d_rel < lead_buff:
+      fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
+      if v_rel < 0:
+        fill_alpha += 255 * (-1 * (v_rel / speed_buff))
+      fill_alpha = min(fill_alpha, 255)
+
+    # Calculate size and position
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 1
+    x = np.clip(point[0], 0.0, rect.width - sz / 2)
+    y = min(point[1], rect.height - sz * 0.6)
+
+    g_xo = sz / 5
+    g_yo = sz / 10
+
+    glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
+    chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
+
+    return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha))
+
+  def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
+    alpha = np.clip(prob, 0.0, 0.7)
+    if adjacent:
+      _base_color = LANE_LINE_COLORS.get(ui_state.status, LANE_LINE_COLORS[UIStatus.DISENGAGED])
+      color = rl.Color(_base_color.r, _base_color.g, _base_color.b, int(alpha * 255))
+
+      # turn adjacent lls orange if torque is high
+      torque = self._torque_filter.x
+      high_torque = abs(torque) > 0.6
+      if high_torque and (left == (torque > 0)):
+        color = blend_colors(
+          color,
+          rl.Color(255, 115, 0, int(alpha * 255)),  # orange
+          np.interp(abs(torque), [0.6, 0.8], [0.0, 1.0])
+        )
+    else:
+      color = rl.Color(255, 255, 255, int(alpha * 255))
+
+    if ui_state.status == UIStatus.DISENGAGED:
+      color = rl.Color(0, 0, 0, int(alpha * 255))
+
+    return color
+
+  def _draw_lane_lines(self):
+    """Draw lane lines and road edges"""
+    """Two closest lines should be green (lane line or road edges)"""
+    for i, lane_line in enumerate(self._lane_lines):
+      if lane_line.projected_points.size == 0:
+        continue
+
+      color = self._get_ll_color(float(self._lane_line_probs[i]), i in (1, 2), i in (0, 1))
+      draw_polygon(self._rect, lane_line.projected_points, color)
+
+    for i, road_edge in enumerate(self._road_edges):
+      if road_edge.projected_points.size == 0:
+        continue
+
+      # if closest lane lines are not confident, make road edges green
+      color = self._get_ll_color(float(1.0 - self._road_edge_stds[i]), float(self._lane_line_probs[i + 1]) < 0.25, i == 0)
+      draw_polygon(self._rect, road_edge.projected_points, color)
+
+  def _draw_path(self, sm):
+    """Draw path with dynamic coloring based on mode and throttle state."""
+    if not self._path.projected_points.size:
+      return
+
+    allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
+    self._blend_filter.update(int(allow_throttle))
+
+    if ui_state.rainbow_path:
+      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
+      return
+
+    if self._experimental_mode:
+      # Draw with acceleration coloring
+      if ui_state.status == UIStatus.DISENGAGED:
+        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+      elif len(self._exp_gradient.colors) > 1:
+        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+      else:
+        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+    else:
+      # Blend throttle/no throttle colors based on transition
+      blend_factor = round(self._blend_filter.x * 100) / 100
+      blended_colors = self._blend_colors(NO_THROTTLE_COLORS, THROTTLE_COLORS, blend_factor)
+      gradient = Gradient(
+        start=(0.0, 1.0),  # Bottom of path
+        end=(0.0, 0.0),  # Top of path
+        colors=blended_colors,
+        stops=[0.0, 0.5, 1.0],
+      )
+
+      if ui_state.status == UIStatus.DISENGAGED:
+        draw_polygon(self._rect, self._path.projected_points, rl.Color(0, 0, 0, 90))
+      else:
+        draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+
+  def _draw_lead_indicator(self):
+    # Draw lead vehicles if available
+    for lead in self._lead_vehicles:
+      if not lead.glow or not lead.chevron:
+        continue
+
+      rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
+      rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
+
+  @staticmethod
+  def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
+    """Get the index corresponding to the given path height"""
+    if len(pos_x_array) == 0:
+      return 0
+    indices = np.where(pos_x_array <= path_height)[0]
+    return indices[-1] if indices.size > 0 else 0
+
+  def _map_to_screen(self, in_x, in_y, in_z):
+    """Project a point in car space to screen space"""
+    input_pt = np.array([in_x, in_y, in_z])
+    pt = self._car_space_transform @ input_pt
+
+    if abs(pt[2]) < 1e-6:
+      return None
+
+    x, y = pt[0] / pt[2], pt[1] / pt[2]
+
+    clip = self._clip_region
+    if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
+      return None
+
+    return (x, y)
+
+  def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
+    """Convert 3D line to 2D polygon for rendering."""
+    if line.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Slice points and filter non-negative x-coordinates
+    points = line[:max_idx + 1]
+    points = points[points[:, 0] >= 0]
+    if points.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    N = points.shape[0]
+    # Generate left and right 3D points in one array using broadcasting
+    offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32)
+    points_3d = points[None, :, :] + offsets[:, None, :]  # Shape: 2xNx3
+    points_3d = points_3d.reshape(2 * N, 3)  # Shape: (2*N)x3
+
+    # Transform all points to projected space in one operation
+    proj = self._car_space_transform @ points_3d.T  # Shape: 3x(2*N)
+    proj = proj.reshape(3, 2, N)
+    left_proj = proj[:, 0, :]
+    right_proj = proj[:, 1, :]
+
+    # Filter points where z is sufficiently large
+    valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6)
+    if not np.any(valid_proj):
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Compute screen coordinates
+    left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :]
+    right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :]
+
+    # Define clip region bounds
+    clip = self._clip_region
+    x_min, x_max = clip.x, clip.x + clip.width
+    y_min, y_max = clip.y, clip.y + clip.height
+
+    # Filter points within clip region
+    left_in_clip = (
+      (left_screen[0] >= x_min) & (left_screen[0] <= x_max) &
+      (left_screen[1] >= y_min) & (left_screen[1] <= y_max)
+    )
+    right_in_clip = (
+      (right_screen[0] >= x_min) & (right_screen[0] <= x_max) &
+      (right_screen[1] >= y_min) & (right_screen[1] <= y_max)
+    )
+    both_in_clip = left_in_clip & right_in_clip
+
+    if not np.any(both_in_clip):
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Select valid and clipped points
+    left_screen = left_screen[:, both_in_clip]
+    right_screen = right_screen[:, both_in_clip]
+
+    # Handle Y-coordinate inversion on hills
+    if not allow_invert and left_screen.shape[1] > 1:
+      y = left_screen[1, :]  # y-coordinates
+      keep = y == np.minimum.accumulate(y)
+      if not np.any(keep):
+        return np.empty((0, 2), dtype=np.float32)
+      left_screen = left_screen[:, keep]
+      right_screen = right_screen[:, keep]
+
+    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
+
+  @staticmethod
+  def _hsla_to_color(h, s, l, a):
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
+    )
+
+  @staticmethod
+  def _blend_colors(begin_colors, end_colors, t):
+    if t >= 1.0:
+      return end_colors
+    if t <= 0.0:
+      return begin_colors
+
+    inv_t = 1.0 - t
+    return [rl.Color(
+      int(inv_t * start.r + t * end.r),
+      int(inv_t * start.g + t * end.g),
+      int(inv_t * start.b + t * end.b),
+      int(inv_t * start.a + t * end.a)
+    ) for start, end in zip(begin_colors, end_colors, strict=True)]
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
new file mode 100644
index 0000000000..f0690c0abf
--- /dev/null
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -0,0 +1,268 @@
+import math
+import time
+from functools import wraps
+from collections import OrderedDict
+
+import numpy as np
+import pyray as rl
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.selfdrive.ui.mici.onroad import blend_colors
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+
+# TODO: arc_bar_pts doesn't consider rounded end caps part of the angle span
+TORQUE_ANGLE_SPAN = 12.7
+
+DEBUG = False
+
+
+def quantized_lru_cache(maxsize=128):
+  def decorator(func):
+    cache = OrderedDict()
+    @wraps(func)
+    def wrapper(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs):
+      # Quantize inputs: balanced for smoothness vs cache effectiveness
+      key = (round(cx), round(cy), round(r_mid),
+             round(thickness),           # 1px precision for smoother height transitions
+             round(a0_deg * 10) / 10,    # 0.1° precision for smoother angle transitions
+             round(a1_deg * 10) / 10,
+             tuple(sorted(kwargs.items())))
+
+      if key in cache:
+        cache.move_to_end(key)
+      else:
+        if len(cache) >= maxsize:
+          cache.popitem(last=False)
+
+        result = func(cx, cy, r_mid, thickness, a0_deg, a1_deg, **kwargs)
+        cache[key] = result
+      return cache[key]
+    return wrapper
+  return decorator
+
+
+@quantized_lru_cache(maxsize=256)
+def arc_bar_pts(cx: float, cy: float,
+                r_mid: float, thickness: float,
+                a0_deg: float, a1_deg: float,
+                *, max_points: int = 100, cap_segs: int = 10,
+                cap_radius: float = 7, px_per_seg: float = 2.0) -> np.ndarray:
+  """Return Nx2 np.float32 points for a single closed polygon (rounded thick arc)."""
+
+  def get_cap(left: bool, a_deg: float):
+    # end cap at a1: center (a1), sweep a1→a1+180 (skip endpoints to avoid dupes)
+    # quarter arc (outer corner) at a1 with fixed pixel radius cap_radius
+
+    nx, ny = math.cos(math.radians(a_deg)), math.sin(math.radians(a_deg))  # outward normal
+    tx, ty = -ny, nx  # tangent (CCW)
+
+    mx, my = cx + nx * r_mid, cy + ny * r_mid  # mid-point at a1
+    if DEBUG:
+      rl.draw_circle(int(mx), int(my), 4, rl.PURPLE)
+
+    ex = mx + nx * (half - cap_radius)
+    ey = my + ny * (half - cap_radius)
+
+    if DEBUG:
+      rl.draw_circle(int(ex), int(ey), 2, rl.WHITE)
+
+    # sweep 90° in the local (t,n) frame: from outer edge toward inside
+    if not left:
+      alpha = np.deg2rad(np.linspace(90, 0, cap_segs + 2))[1:-1]
+    else:
+      alpha = np.deg2rad(np.linspace(180, 90, cap_segs + 2))[1:-1]
+    cap_end = np.c_[ex + np.cos(alpha) * cap_radius * tx + np.sin(alpha) * cap_radius * nx,
+                    ey + np.cos(alpha) * cap_radius * ty + np.sin(alpha) * cap_radius * ny]
+
+    # bottom quarter (inner corner) at a1
+    ex2 = mx + nx * (-half + cap_radius)
+    ey2 = my + ny * (-half + cap_radius)
+    if DEBUG:
+      rl.draw_circle(int(ex2), int(ey2), 2, rl.WHITE)
+
+    if not left:
+      alpha2 = np.deg2rad(np.linspace(0, -90, cap_segs + 1))[:-1]  # include 0 once, exclude -90
+    else:
+      alpha2 = np.deg2rad(np.linspace(90 - 90 - 90, 0 - 90 - 90, cap_segs + 1))[:-1]
+    cap_end_bot = np.c_[ex2 + np.cos(alpha2) * cap_radius * tx + np.sin(alpha2) * cap_radius * nx,
+                        ey2 + np.cos(alpha2) * cap_radius * ty + np.sin(alpha2) * cap_radius * ny]
+
+    # append to the top quarter
+    if not left:
+      cap_end = np.vstack((cap_end, cap_end_bot))
+    else:
+      cap_end = np.vstack((cap_end_bot, cap_end))
+
+    return cap_end
+
+  if a1_deg < a0_deg:
+    a0_deg, a1_deg = a1_deg, a0_deg
+  half = thickness * 0.5
+
+  cap_radius = min(cap_radius, half)
+
+  span = max(1e-3, a1_deg - a0_deg)
+
+  # pick arc segment count from arc length, clamp to shader points[] budget
+  arc_len = r_mid * math.radians(span)
+  arc_segs = max(6, int(arc_len / px_per_seg))
+  max_arc = (max_points - (4 * cap_segs + 3)) // 2
+  arc_segs = max(6, min(arc_segs, max_arc))
+
+  # outer arc a0→a1
+  ang_o = np.deg2rad(np.linspace(a0_deg, a1_deg, arc_segs + 1))
+  outer = np.c_[cx + np.cos(ang_o) * (r_mid + half),
+                cy + np.sin(ang_o) * (r_mid + half)]
+
+  # end cap at a1
+  cap_end = get_cap(False, a1_deg)
+
+  # inner arc a1→a0
+  ang_i = np.deg2rad(np.linspace(a1_deg, a0_deg, arc_segs + 1))
+  inner = np.c_[cx + np.cos(ang_i) * (r_mid - half),
+                cy + np.sin(ang_i) * (r_mid - half)]
+
+  # start cap at a0
+  cap_start = get_cap(True, a0_deg)
+
+  pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
+
+  # Rotate to start from middle of cap for proper triangulation
+  pts = np.roll(pts, cap_segs, axis=0)
+
+  if DEBUG:
+    n = len(pts)
+    idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec
+    for i, (x, y) in enumerate(pts):
+      j = (i - idx) % n  # rotate the gradient
+      t = j / n
+      color = rl.Color(255, int(255 * (1 - t)), int(255 * t), 255)
+      rl.draw_circle(int(x), int(y), 2, color)
+
+  return pts
+
+
+DEFAULT_MAX_LAT_ACCEL = 3.0  # m/s^2
+
+
+class TorqueBar(Widget):
+  def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
+    super().__init__()
+    self._demo = demo
+    self._scale = scale
+    self._always = always
+    self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+    self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+  def update_filter(self, value: float):
+    """Update the torque filter value (for demo mode)."""
+    self._torque_filter.update(value)
+
+  def _update_state(self):
+    if self._demo:
+      return
+
+    # torque line
+    if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState':
+      controls_state = ui_state.sm['controlsState']
+      car_state = ui_state.sm['carState']
+      live_parameters = ui_state.sm['liveParameters']
+      car_control = ui_state.sm['carControl']
+
+      # Include lateral accel error in estimated torque utilization
+      actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
+      desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
+      accel_diff = (desired_lateral_accel - actual_lateral_accel)
+
+      # Include road roll in estimated torque utilization
+      # Roll is less accurate near standstill, so reduce its effect at low speed
+      roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      lateral_acceleration = actual_lateral_accel - roll_compensation
+      max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
+
+      if not car_control.latActive:
+        self._torque_filter.update(0.0)
+      else:
+        self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1))
+    else:
+      self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    # adjust y pos with torque
+    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * self._scale, 26 * self._scale])
+    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * self._scale, 56 * self._scale])
+
+    # animate alpha and angle span
+    if not self._demo:
+      self._torque_line_alpha_filter.update(ui_state.status not in (UIStatus.DISENGAGED, UIStatus.LONG_ONLY))
+    else:
+      self._torque_line_alpha_filter.update(1.0)
+
+    torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
+    torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
+    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
+      torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
+
+    # draw curved line polygon torque bar
+    torque_line_radius = 1200 * self._scale
+    top_angle = -90
+    torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
+    torque_start_angle = top_angle - torque_bg_angle_span / 2
+    torque_end_angle = top_angle + torque_bg_angle_span / 2
+    # centerline radius & center (you already have these values)
+    mid_r = torque_line_radius + torque_line_height / 2
+
+    cx = rect.x + rect.width / 2 + 8  # offset 8px to right of camera feed
+    cy = rect.y + rect.height + torque_line_radius - torque_line_offset
+
+    # draw bg torque indicator line
+    bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle, cap_radius=7 * self._scale)
+    draw_polygon(rect, bg_pts, color=torque_line_bg_color)
+
+    # draw torque indicator line
+    a0s = top_angle
+    a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
+    sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s, cap_radius=7 * self._scale)
+
+    # draw beautiful gradient from center to 65% of the bg torque bar width
+    start_grad_pt = cx / rect.width
+    if self._torque_filter.x < 0:
+      end_grad_pt = (cx * (1 - 0.65) + (min(bg_pts[:, 0]) * 0.65)) / rect.width
+    else:
+      end_grad_pt = (cx * (1 - 0.65) + (max(bg_pts[:, 0]) * 0.65)) / rect.width
+
+    # fade to orange as we approach max torque
+    start_color = blend_colors(
+      rl.Color(255, 255, 255, int(255 * 0.9 * self._torque_line_alpha_filter.x)),
+      rl.Color(255, 200, 0, int(255 * self._torque_line_alpha_filter.x)),  # yellow
+      max(0, abs(self._torque_filter.x) - 0.75) * 4,
+    )
+    end_color = blend_colors(
+      rl.Color(255, 255, 255, int(255 * 0.9 * self._torque_line_alpha_filter.x)),
+      rl.Color(255, 115, 0, int(255 * self._torque_line_alpha_filter.x)),  # orange
+      max(0, abs(self._torque_filter.x) - 0.75) * 4,
+    )
+
+    if ui_state.status not in (UIStatus.ENGAGED, UIStatus.LAT_ONLY) and not self._demo:
+      start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
+
+    gradient = Gradient(
+      start=(start_grad_pt, 0),
+      end=(end_grad_pt, 0),
+      colors=[
+        start_color,
+        end_color,
+      ],
+      stops=[0.0, 1.0],
+    )
+
+    draw_polygon(rect, sl_pts, gradient=gradient)
+
+    # draw center torque bar dot
+    if abs(self._torque_filter.x) < 0.5:
+      dot_y = self._rect.y + self._rect.height - torque_line_offset - torque_line_height / 2
+      rl.draw_circle(int(cx), int(dot_y), (10 // 2 * self._scale),
+                     rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))
diff --git a/selfdrive/ui/mici/tests/test_widget_leaks.py b/selfdrive/ui/mici/tests/test_widget_leaks.py
new file mode 100755
index 0000000000..ea7af84293
--- /dev/null
+++ b/selfdrive/ui/mici/tests/test_widget_leaks.py
@@ -0,0 +1,119 @@
+import pyray as rl
+rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+import gc
+import weakref
+import pytest
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+# mici dialogs
+from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide as MiciTrainingGuide, OnboardingWindow as MiciOnboardingWindow
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog as MiciDriverCameraDialog
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog as MiciPairingDialog
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2, BigInputDialog
+from openpilot.selfdrive.ui.mici.layouts.settings.device import MiciFccModal
+
+# tici dialogs
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog as TiciDriverCameraDialog
+from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow as TiciOnboardingWindow
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog as TiciPairingDialog
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+from openpilot.system.ui.widgets.html_render import HtmlModal
+from openpilot.system.ui.widgets.keyboard import Keyboard
+
+# FIXME: known small leaks not worth worrying about at the moment
+KNOWN_LEAKS = {
+  "openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog.DriverCameraView",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.TermsPage",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.TrainingGuide",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.DeclinePage",
+  "openpilot.selfdrive.ui.mici.layouts.onboarding.OnboardingWindow",
+  "openpilot.selfdrive.ui.onroad.driver_state.DriverStateRenderer",
+  "openpilot.selfdrive.ui.onroad.driver_camera_dialog.DriverCameraDialog",
+  "openpilot.selfdrive.ui.layouts.onboarding.TermsPage",
+  "openpilot.selfdrive.ui.layouts.onboarding.DeclinePage",
+  "openpilot.selfdrive.ui.layouts.onboarding.OnboardingWindow",
+  "openpilot.system.ui.widgets.confirm_dialog.ConfirmDialog",
+  "openpilot.system.ui.widgets.label.Label",
+  "openpilot.system.ui.widgets.button.Button",
+  "openpilot.system.ui.widgets.html_render.HtmlRenderer",
+  "openpilot.system.ui.widgets.nav_widget.NavBar",
+  "openpilot.selfdrive.ui.mici.layouts.settings.device.MiciFccModal",
+  "openpilot.system.ui.widgets.inputbox.InputBox",
+  "openpilot.system.ui.widgets.scroller_tici.Scroller",
+  "openpilot.system.ui.widgets.label.UnifiedLabel",
+  "openpilot.system.ui.widgets.mici_keyboard.MiciKeyboard",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigConfirmationDialogV2",
+  "openpilot.system.ui.widgets.keyboard.Keyboard",
+  "openpilot.system.ui.widgets.slider.BigSlider",
+  "openpilot.selfdrive.ui.mici.widgets.dialog.BigInputDialog",
+  "openpilot.system.ui.widgets.option_dialog.MultiOptionDialog",
+}
+
+
+def get_child_widgets(widget: Widget) -> list[Widget]:
+  children = []
+  for val in widget.__dict__.values():
+    items = val if isinstance(val, (list, tuple)) else (val,)
+    children.extend(w for w in items if isinstance(w, Widget))
+  return children
+
+
+@pytest.mark.skip(reason="segfaults")
+def test_dialogs_do_not_leak():
+  gui_app.init_window("ref-test")
+
+  leaked_widgets = set()
+
+  for ctor in (
+    # mici
+    MiciDriverCameraDialog, MiciPairingDialog,
+    lambda: MiciTrainingGuide(lambda: None),
+    lambda: MiciOnboardingWindow(lambda: None),
+    lambda: BigDialog("test", "test"),
+    lambda: BigConfirmationDialogV2("test", "icons_mici/settings/network/new/trash.png"),
+    lambda: BigInputDialog("test"),
+    lambda: MiciFccModal(text="test"),
+    # tici
+    TiciDriverCameraDialog, TiciOnboardingWindow, TiciPairingDialog, Keyboard,
+    lambda: ConfirmDialog("test", "ok"),
+    lambda: MultiOptionDialog("test", ["a", "b"]),
+    lambda: HtmlModal(text="test"),
+  ):
+    widget = ctor()
+    all_refs = [weakref.ref(w) for w in get_child_widgets(widget) + [widget]]
+
+    del widget
+
+    for ref in all_refs:
+      if ref() is not None:
+        obj = ref()
+        name = f"{type(obj).__module__}.{type(obj).__qualname__}"
+        leaked_widgets.add(name)
+
+        print(f"\n===  Widget {name} alive after del")
+        print("  Referrers:")
+        for r in gc.get_referrers(obj):
+          if r is obj:
+            continue
+
+          if hasattr(r, '__self__') and r.__self__ is not obj:
+            print(f"    bound method: {type(r.__self__).__qualname__}.{r.__name__}")
+          elif hasattr(r, '__func__'):
+            print(f"    method: {r.__name__}")
+          else:
+            print(f"    {type(r).__module__}.{type(r).__qualname__}")
+        del obj
+
+  gui_app.close()
+
+  unexpected = leaked_widgets - KNOWN_LEAKS
+  assert not unexpected, f"New leaked widgets: {unexpected}"
+
+  fixed = KNOWN_LEAKS - leaked_widgets
+  assert not fixed, f"These leaks are fixed, remove from KNOWN_LEAKS: {fixed}"
+
+
+if __name__ == "__main__":
+  test_dialogs_do_not_leak()
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
new file mode 100644
index 0000000000..5559a1181c
--- /dev/null
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -0,0 +1,385 @@
+import math
+import pyray as rl
+from typing import Union
+from enum import Enum
+from collections.abc import Callable
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import DO_ZOOM
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.common.filter_simple import BounceFilter
+
+try:
+  from openpilot.common.params import Params
+except ImportError:
+  Params = None
+
+SCROLLING_SPEED_PX_S = 50
+COMPLICATION_SIZE    = 36
+LABEL_COLOR          = rl.Color(255, 255, 255, int(255 * 0.9))
+COMPLICATION_GREY    = rl.Color(0xAA, 0xAA, 0xAA, 255)
+PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07
+
+
+class ScrollState(Enum):
+  PRE_SCROLL = 0
+  SCROLLING = 1
+  POST_SCROLL = 2
+
+
+class BigCircleButton(Widget):
+  def __init__(self, icon: str, red: bool = False, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__()
+    self._red = red
+    self._icon_offset = icon_offset
+
+    # State
+    self.set_rect(rl.Rectangle(0, 0, 180, 180))
+    self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
+
+    # Icons
+    self._txt_icon = gui_app.texture(icon, *icon_size)
+    self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180)
+
+    self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
+    self._txt_btn_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180)
+
+    self._txt_btn_red_bg = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    self._txt_btn_red_pressed_bg = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180)
+
+  def _draw_content(self, btn_y: float):
+    # draw icon
+    icon_color = rl.Color(255, 255, 255, int(255 * 0.9)) if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
+    rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0],
+                                        btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color)
+
+  def _render(self, _):
+    # draw background
+    txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg
+    if not self.enabled:
+      txt_bg = self._txt_btn_disabled_bg
+    elif self.is_pressed:
+      txt_bg = self._txt_btn_pressed_bg if not self._red else self._txt_btn_red_pressed_bg
+
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0)
+    btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
+    btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
+    rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+
+    self._draw_content(btn_y)
+
+
+class BigCircleToggle(BigCircleButton):
+  def __init__(self, icon: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, False, icon_size=icon_size, icon_offset=icon_offset)
+    self._toggle_callback = toggle_callback
+
+    # State
+    self._checked = False
+
+    # Icons
+    self._txt_toggle_enabled = gui_app.texture("icons_mici/buttons/toggle_dot_enabled.png", 66, 66)
+    self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 66, 66)
+
+  def set_checked(self, checked: bool):
+    self._checked = checked
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    self._checked = not self._checked
+    if self._toggle_callback:
+      self._toggle_callback(self._checked)
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+
+    # draw status icon
+    rl.draw_texture_ex(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled,
+                       (self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2, btn_y + 5),
+                       0, 1.0, rl.WHITE)
+
+
+class BigButton(Widget):
+  LABEL_HORIZONTAL_PADDING = 40
+  LABEL_VERTICAL_PADDING = 23  # visually matches 30 in figma
+
+  """A lightweight stand-in for the Qt BigButton, drawn & updated each frame."""
+
+  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64),
+               scroll: bool = False):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 402, 180))
+    self.text = text
+    self.value = value
+    self._icon_size = icon_size
+    self._scroll = scroll
+    self.set_icon(icon)
+
+    self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
+    self._shake_start: float | None = None
+    self._grow_animation_until: float | None = None
+
+    self._rotate_icon_t: float | None = None
+
+    self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD,
+                               text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll,
+                               line_height=0.9)
+    self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN,
+                                   text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._update_label_layout()
+
+    self._load_images()
+
+  def set_icon(self, icon: Union[str, rl.Texture]):
+    self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon
+
+  def set_rotate_icon(self, rotate: bool):
+    if rotate and self._rotate_icon_t is not None:
+      return
+    self._rotate_icon_t = rl.get_time() if rotate else None
+
+  def _load_images(self):
+    self._txt_default_bg = gui_app.texture("icons_mici/buttons/button_rectangle.png", 402, 180)
+    self._txt_pressed_bg = gui_app.texture("icons_mici/buttons/button_rectangle_pressed.png", 402, 180)
+    self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
+
+  def _width_hint(self) -> int:
+    # Single line if scrolling, so hide behind icon if exists
+    icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
+
+  def _get_label_font_size(self):
+    if len(self.text) <= 18:
+      return 48
+    else:
+      return 42
+
+  def _update_label_layout(self):
+    self._label.set_font_size(self._get_label_font_size())
+    if self.value:
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    else:
+      self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+
+  def set_text(self, text: str):
+    self.text = text
+    self._label.set_text(text)
+    self._update_label_layout()
+
+  def set_value(self, value: str):
+    self.value = value
+    self._sub_label.set_text(value)
+    self._update_label_layout()
+
+  def get_value(self) -> str:
+    return self.value
+
+  def get_text(self):
+    return self.text
+
+  def trigger_shake(self):
+    self._shake_start = rl.get_time()
+
+  def trigger_grow_animation(self, duration: float = 0.65):
+    self._grow_animation_until = rl.get_time() + duration
+
+  @property
+  def _shake_offset(self) -> float:
+    SHAKE_DURATION = 0.5
+    SHAKE_AMPLITUDE = 24.0
+    SHAKE_FREQUENCY = 32.0
+    t = rl.get_time() - (self._shake_start or 0.0)
+    if t > SHAKE_DURATION:
+      return 0.0
+    decay = 1.0 - t / SHAKE_DURATION
+    return decay * SHAKE_AMPLITUDE * math.sin(t * SHAKE_FREQUENCY)
+
+  def set_position(self, x: float, y: float) -> None:
+    super().set_position(x + self._shake_offset, y)
+
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    if self._grow_animation_until is not None:
+      if rl.get_time() >= self._grow_animation_until:
+        self._grow_animation_until = None
+
+    # draw _txt_default_bg
+    txt_bg = self._txt_default_bg
+    if not self.enabled:
+      txt_bg = self._txt_disabled_bg
+    elif self.is_pressed:
+      txt_bg = self._txt_pressed_bg
+
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed or self._grow_animation_until is not None else 1.0)
+    btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
+    btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
+    return txt_bg, btn_x, btn_y, scale
+
+  def _draw_content(self, btn_y: float):
+    # LABEL ------------------------------------------------------------------
+    label_x = self._rect.x + self.LABEL_HORIZONTAL_PADDING
+
+    label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
+    self._label.set_color(label_color)
+    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._width_hint(),
+                              self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
+    self._label.render(label_rect)
+
+    if self.value:
+      label_y = btn_y + self.LABEL_VERTICAL_PADDING + self._label.get_content_height(self._width_hint())
+      sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
+      sub_label_rect = rl.Rectangle(label_x, label_y, self._width_hint(), sub_label_height)
+      self._sub_label.render(sub_label_rect)
+
+    # ICON -------------------------------------------------------------------
+    if self._txt_icon:
+      rotation = 0
+      if self._rotate_icon_t is not None:
+        rotation = (rl.get_time() - self._rotate_icon_t) * 180
+
+      # draw top right with 30px padding
+      x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2
+      y = btn_y + 30 + self._txt_icon.height / 2
+      source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height)
+      dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height)
+      origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2)
+      rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.Color(255, 255, 255, int(255 * 0.9)))
+
+  def _render(self, _):
+    txt_bg, btn_x, btn_y, scale = self._handle_background()
+
+    if self._scroll:
+      # draw black background since images are transparent
+      scaled_rect = rl.Rectangle(btn_x, btn_y, self._rect.width * scale, self._rect.height * scale)
+      rl.draw_rectangle_rounded(scaled_rect, 0.4, 7, rl.Color(0, 0, 0, int(255 * 0.5)))
+
+      self._draw_content(btn_y)
+      rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+    else:
+      rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE)
+      self._draw_content(btn_y)
+
+
+class BigToggle(BigButton):
+  def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None):
+    super().__init__(text, value, "")
+    self._checked = initial_state
+    self._toggle_callback = toggle_callback
+
+  def _load_images(self):
+    super()._load_images()
+    self._txt_enabled_toggle = gui_app.texture("icons_mici/buttons/toggle_pill_enabled.png", 84, 66)
+    self._txt_disabled_toggle = gui_app.texture("icons_mici/buttons/toggle_pill_disabled.png", 84, 66)
+
+  def set_checked(self, checked: bool):
+    self._checked = checked
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    self._checked = not self._checked
+    if self._toggle_callback:
+      self._toggle_callback(self._checked)
+
+  def _draw_pill(self, x: float, y: float, checked: bool):
+    # draw toggle icon top right
+    if checked:
+      rl.draw_texture_ex(self._txt_enabled_toggle, (x, y), 0, 1.0, rl.WHITE)
+    else:
+      rl.draw_texture_ex(self._txt_disabled_toggle, (x, y), 0, 1.0, rl.WHITE)
+
+  def _draw_content(self, btn_y: float):
+    super()._draw_content(btn_y)
+
+    x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width
+    y = btn_y
+    self._draw_pill(x, y, self._checked)
+
+
+class BigMultiToggle(BigToggle):
+  def __init__(self, text: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
+    super().__init__(text, "", toggle_callback=toggle_callback)
+    assert len(options) > 0
+    self._options = options
+    self._select_callback = select_callback
+
+    self.set_value(self._options[0])
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    cur_idx = self._options.index(self.value)
+    new_idx = (cur_idx + 1) % len(self._options)
+    self.set_value(self._options[new_idx])
+    if self._select_callback:
+      self._select_callback(self.value)
+
+  def _draw_content(self, btn_y: float):
+    # don't draw pill from BigToggle
+    BigButton._draw_content(self, btn_y)
+
+    checked_idx = self._options.index(self.value)
+
+    x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width
+    y = btn_y
+
+    for i in range(len(self._options)):
+      self._draw_pill(x, y, checked_idx == i)
+      y += 35
+
+
+class BigMultiParamToggle(BigMultiToggle):
+  def __init__(self, text: str, param: str, options: list[str], toggle_callback: Callable | None = None,
+               select_callback: Callable | None = None):
+    super().__init__(text, options, toggle_callback, select_callback)
+    self._param = param
+
+    self._params = Params()
+    self._load_value()
+
+  def _load_value(self):
+    self.set_value(self._options[self._params.get(self._param) or 0])
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    new_idx = self._options.index(self.value)
+    self._params.put_nonblocking(self._param, new_idx)
+
+
+class BigParamControl(BigToggle):
+  def __init__(self, text: str, param: str, toggle_callback: Callable | None = None):
+    super().__init__(text, "", toggle_callback=toggle_callback)
+    self.param = param
+    self.params = Params()
+    self.set_checked(self.params.get_bool(self.param, False))
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    self.params.put_bool(self.param, self._checked)
+
+  def refresh(self):
+    self.set_checked(self.params.get_bool(self.param, False))
+
+
+# TODO: param control base class
+class BigCircleParamControl(BigCircleToggle):
+  def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53),
+               icon_offset: tuple[int, int] = (0, 0)):
+    super().__init__(icon, toggle_callback, icon_size=icon_size, icon_offset=icon_offset)
+    self._param = param
+    self.params = Params()
+    self.set_checked(self.params.get_bool(self._param, False))
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    self.params.put_bool(self._param, self._checked)
+
+  def refresh(self):
+    self.set_checked(self.params.get_bool(self._param, False))
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
new file mode 100644
index 0000000000..b2662d8a3b
--- /dev/null
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -0,0 +1,256 @@
+import abc
+import math
+import pyray as rl
+from typing import Union
+from collections.abc import Callable
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import UnifiedLabel, gui_label
+from openpilot.system.ui.widgets.mici_keyboard import MiciKeyboard
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+
+DEBUG = False
+
+PADDING = 20
+
+
+class BigDialogBase(NavWidget, abc.ABC):
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+
+class BigDialog(BigDialogBase):
+  def __init__(self,
+               title: str,
+               description: str):
+    super().__init__()
+    self._title = title
+    self._description = description
+
+  def _render(self, _):
+    super()._render(_)
+
+    # draw title
+    # TODO: we desperately need layouts
+    # TODO: coming up with these numbers manually is a pain and not scalable
+    # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite
+    max_width = self._rect.width - PADDING * 2
+
+    title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width)))
+    title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50)
+    text_x_offset = 0
+    title_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
+                              int(self._rect.y + PADDING),
+                              int(max_width),
+                              int(title_size.y))
+    gui_label(title_rect, title_wrapped, 50, font_weight=FontWeight.BOLD,
+              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+    # draw description
+    desc_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.MEDIUM), self._description, 30, int(max_width)))
+    desc_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), desc_wrapped, 30)
+    desc_rect = rl.Rectangle(int(self._rect.x + text_x_offset + PADDING),
+                             int(self._rect.y + self._rect.height / 3),
+                             int(max_width),
+                             int(desc_size.y))
+    # TODO: text align doesn't seem to work properly with newlines
+    gui_label(desc_rect, desc_wrapped, 30, font_weight=FontWeight.MEDIUM,
+              alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+
+class BigConfirmationDialogV2(BigDialogBase):
+  def __init__(self, title: str, icon: str, red: bool = False,
+               exit_on_confirm: bool = True,
+               confirm_callback: Callable | None = None):
+    super().__init__()
+    self._confirm_callback = confirm_callback
+    self._exit_on_confirm = exit_on_confirm
+
+    icon_txt = gui_app.texture(icon, 64, 53)
+    self._slider: BigSlider | RedBigSlider
+    if red:
+      self._slider = RedBigSlider(title, icon_txt, confirm_callback=self._on_confirm)
+    else:
+      self._slider = BigSlider(title, icon_txt, confirm_callback=self._on_confirm)
+    self._slider.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
+
+  def _on_confirm(self):
+    if self._exit_on_confirm:
+      self.dismiss(self._confirm_callback)
+    elif self._confirm_callback:
+      self._confirm_callback()
+
+  def _update_state(self):
+    super()._update_state()
+    if self.is_dismissing and not self._slider.confirmed:
+      self._slider.reset()
+
+  def _render(self, _):
+    self._slider.render(self._rect)
+
+
+class BigInputDialog(BigDialogBase):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.2
+  BACKSPACE_RATE = 25  # hz
+  TEXT_INPUT_SIZE = 35
+
+  def __init__(self,
+               hint: str,
+               default_text: str = "",
+               minimum_length: int = 1,
+               confirm_callback: Callable[[str], None] | None = None,
+               auto_return_to_letters: str = ""):
+    super().__init__()
+    self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
+                                    font_weight=FontWeight.MEDIUM)
+    self._keyboard = MiciKeyboard(auto_return_to_letters=auto_return_to_letters)
+    self._keyboard.set_text(default_text)
+    self._keyboard.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
+    self._minimum_length = minimum_length
+
+    self._backspace_held_time: float | None = None
+
+    self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36)
+    self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62)
+    self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62)
+    self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    # rects for top buttons
+    self._top_left_button_rect = rl.Rectangle(0, 0, 0, 0)
+    self._top_right_button_rect = rl.Rectangle(0, 0, 0, 0)
+
+    def confirm_callback_wrapper():
+      text = self._keyboard.text()
+      self.dismiss((lambda: confirm_callback(text)) if confirm_callback else None)
+    self._confirm_callback = confirm_callback_wrapper
+
+  def _update_state(self):
+    super()._update_state()
+
+    if self.is_dismissing:
+      self._backspace_held_time = None
+      return
+
+    last_mouse_event = gui_app.last_mouse_event
+    if last_mouse_event.left_down and rl.check_collision_point_rec(last_mouse_event.pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 1:
+      if self._backspace_held_time is None:
+        self._backspace_held_time = rl.get_time()
+
+      if rl.get_time() - self._backspace_held_time > 0.5:
+        if gui_app.frame % round(gui_app.target_fps / self.BACKSPACE_RATE) == 0:
+          self._keyboard.backspace()
+
+    else:
+      self._backspace_held_time = None
+
+  def _render(self, _):
+    # draw current text so far below everything. text floats left but always stays in view
+    text = self._keyboard.text()
+    candidate_char = self._keyboard.get_candidate_character()
+    text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE)
+
+    bg_block_margin = 5
+    text_x = PADDING / 2 + self._enter_img.width + PADDING
+    text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin,
+                                   int(self._rect.width - text_x * 2),
+                                   int(text_size.y))
+
+    # draw text input
+    # push text left with a gradient on left side if too long
+    if text_size.x > text_field_rect.width:
+      text_x -= text_size.x - text_field_rect.width
+
+    rl.begin_scissor_mode(int(text_field_rect.x), int(text_field_rect.y), int(text_field_rect.width), int(text_field_rect.height))
+    rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), text, rl.Vector2(text_x, text_field_rect.y), self.TEXT_INPUT_SIZE, 0, rl.WHITE)
+
+    # draw grayed out character user is hovering over
+    if candidate_char:
+      candidate_char_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), candidate_char, self.TEXT_INPUT_SIZE)
+      rl.draw_text_ex(gui_app.font(FontWeight.ROMAN), candidate_char,
+                      rl.Vector2(min(text_x + text_size.x, text_field_rect.x + text_field_rect.width) - candidate_char_size.x, text_field_rect.y),
+                      self.TEXT_INPUT_SIZE, 0, rl.Color(255, 255, 255, 128))
+
+    rl.end_scissor_mode()
+
+    # draw gradient on left side to indicate more text
+    if text_size.x > text_field_rect.width:
+      rl.draw_rectangle_gradient_h(int(text_field_rect.x), int(text_field_rect.y), 80, int(text_field_rect.height),
+                                   rl.BLACK, rl.BLANK)
+
+    # draw cursor
+    blink_alpha = (math.sin(rl.get_time() * 6) + 1) / 2
+    if text:
+      cursor_x = min(text_x + text_size.x + 3, text_field_rect.x + text_field_rect.width)
+    else:
+      cursor_x = text_field_rect.x - 6
+    rl.draw_rectangle_rounded(rl.Rectangle(int(cursor_x), int(text_field_rect.y), 4, int(text_size.y)),
+                              1, 4, rl.Color(255, 255, 255, int(255 * blink_alpha)))
+
+    # draw backspace icon with nice fade
+    self._backspace_img_alpha.update(255 * bool(text))
+    if self._backspace_img_alpha.x > 1:
+      color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x))
+      rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color)
+
+    if not text and self._hint_label.text and not candidate_char:
+      # draw description if no text entered yet and not drawing candidate char
+      hint_rect = rl.Rectangle(text_field_rect.x, text_field_rect.y,
+                               self._rect.width - text_field_rect.x - PADDING,
+                               text_field_rect.height)
+      self._hint_label.render(hint_rect)
+
+    # TODO: move to update state
+    # make rect take up entire area so it's easier to click
+    self._top_left_button_rect = rl.Rectangle(self._rect.x, self._rect.y, text_field_rect.x, self._rect.height - self._keyboard.get_keyboard_height())
+    self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y,
+                                               self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height)
+
+    # draw enter button
+    self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0)
+    color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x))
+    rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+    color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x))
+    rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color)
+
+    # keyboard goes over everything
+    self._keyboard.render(self._rect)
+
+    # draw debugging rect bounds
+    if DEBUG:
+      rl.draw_rectangle_lines_ex(text_field_rect, 1, rl.Color(100, 100, 100, 255))
+      rl.draw_rectangle_lines_ex(self._top_right_button_rect, 1, rl.Color(0, 255, 0, 255))
+      rl.draw_rectangle_lines_ex(self._top_left_button_rect, 1, rl.Color(0, 255, 0, 255))
+
+  def _handle_mouse_press(self, mouse_pos: MousePos):
+    super()._handle_mouse_press(mouse_pos)
+    # TODO: need to track where press was so enter and back can activate on release rather than press
+    #  or turn into icon widgets :eyes_open:
+
+    if self.is_dismissing:
+      return
+
+    # handle backspace icon click
+    if rl.check_collision_point_rec(mouse_pos, self._top_right_button_rect) and self._backspace_img_alpha.x > 254:
+      self._keyboard.backspace()
+    elif rl.check_collision_point_rec(mouse_pos, self._top_left_button_rect) and self._enter_img_alpha.x > 254:
+      # handle enter icon click
+      self._confirm_callback()
+
+
+class BigDialogButton(BigButton):
+  def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", description: str = ""):
+    super().__init__(text, value, icon)
+    self._description = description
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    dlg = BigDialog(self.text, self._description)
+    gui_app.push_widget(dlg)
diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/selfdrive/ui/mici/widgets/pairing_dialog.py
new file mode 100644
index 0000000000..991cb05a8c
--- /dev/null
+++ b/selfdrive/ui/mici/widgets/pairing_dialog.py
@@ -0,0 +1,112 @@
+import pyray as rl
+import qrcode
+import numpy as np
+import time
+
+from openpilot.common.api import Api
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.widgets.label import MiciLabel
+
+
+class PairingDialog(NavWidget):
+  """Dialog for device pairing with QR code."""
+
+  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
+
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._qr_texture: rl.Texture | None = None
+    self._last_qr_generation = float("-inf")
+
+    self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
+    self._pair_label = MiciLabel("pair with comma connect", 48, font_weight=FontWeight.BOLD,
+                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+
+  def _get_pairing_url(self) -> str:
+    try:
+      dongle_id = self._params.get("DongleId") or ""
+      token = Api(dongle_id).get_token({'pair': True})
+    except Exception as e:
+      cloudlog.warning(f"Failed to get pairing token: {e}")
+      token = ""
+    return f"https://connect.comma.ai/?pair={token}"
+
+  def _generate_qr_code(self) -> None:
+    try:
+      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
+      qr.add_data(self._get_pairing_url())
+      qr.make(fit=True)
+
+      pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
+      img_array = np.array(pil_img, dtype=np.uint8)
+
+      if self._qr_texture and self._qr_texture.id != 0:
+        rl.unload_texture(self._qr_texture)
+
+      rl_image = rl.Image()
+      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+      rl_image.width = pil_img.width
+      rl_image.height = pil_img.height
+      rl_image.mipmaps = 1
+      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+      self._qr_texture = rl.load_texture_from_image(rl_image)
+    except Exception as e:
+      cloudlog.warning(f"QR code generation failed: {e}")
+      self._qr_texture = None
+
+  def _check_qr_refresh(self) -> None:
+    current_time = time.monotonic()
+    if current_time - self._last_qr_generation >= self.QR_REFRESH_INTERVAL:
+      self._generate_qr_code()
+      self._last_qr_generation = current_time
+
+  def _update_state(self):
+    super()._update_state()
+    if ui_state.prime_state.is_paired() and not self.is_dismissing:
+      self.dismiss()
+
+  def _render(self, rect: rl.Rectangle):
+    self._check_qr_refresh()
+
+    self._render_qr_code()
+
+    label_x = self._rect.x + 8 + self._rect.height + 24
+    self._pair_label.set_width(int(self._rect.width - label_x))
+    self._pair_label.set_position(label_x, self._rect.y + 16)
+    self._pair_label.render()
+
+    rl.draw_texture_ex(self._txt_pair, rl.Vector2(label_x, self._rect.y + self._rect.height - self._txt_pair.height - 16),
+                       0.0, 1.0, rl.Color(255, 255, 255, int(255 * 0.35)))
+
+  def _render_qr_code(self) -> None:
+    if not self._qr_texture:
+      error_font = gui_app.font(FontWeight.BOLD)
+      rl.draw_text_ex(
+        error_font, "QR Code Error", rl.Vector2(self._rect.x + 20, self._rect.y + self._rect.height // 2 - 15), 30, 0.0, rl.RED
+      )
+      return
+
+    scale = self._rect.height / self._qr_texture.height
+    pos = rl.Vector2(self._rect.x + 8, self._rect.y)
+    rl.draw_texture_ex(self._qr_texture, pos, 0.0, scale, rl.WHITE)
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = PairingDialog()
+  gui_app.push_widget(pairing)
+  try:
+    for _ in gui_app.render():
+      pass
+  finally:
+    del pairing
diff --git a/sunnypilot/modeld/__init__.py b/selfdrive/ui/onroad/__init__.py
similarity index 100%
rename from sunnypilot/modeld/__init__.py
rename to selfdrive/ui/onroad/__init__.py
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
new file mode 100644
index 0000000000..6e79d23253
--- /dev/null
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -0,0 +1,182 @@
+import time
+import pyray as rl
+from dataclasses import dataclass
+from cereal import messaging, log
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import Label
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+
+ALERT_MARGIN = 40
+ALERT_PADDING = 60
+ALERT_LINE_SPACING = 45
+ALERT_BORDER_RADIUS = 30
+
+ALERT_FONT_SMALL = 66
+ALERT_FONT_MEDIUM = 74
+ALERT_FONT_BIG = 88
+
+ALERT_HEIGHTS = {
+  AlertSize.small: 271,
+  AlertSize.mid: 420,
+}
+
+SELFDRIVE_STATE_TIMEOUT = 5  # Seconds
+SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10  # Seconds
+
+# Constants
+ALERT_COLORS = {
+  AlertStatus.normal: rl.Color(0x15, 0x15, 0x15, 0xF1),      # #151515 with alpha 0xF1
+  AlertStatus.userPrompt: rl.Color(0xDA, 0x6F, 0x25, 0xF1),  # #DA6F25 with alpha 0xF1
+  AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 0xF1),    # #C92231 with alpha 0xF1
+}
+
+
+@dataclass
+class Alert:
+  text1: str = ""
+  text2: str = ""
+  size: int = 0
+  status: int = 0
+
+
+# Pre-defined alert instances
+ALERT_STARTUP_PENDING = Alert(
+  text1=tr("sunnypilot Unavailable"),
+  text2=tr("Waiting to start"),
+  size=AlertSize.mid,
+  status=AlertStatus.normal,
+)
+
+ALERT_CRITICAL_TIMEOUT = Alert(
+  text1=tr("TAKE CONTROL IMMEDIATELY"),
+  text2=tr("System Unresponsive"),
+  size=AlertSize.full,
+  status=AlertStatus.critical,
+)
+
+ALERT_CRITICAL_REBOOT = Alert(
+  text1=tr("System Unresponsive"),
+  text2=tr("Reboot Device"),
+  size=AlertSize.mid,
+  status=AlertStatus.normal,
+)
+
+
+class AlertRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL)
+    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+
+    # font size is set dynamically
+    self._full_text1_label = Label("", font_size=0, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                   text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+    self._full_text2_label = Label("", font_size=ALERT_FONT_BIG, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                                   text_alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+
+  def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
+    """Generate the current alert based on selfdrive state."""
+    ss = sm['selfdriveState']
+
+    # Check if selfdriveState messages have stopped arriving
+    recv_frame = sm.recv_frame['selfdriveState']
+    if not sm.updated['selfdriveState']:
+      time_since_onroad = time.monotonic() - ui_state.started_time
+
+      # 1. Never received selfdriveState since going onroad
+      waiting_for_startup = recv_frame < ui_state.started_frame
+      if waiting_for_startup and time_since_onroad > 5:
+        return ALERT_STARTUP_PENDING
+
+      # 2. Lost communication with selfdriveState after receiving it
+      if TICI and not waiting_for_startup:
+        ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
+        if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+          if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
+            return ALERT_CRITICAL_TIMEOUT
+          return ALERT_CRITICAL_REBOOT
+
+    # No alert if size is none
+    if ss.alertSize == 0:
+      return None
+
+    # Don't get old alert
+    if recv_frame < ui_state.started_frame:
+      return None
+
+    # Return current alert
+    return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize.raw, status=ss.alertStatus.raw)
+
+  def _render(self, rect: rl.Rectangle):
+    alert = self.get_alert(ui_state.sm)
+
+    if gui_app.sunnypilot_ui():
+      ui_state.onroad_brightness_handle_alerts(ui_state, alert)
+
+    if not alert:
+      return
+
+    alert_rect = self._get_alert_rect(rect, alert.size)
+    self._draw_background(alert_rect, alert)
+
+    text_rect = rl.Rectangle(
+      alert_rect.x + ALERT_PADDING,
+      alert_rect.y + ALERT_PADDING,
+      alert_rect.width - 2 * ALERT_PADDING,
+      alert_rect.height - 2 * ALERT_PADDING
+    )
+    self._draw_text(text_rect, alert)
+
+  def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
+    if size == AlertSize.full:
+      return rect
+
+    h = ALERT_HEIGHTS.get(size, rect.height)
+    return rl.Rectangle(rect.x + ALERT_MARGIN, rect.y + rect.height - h + ALERT_MARGIN,
+                        rect.width - ALERT_MARGIN * 2, h - ALERT_MARGIN * 2)
+
+  def _draw_background(self, rect: rl.Rectangle, alert: Alert) -> None:
+    color = ALERT_COLORS.get(alert.status, ALERT_COLORS[AlertStatus.normal])
+
+    if alert.size != AlertSize.full:
+      roundness = ALERT_BORDER_RADIUS / (min(rect.width, rect.height) / 2)
+      rl.draw_rectangle_rounded(rect, roundness, 10, color)
+    else:
+      rl.draw_rectangle_rec(rect, color)
+
+  def _draw_text(self, rect: rl.Rectangle, alert: Alert) -> None:
+    if alert.size == AlertSize.small:
+      self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM)
+
+    elif alert.size == AlertSize.mid:
+      self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_BIG, center_y=False)
+      rect.y += ALERT_FONT_BIG + ALERT_LINE_SPACING
+      self._draw_centered(alert.text2, rect, self.font_regular, ALERT_FONT_SMALL, center_y=False)
+
+    else:
+      is_long = len(alert.text1) > 15
+      font_size1 = 132 if is_long else 177
+
+      top_offset = 200 if is_long or '\n' in alert.text1 else 270
+      title_rect = rl.Rectangle(rect.x, rect.y + top_offset, rect.width, 600)
+      self._full_text1_label.set_font_size(font_size1)
+      self._full_text1_label.set_text(alert.text1)
+      self._full_text1_label.render(title_rect)
+
+      bottom_offset = 361 if is_long else 420
+      subtitle_rect = rl.Rectangle(rect.x, rect.y + rect.height - bottom_offset, rect.width, 300)
+      self._full_text2_label.set_text(alert.text2)
+      self._full_text2_label.render(subtitle_rect)
+
+  def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None:
+    text_size = measure_text_cached(font, text, font_size)
+    x = rect.x + (rect.width - text_size.x) / 2
+    y = rect.y + ((rect.height - text_size.y) / 2 if center_y else 0)
+    rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color)
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
new file mode 100644
index 0000000000..8abc8fbb52
--- /dev/null
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -0,0 +1,252 @@
+import time
+import numpy as np
+import pyray as rl
+from cereal import log, messaging
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
+from openpilot.common.transformations.orientation import rot_from_euler
+
+if gui_app.sunnypilot_ui():
+  from openpilot.selfdrive.ui.sunnypilot.onroad.alert_renderer import AlertRendererSP as AlertRenderer
+  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
+  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
+  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
+  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus
+
+OpState = log.SelfdriveState.OpenpilotState
+CALIBRATED = log.LiveCalibrationData.Status.calibrated
+ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
+DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
+
+BORDER_COLORS = {
+  UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF),  # Blue for disengaged state
+  UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF),  # Gray for override state
+  UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF),  # Green for engaged state
+  **BORDER_COLORS_SP,
+}
+
+WIDE_CAM_MAX_SPEED = 10.0  # m/s (22 mph)
+ROAD_CAM_MIN_SPEED = 15.0  # m/s (34 mph)
+INF_POINT = np.array([1000.0, 0.0, 0.0])
+
+
+class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
+  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+    CameraView.__init__(self, "camerad", stream_type)
+    AugmentedRoadViewSP.__init__(self)
+    self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
+
+    self.device_camera: DeviceCameraConfig | None = None
+    self.view_from_calib = view_frame_from_device_frame.copy()
+    self.view_from_wide_calib = view_frame_from_device_frame.copy()
+
+    self._matrix_cache_key = (0, 0.0, 0.0, stream_type)
+    self._cached_matrix: np.ndarray | None = None
+    self._content_rect = rl.Rectangle()
+
+    self.model_renderer = ModelRenderer()
+    self._hud_renderer = HudRenderer()
+    self.alert_renderer = AlertRenderer()
+    self.driver_state_renderer = DriverStateRenderer()
+
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
+  def _render(self, rect):
+    # Only render when system is started to avoid invalid data access
+    start_draw = time.monotonic()
+    if not ui_state.started:
+      return
+
+    self._switch_stream_if_needed(ui_state.sm)
+
+    # Update calibration before rendering
+    self._update_calibration()
+
+    # Create inner content area with border padding
+    self._content_rect = rl.Rectangle(
+      rect.x + UI_BORDER_SIZE,
+      rect.y + UI_BORDER_SIZE,
+      rect.width - 2 * UI_BORDER_SIZE,
+      rect.height - 2 * UI_BORDER_SIZE,
+    )
+
+    # Enable scissor mode to clip all rendering within content rectangle boundaries
+    # This creates a rendering viewport that prevents graphics from drawing outside the border
+    rl.begin_scissor_mode(
+      int(self._content_rect.x),
+      int(self._content_rect.y),
+      int(self._content_rect.width),
+      int(self._content_rect.height)
+    )
+
+    # Render the base camera view
+    super()._render(rect)
+
+    # Draw all UI overlays
+    self.model_renderer.render(self._content_rect)
+    AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
+    self._hud_renderer.render(self._content_rect)
+    self.alert_renderer.render(self._content_rect)
+    self.driver_state_renderer.render(self._content_rect)
+
+    # Custom UI extension point - add custom overlays here
+    # Use self._content_rect for positioning within camera bounds
+
+    # End clipping region
+    rl.end_scissor_mode()
+
+    # Draw colored border based on driving state
+    self._draw_border(rect)
+
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
+  def _handle_mouse_press(self, _):
+    if not self._hud_renderer.user_interacting() and self._click_callback is not None:
+      self._click_callback()
+
+  def _handle_mouse_release(self, _):
+    # We only call click callback on press if not interacting with HUD
+    pass
+
+  def _draw_border(self, rect: rl.Rectangle):
+    rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, rl.BLACK)
+    border_roundness = 0.12
+    border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
+    border_rect = rl.Rectangle(rect.x + UI_BORDER_SIZE, rect.y + UI_BORDER_SIZE,
+                               rect.width - 2 * UI_BORDER_SIZE, rect.height - 2 * UI_BORDER_SIZE)
+    rl.draw_rectangle_rounded_lines_ex(border_rect, border_roundness, 10, UI_BORDER_SIZE, border_color)
+
+  def _switch_stream_if_needed(self, sm):
+    if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
+      v_ego = sm['carState'].vEgo
+      if v_ego < WIDE_CAM_MAX_SPEED:
+        target = WIDE_CAM
+      elif v_ego > ROAD_CAM_MIN_SPEED:
+        target = ROAD_CAM
+      else:
+        # Hysteresis zone - keep current stream
+        target = self.stream_type
+    else:
+      target = ROAD_CAM
+
+    if self.stream_type != target:
+      self.switch_stream(target)
+
+  def _update_calibration(self):
+    # Update device camera if not already set
+    sm = ui_state.sm
+    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+
+    # Check if live calibration data is available and valid
+    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+      return
+
+    calib = sm['liveCalibration']
+    if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
+      return
+
+    # Update view_from_calib matrix
+    device_from_calib = rot_from_euler(calib.rpyCalib)
+    self.view_from_calib = view_frame_from_device_frame @ device_from_calib
+
+    # Update wide calibration if available
+    if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3:
+      wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
+      self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    # Check if we can use cached matrix
+    cache_key = (
+      ui_state.sm.recv_frame['liveCalibration'],
+      self._content_rect.width,
+      self._content_rect.height,
+      self.stream_type
+    )
+    if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
+      return self._cached_matrix
+
+    # Get camera configuration
+    device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
+    is_wide_camera = self.stream_type == WIDE_CAM
+    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
+    zoom = 2.0 if is_wide_camera else 1.1
+
+    # Calculate transforms for vanishing point
+    calib_transform = intrinsic @ calibration
+    kep = calib_transform @ INF_POINT
+
+    # Calculate center points and dimensions
+    x, y = self._content_rect.x, self._content_rect.y
+    w, h = self._content_rect.width, self._content_rect.height
+    cx, cy = intrinsic[0, 2], intrinsic[1, 2]
+
+    # Calculate max allowed offsets with margins
+    margin = 5
+    max_x_offset = cx * zoom - w / 2 - margin
+    max_y_offset = cy * zoom - h / 2 - margin
+
+    # Calculate and clamp offsets to prevent out-of-bounds issues
+    try:
+      if abs(kep[2]) > 1e-6:
+        x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset)
+        y_offset = np.clip((kep[1] / kep[2] - cy) * zoom, -max_y_offset, max_y_offset)
+      else:
+        x_offset, y_offset = 0, 0
+    except (ZeroDivisionError, OverflowError):
+      x_offset, y_offset = 0, 0
+
+    # Cache the computed transformation matrix to avoid recalculations
+    self._matrix_cache_key = cache_key
+    self._cached_matrix = np.array([
+      [zoom * 2 * cx / w, 0, -x_offset / w * 2],
+      [0, zoom * 2 * cy / h, -y_offset / h * 2],
+      [0, 0, 1.0]
+    ])
+
+    video_transform = np.array([
+      [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
+      [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+      [0.0, 0.0, 1.0]
+    ])
+    self.model_renderer.set_transform(video_transform @ calib_transform)
+
+    return self._cached_matrix
+
+  def show_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.RESUME)
+
+  def hide_event(self):
+    if gui_app.sunnypilot_ui():
+      ui_state.reset_onroad_sleep_timer(OnroadTimerStatus.PAUSE)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("OnRoad Camera View")
+  road_camera_view = AugmentedRoadView(ROAD_CAM)
+  gui_app.push_widget(road_camera_view)
+  print("***press space to switch camera view***")
+  try:
+    for _ in gui_app.render():
+      ui_state.update()
+      if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
+        if WIDE_CAM in road_camera_view.available_streams:
+          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          road_camera_view.switch_stream(stream)
+  finally:
+    road_camera_view.close()
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
new file mode 100644
index 0000000000..5443948465
--- /dev/null
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -0,0 +1,366 @@
+import platform
+import numpy as np
+import pyray as rl
+
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
+
+VERSION = """
+#version 300 es
+precision mediump float;
+"""
+if platform.system() == "Darwin":
+  VERSION = """
+    #version 330 core
+  """
+
+
+VERTEX_SHADER = VERSION + """
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+in vec3 vertexNormal;
+in vec4 vertexColor;
+uniform mat4 mvp;
+out vec2 fragTexCoord;
+out vec4 fragColor;
+void main() {
+  fragTexCoord = vertexTexCoord;
+  fragColor = vertexColor;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+
+# Choose fragment shader based on platform capabilities
+if TICI:
+  FRAME_FRAGMENT_SHADER = """
+    #version 300 es
+    #extension GL_OES_EGL_image_external_essl3 : enable
+    precision mediump float;
+    in vec2 fragTexCoord;
+    uniform samplerExternalOES texture0;
+    out vec4 fragColor;
+    void main() {
+      vec4 color = texture(texture0, fragTexCoord);
+      fragColor = vec4(pow(color.rgb, vec3(1.0/1.28)), color.a);
+    }
+    """
+else:
+  FRAME_FRAGMENT_SHADER = VERSION + """
+    in vec2 fragTexCoord;
+    uniform sampler2D texture0;
+    uniform sampler2D texture1;
+    out vec4 fragColor;
+    void main() {
+      float y = texture(texture0, fragTexCoord).r;
+      vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
+      fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0);
+    }
+    """
+
+
+class CameraView(Widget):
+  def __init__(self, name: str, stream_type: VisionStreamType):
+    super().__init__()
+    self._name = name
+    # Primary stream
+    self.client = VisionIpcClient(name, stream_type, conflate=True)
+    self._stream_type = stream_type
+    self.available_streams: list[VisionStreamType] = []
+
+    # Target stream for switching
+    self._target_client: VisionIpcClient | None = None
+    self._target_stream_type: VisionStreamType | None = None
+    self._switching: bool = False
+
+    self._texture_needs_update = True
+    self.last_connection_attempt: float = 0.0
+    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+
+    self.frame: VisionBuf | None = None
+    self.texture_y: rl.Texture | None = None
+    self.texture_uv: rl.Texture | None = None
+
+    # EGL resources
+    self.egl_images: dict[int, EGLImage] = {}
+    self.egl_texture: rl.Texture | None = None
+
+    self._placeholder_color: rl.Color | None = None
+
+    # Initialize EGL for zero-copy rendering on TICI
+    if TICI:
+      if not init_egl():
+        raise RuntimeError("Failed to initialize EGL")
+
+      # Create a 1x1 pixel placeholder texture for EGL image binding
+      temp_image = rl.gen_image_color(1, 1, rl.BLACK)
+      self.egl_texture = rl.load_texture_from_image(temp_image)
+      rl.unload_image(temp_image)
+
+    ui_state.add_offroad_transition_callback(self._offroad_transition)
+
+  def _offroad_transition(self):
+    # Reconnect if not first time going onroad
+    if ui_state.is_onroad() and self.frame is not None:
+      # Prevent old frames from showing when going onroad. Qt has a separate thread
+      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
+      # and only clears internal buffers, not the message queue.
+      self.frame = None
+      self.available_streams.clear()
+      if self.client:
+        del self.client
+      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+
+  def _set_placeholder_color(self, color: rl.Color):
+    """Set a placeholder color to be drawn when no frame is available."""
+    self._placeholder_color = color
+
+  def switch_stream(self, stream_type: VisionStreamType) -> None:
+    if self._stream_type == stream_type:
+      return
+
+    if self._switching and self._target_stream_type == stream_type:
+      return
+
+    cloudlog.debug(f'Preparing switch from {self._stream_type} to {stream_type}')
+
+    if self._target_client:
+      del self._target_client
+
+    self._target_stream_type = stream_type
+    self._target_client = VisionIpcClient(self._name, stream_type, conflate=True)
+    self._switching = True
+
+  @property
+  def stream_type(self) -> VisionStreamType:
+    return self._stream_type
+
+  def close(self) -> None:
+    self._clear_textures()
+
+    # Clean up EGL texture
+    if TICI and self.egl_texture:
+      rl.unload_texture(self.egl_texture)
+      self.egl_texture = None
+
+    # Clean up shader
+    if self.shader and self.shader.id:
+      rl.unload_shader(self.shader)
+
+    self.frame = None
+    self.available_streams.clear()
+    self.client = None
+
+  def __del__(self):
+    self.close()
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    if not self.frame:
+      return np.eye(3)
+
+    # Calculate aspect ratios
+    widget_aspect_ratio = rect.width / rect.height
+    frame_aspect_ratio = self.frame.width / self.frame.height
+
+    # Calculate scaling factors to maintain aspect ratio
+    zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0)
+    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
+
+    return np.array([
+      [zx, 0.0, 0.0],
+      [0.0, zy, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+  def _render(self, rect: rl.Rectangle):
+    if self._switching:
+      self._handle_switch()
+
+    if not self._ensure_connection():
+      self._draw_placeholder(rect)
+      return
+
+    # Try to get a new buffer without blocking
+    buffer = self.client.recv(timeout_ms=0)
+    if buffer:
+      self._texture_needs_update = True
+      self.frame = buffer
+    elif not self.client.is_connected():
+      # ensure we clear the displayed frame when the connection is lost
+      self.frame = None
+
+    if not self.frame:
+      self._draw_placeholder(rect)
+      return
+
+    transform = self._calc_frame_matrix(rect)
+    src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
+    # Flip driver camera horizontally
+    if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
+      src_rect.width = -src_rect.width
+
+    # Calculate scale
+    scale_x = rect.width * transform[0, 0]  # zx
+    scale_y = rect.height * transform[1, 1]  # zy
+
+    # Calculate base position (centered)
+    x_offset = rect.x + (rect.width - scale_x) / 2
+    y_offset = rect.y + (rect.height - scale_y) / 2
+
+    x_offset += transform[0, 2] * rect.width / 2
+    y_offset += transform[1, 2] * rect.height / 2
+
+    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
+
+    # Render with appropriate method
+    if TICI:
+      self._render_egl(src_rect, dst_rect)
+    else:
+      self._render_textures(src_rect, dst_rect)
+
+  def _draw_placeholder(self, rect: rl.Rectangle):
+    if self._placeholder_color:
+      rl.draw_rectangle_rec(rect, self._placeholder_color)
+
+  def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
+    """Render using EGL for direct buffer access"""
+    if self.frame is None or self.egl_texture is None:
+      return
+
+    idx = self.frame.idx
+    egl_image = self.egl_images.get(idx)
+
+    # Create EGL image if needed
+    if egl_image is None:
+      egl_image = create_egl_image(self.frame.width, self.frame.height, self.frame.stride, self.frame.fd, self.frame.uv_offset)
+      if egl_image:
+        self.egl_images[idx] = egl_image
+      else:
+        return
+
+    # Update texture dimensions to match current frame
+    self.egl_texture.width = self.frame.width
+    self.egl_texture.height = self.frame.height
+
+    # Bind the EGL image to our texture
+    bind_egl_image_to_texture(self.egl_texture.id, egl_image)
+
+    # Render with shader
+    rl.begin_shader_mode(self.shader)
+    rl.draw_texture_pro(self.egl_texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
+    """Render using texture copies"""
+    if not self.texture_y or not self.texture_uv or self.frame is None:
+      return
+
+    # Update textures with new frame data
+    if self._texture_needs_update:
+      y_data = self.frame.data[: self.frame.uv_offset]
+      uv_data = self.frame.data[self.frame.uv_offset:]
+
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      self._texture_needs_update = False
+
+    # Render with shader
+    rl.begin_shader_mode(self.shader)
+    rl.set_shader_value_texture(self.shader, self._texture1_loc, self.texture_uv)
+    rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _ensure_connection(self) -> bool:
+    if not self.client.is_connected():
+      self.frame = None
+      self.available_streams.clear()
+
+      # Throttle connection attempts
+      current_time = rl.get_time()
+      if current_time - self.last_connection_attempt < CONNECTION_RETRY_INTERVAL:
+        return False
+      self.last_connection_attempt = current_time
+
+      if not self.client.connect(False) or not self.client.num_buffers:
+        return False
+
+      cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}")
+      self._initialize_textures()
+      self.available_streams = self.client.available_streams(self._name, block=False)
+
+    return True
+
+  def _handle_switch(self) -> None:
+    """Check if target stream is ready and switch immediately."""
+    if not self._target_client or not self._switching:
+      return
+
+    # Try to connect target if needed
+    if not self._target_client.is_connected():
+      if not self._target_client.connect(False) or not self._target_client.num_buffers:
+        return
+
+      cloudlog.debug(f"Target stream connected: {self._target_stream_type}")
+
+    # Check if target has frames ready
+    target_frame = self._target_client.recv(timeout_ms=0)
+    if target_frame:
+      self.frame = target_frame  # Update current frame to target frame
+      self._complete_switch()
+
+  def _complete_switch(self) -> None:
+    """Instantly switch to target stream."""
+    cloudlog.debug(f"Switching to {self._target_stream_type}")
+    # Clean up current resources
+    if self.client:
+      del self.client
+
+    # Switch to target
+    self.client = self._target_client
+    self._stream_type = self._target_stream_type
+    self._texture_needs_update = True
+
+    # Reset state
+    self._target_client = None
+    self._target_stream_type = None
+    self._switching = False
+
+    # Initialize textures for new stream
+    self._initialize_textures()
+
+  def _initialize_textures(self):
+    self._clear_textures()
+    if not TICI:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+
+  def _clear_textures(self):
+    if self.texture_y and self.texture_y.id:
+      rl.unload_texture(self.texture_y)
+      self.texture_y = None
+
+    if self.texture_uv and self.texture_uv.id:
+      rl.unload_texture(self.texture_uv)
+      self.texture_uv = None
+
+    # Clean up EGL resources
+    if TICI:
+      for data in self.egl_images.values():
+        destroy_egl_image(data)
+      self.egl_images = {}
+
+
+if __name__ == "__main__":
+  gui_app.init_window("camera view")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/onroad/driver_camera_dialog.py b/selfdrive/ui/onroad/driver_camera_dialog.py
new file mode 100644
index 0000000000..e66e04b824
--- /dev/null
+++ b/selfdrive/ui/onroad/driver_camera_dialog.py
@@ -0,0 +1,111 @@
+import numpy as np
+import pyray as rl
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.label import gui_label
+
+
+class DriverCameraDialog(CameraView):
+  def __init__(self):
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self.driver_state_renderer = DriverStateRenderer()
+    # TODO: this can grow unbounded, should be given some thought
+    device.add_interactive_timeout_callback(gui_app.pop_widget)
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
+
+  def hide_event(self):
+    super().hide_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    self.close()
+
+  def _handle_mouse_release(self, _):
+    super()._handle_mouse_release(_)
+    gui_app.pop_widget()
+
+  def __del__(self):
+    self.close()
+
+  def _render(self, rect):
+    super()._render(rect)
+
+    if not self.frame:
+      gui_label(
+        rect,
+        tr("camera starting"),
+        font_size=100,
+        font_weight=FontWeight.BOLD,
+        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      )
+      return -1
+
+    self._draw_face_detection(rect)
+    self.driver_state_renderer.render(rect)
+
+    return -1
+
+  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
+    driver_state = ui_state.sm["driverStateV2"]
+    is_rhd = driver_state.wheelOnRightProb > 0.5
+    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
+    face_detect = driver_data.faceProb > 0.7
+    if not face_detect:
+      return
+
+    # Get face position and orientation
+    face_x, face_y = driver_data.facePosition
+    face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    alpha = 0.7
+    if face_std > 0.15:
+      alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0)
+
+    # use approx instead of distort_points
+    # TODO: replace with distort_points
+    fbox_x = int(1080.0 - 1714.0 * face_x)
+    fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y)
+    box_size = 220
+
+    line_color = rl.Color(255, 255, 255, int(alpha * 255))
+    rl.draw_rectangle_rounded_lines_ex(
+      rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size),
+      35.0 / box_size / 2,
+      10,
+      10,
+      line_color,
+    )
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    driver_view_ratio = 2.0
+
+    # Get stream dimensions
+    if self.frame:
+      stream_width = self.frame.width
+      stream_height = self.frame.height
+    else:
+      # Default values if frame not available
+      stream_width = 1928
+      stream_height = 1208
+
+    yscale = stream_height * driver_view_ratio / stream_width
+    xscale = yscale * rect.height / rect.width * stream_width / stream_height
+
+    return np.array([
+      [xscale, 0.0, 0.0],
+      [0.0, yscale, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Driver Camera View")
+
+  driver_camera_view = DriverCameraDialog()
+  gui_app.push_widget(driver_camera_view)
+  try:
+    for _ in gui_app.render():
+      ui_state.update()
+  finally:
+    driver_camera_view.close()
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
new file mode 100644
index 0000000000..7b3181d1ac
--- /dev/null
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -0,0 +1,231 @@
+import numpy as np
+import pyray as rl
+from cereal import log
+from dataclasses import dataclass
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+AlertSize = log.SelfdriveState.AlertSize
+
+# Default 3D coordinates for face keypoints as a NumPy array
+DEFAULT_FACE_KPTS_3D = np.array([
+  [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
+  [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
+  [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
+  [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
+  [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
+  [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
+  [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
+  [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
+  [-5.98, -51.20, 8.00],
+], dtype=np.float32)
+
+# UI constants
+BTN_SIZE = 192
+IMG_SIZE = 144
+ARC_LENGTH = 133
+ARC_THICKNESS_DEFAULT = 6.7
+ARC_THICKNESS_EXTEND = 12.0
+
+SCALES_POS = np.array([0.9, 0.4, 0.4], dtype=np.float32)
+SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32)
+
+ARC_POINT_COUNT = 37  # Number of points in the arc
+ARC_ANGLES = np.linspace(0.0, np.pi, ARC_POINT_COUNT, dtype=np.float32)
+
+
+@dataclass
+class ArcData:
+  """Data structure for arc rendering parameters."""
+  x: float
+  y: float
+  width: float
+  height: float
+  thickness: float
+
+
+class DriverStateRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    # Initial state with NumPy arrays
+    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy()
+    self.is_active = False
+    self.is_rhd = False
+    self.dm_fade_state = 0.0
+    self.driver_pose_vals = np.zeros(3, dtype=np.float32)
+    self.driver_pose_diff = np.zeros(3, dtype=np.float32)
+    self.driver_pose_sins = np.zeros(3, dtype=np.float32)
+    self.driver_pose_coss = np.zeros(3, dtype=np.float32)
+    self.face_keypoints_transformed = np.zeros((DEFAULT_FACE_KPTS_3D.shape[0], 2), dtype=np.float32)
+    self.position_x: float = 0.0
+    self.position_y: float = 0.0
+    self.h_arc_data = None
+    self.v_arc_data = None
+
+    # Pre-allocate drawing arrays
+    self.face_lines = [rl.Vector2(0, 0) for _ in range(len(DEFAULT_FACE_KPTS_3D))]
+    self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)]
+    self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)]
+
+    # Load the driver face icon
+    self.dm_img = gui_app.texture("icons/driver_face.png", IMG_SIZE, IMG_SIZE)
+
+    # Colors
+    self.white_color = rl.Color(255, 255, 255, 255)
+    self.arc_color = rl.Color(26, 242, 66, 255)
+    self.engaged_color = rl.Color(26, 242, 66, 255)
+    self.disengaged_color = rl.Color(139, 139, 139, 255)
+
+    self.set_visible(lambda: (ui_state.sm["selfdriveState"].alertSize == AlertSize.none and
+                              ui_state.sm.recv_frame["driverStateV2"] > ui_state.started_frame))
+
+  def _render(self, rect):
+    # Set opacity based on active state
+    opacity = 0.65 if self.is_active else 0.2
+
+    # Draw background circle
+    rl.draw_circle(int(self.position_x), int(self.position_y), BTN_SIZE // 2, rl.Color(0, 0, 0, 70))
+
+    # Draw face icon
+    icon_pos = rl.Vector2(self.position_x - self.dm_img.width // 2, self.position_y - self.dm_img.height // 2)
+    rl.draw_texture_v(self.dm_img, icon_pos, rl.Color(255, 255, 255, int(255 * opacity)))
+
+    # Draw face outline
+    self.white_color.a = int(255 * opacity)
+    rl.draw_spline_linear(self.face_lines, len(self.face_lines), 5.2, self.white_color)
+
+    # Set arc color based on engaged state
+    self.arc_color = self.engaged_color if ui_state.engaged else self.disengaged_color
+    self.arc_color.a = int(0.4 * 255 * (1.0 - self.dm_fade_state))  # Fade out when inactive
+
+    # Draw arcs
+    if self.h_arc_data:
+      rl.draw_spline_linear(self.h_arc_lines, len(self.h_arc_lines), self.h_arc_data.thickness, self.arc_color)
+    if self.v_arc_data:
+      rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color)
+
+  def _update_state(self):
+    """Update the driver monitoring state based on model data"""
+    sm = ui_state.sm
+    if not self.is_visible:
+      return
+
+    # Get monitoring state
+    dm_state = sm["driverMonitoringState"]
+    self.is_active = dm_state.isActiveMode
+    self.is_rhd = dm_state.isRHD
+
+    # Update fade state (smoother transition between active/inactive)
+    fade_target = 0.0 if self.is_active else 0.5
+    self.dm_fade_state = np.clip(self.dm_fade_state + 0.2 * (fade_target - self.dm_fade_state), 0.0, 1.0)
+
+    # Get driver orientation data from appropriate camera
+    driverstate = sm["driverStateV2"]
+    driver_data = driverstate.rightDriverData if self.is_rhd else driverstate.leftDriverData
+    driver_orient = driver_data.faceOrientation
+
+    # Update pose values with scaling and smoothing
+    driver_orient = np.array(driver_orient)
+    scales = np.where(driver_orient < 0, SCALES_NEG, SCALES_POS)
+    v_this = driver_orient * scales
+    self.driver_pose_diff = np.abs(self.driver_pose_vals - v_this)
+    self.driver_pose_vals = 0.8 * v_this + 0.2 * self.driver_pose_vals  # Smooth changes
+
+    # Apply fade to rotation and compute sin/cos
+    rotation_amount = self.driver_pose_vals * (1.0 - self.dm_fade_state)
+    self.driver_pose_sins = np.sin(rotation_amount)
+    self.driver_pose_coss = np.cos(rotation_amount)
+
+    # Create rotation matrix for 3D face model
+    sin_y, sin_x, sin_z = self.driver_pose_sins
+    cos_y, cos_x, cos_z = self.driver_pose_coss
+    r_xyz = np.array(
+      [
+        [cos_x * cos_z, cos_x * sin_z, -sin_x],
+        [-sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x],
+        [cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x],
+      ]
+    )
+
+    # Transform face keypoints using vectorized matrix multiplication
+    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D @ r_xyz.T
+    self.face_kpts_draw[:, 2] = self.face_kpts_draw[:, 2] * (1.0 - self.dm_fade_state) + 8 * self.dm_fade_state
+
+    # Pre-calculate the transformed keypoints
+    kp_depth = (self.face_kpts_draw[:, 2] - 8) / 120.0 + 1.0
+    self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None]
+
+    # Pre-calculate all drawing elements
+    self._pre_calculate_drawing_elements()
+
+  def _pre_calculate_drawing_elements(self):
+    """Pre-calculate all drawing elements based on the current rectangle"""
+    # Calculate icon position (bottom-left or bottom-right)
+    width, height = self._rect.width, self._rect.height
+    offset = UI_BORDER_SIZE + BTN_SIZE // 2
+    self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = self._rect.y + height - offset
+
+    # Pre-calculate the face lines positions
+    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
+    for i in range(len(positioned_keypoints)):
+      self.face_lines[i].x = positioned_keypoints[i][0]
+      self.face_lines[i].y = positioned_keypoints[i][1]
+
+    # Calculate arc dimensions based on head rotation
+    delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0  # Horizontal movement
+    delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0  # Vertical movement
+
+    # Horizontal arc
+    h_width = abs(delta_x)
+    self.h_arc_data = self._calculate_arc_data(
+      delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+      self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+    )
+
+    # Vertical arc
+    v_height = abs(delta_y)
+    self.v_arc_data = self._calculate_arc_data(
+      delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+      self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+    )
+
+  def _calculate_arc_data(
+    self, delta: float, size: float, x: float, y: float, sin_val: float, diff_val: float, is_horizontal: bool
+  ):
+    """Calculate arc data and pre-compute arc points."""
+    if size <= 0:
+      return None
+
+    thickness = ARC_THICKNESS_DEFAULT + ARC_THICKNESS_EXTEND * min(1.0, diff_val * 5.0)
+    start_angle = (90 if sin_val > 0 else -90) if is_horizontal else (0 if sin_val > 0 else 180)
+    x = min(x + delta, x) if is_horizontal else x
+    y = y if is_horizontal else min(y + delta, y)
+
+    arc_data = ArcData(
+      x=x,
+      y=y,
+      width=size if is_horizontal else ARC_LENGTH,
+      height=ARC_LENGTH if is_horizontal else size,
+      thickness=thickness,
+    )
+
+    # Pre-calculate arc points
+    angles = ARC_ANGLES + np.deg2rad(start_angle)
+
+    center_x = x + arc_data.width / 2
+    center_y = y + arc_data.height / 2
+    radius_x = arc_data.width / 2
+    radius_y = arc_data.height / 2
+
+    x_coords = center_x + np.cos(angles) * radius_x
+    y_coords = center_y - np.sin(angles) * radius_y
+
+    arc_lines = self.h_arc_lines if is_horizontal else self.v_arc_lines
+    for i, (x_coord, y_coord) in enumerate(zip(x_coords, y_coords, strict=True)):
+      arc_lines[i].x = x_coord
+      arc_lines[i].y = y_coord
+
+    return arc_data
diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py
new file mode 100644
index 0000000000..e5d8171413
--- /dev/null
+++ b/selfdrive/ui/onroad/exp_button.py
@@ -0,0 +1,70 @@
+import time
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+
+class ExpButton(Widget):
+  def __init__(self, button_size: int, icon_size: int):
+    super().__init__()
+    self._params = Params()
+    self._experimental_mode: bool = False
+    self._engageable: bool = False
+
+    # State hold mechanism
+    self._hold_duration = 2.0  # seconds
+    self._held_mode: bool | None = None
+    self._hold_end_time: float | None = None
+
+    self._white_color: rl.Color = rl.Color(255, 255, 255, 255)
+    self._black_bg: rl.Color = rl.Color(0, 0, 0, 166)
+    self._txt_wheel: rl.Texture = gui_app.texture('icons/chffr_wheel.png', icon_size, icon_size)
+    self._txt_exp: rl.Texture = gui_app.texture('icons/experimental.png', icon_size, icon_size)
+    self._rect = rl.Rectangle(0, 0, button_size, button_size)
+
+  def set_rect(self, rect: rl.Rectangle) -> None:
+    self._rect.x, self._rect.y = rect.x, rect.y
+
+  def _update_state(self) -> None:
+    selfdrive_state = ui_state.sm["selfdriveState"]
+    self._experimental_mode = selfdrive_state.experimentalMode
+    self._engageable = selfdrive_state.engageable or selfdrive_state.enabled
+
+  def _handle_mouse_release(self, _):
+    super()._handle_mouse_release(_)
+    if self._is_toggle_allowed():
+      new_mode = not self._experimental_mode
+      self._params.put_bool("ExperimentalMode", new_mode)
+
+      # Hold new state temporarily
+      self._held_mode = new_mode
+      self._hold_end_time = time.monotonic() + self._hold_duration
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    center_x = int(self._rect.x + self._rect.width // 2)
+    center_y = int(self._rect.y + self._rect.height // 2)
+
+    self._white_color.a = 180 if self.is_pressed or not self._engageable else 255
+
+    texture = self._txt_exp if self._held_or_actual_mode() else self._txt_wheel
+    rl.draw_circle(center_x, center_y, self._rect.width / 2, self._black_bg)
+    rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
+
+  def _held_or_actual_mode(self):
+    now = time.monotonic()
+    if self._hold_end_time and now < self._hold_end_time:
+      return self._held_mode
+
+    if self._hold_end_time and now >= self._hold_end_time:
+      self._hold_end_time = self._held_mode = None
+
+    return self._experimental_mode
+
+  def _is_toggle_allowed(self):
+    if not self._params.get_bool("ExperimentalModeConfirmed"):
+      return False
+
+    # Mirror exp mode toggle using persistent car params
+    return ui_state.has_longitudinal_control
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
new file mode 100644
index 0000000000..79f150deea
--- /dev/null
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -0,0 +1,180 @@
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+# Constants
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
+CRUISE_DISABLED_CHAR = '–'
+
+
+@dataclass(frozen=True)
+class UIConfig:
+  header_height: int = 300
+  border_size: int = 30
+  button_size: int = 192
+  set_speed_width_metric: int = 200
+  set_speed_width_imperial: int = 172
+  set_speed_height: int = 204
+  wheel_icon_size: int = 144
+
+
+@dataclass(frozen=True)
+class FontSizes:
+  current_speed: int = 176
+  speed_unit: int = 66
+  max_speed: int = 40
+  set_speed: int = 90
+
+
+@dataclass(frozen=True)
+class Colors:
+  WHITE = rl.WHITE
+  DISENGAGED = rl.Color(145, 155, 149, 255)
+  OVERRIDE = rl.Color(145, 155, 149, 255)  # Added
+  ENGAGED = rl.Color(128, 216, 166, 255)
+  DISENGAGED_BG = rl.Color(0, 0, 0, 153)
+  OVERRIDE_BG = rl.Color(145, 155, 149, 204)
+  ENGAGED_BG = rl.Color(128, 216, 166, 204)
+  GREY = rl.Color(166, 166, 166, 255)
+  DARK_GREY = rl.Color(114, 114, 114, 255)
+  BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+  BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
+  HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
+  HEADER_GRADIENT_END = rl.BLANK
+
+
+UI_CONFIG = UIConfig()
+FONT_SIZES = FontSizes()
+COLORS = Colors()
+
+
+class HudRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    """Initialize the HUD renderer."""
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = True
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+    self._exp_button: ExpButton = ExpButton(UI_CONFIG.button_size, UI_CONFIG.wheel_icon_size)
+
+  def _update_state(self) -> None:
+    """Update HUD state based on car state and controls state."""
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.is_cruise_set = False
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
+      return
+
+    controls_state = sm['controlsState']
+    car_state = sm['carState']
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not ui_state.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    """Render HUD elements to the screen."""
+    # Draw the header background
+    rl.draw_rectangle_gradient_v(
+      int(rect.x),
+      int(rect.y),
+      int(rect.width),
+      UI_CONFIG.header_height,
+      COLORS.HEADER_GRADIENT_START,
+      COLORS.HEADER_GRADIENT_END,
+    )
+
+    if self.is_cruise_available:
+      self._draw_set_speed(rect)
+
+    self._draw_current_speed(rect)
+
+    button_x = rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size
+    button_y = rect.y + UI_CONFIG.border_size
+    self._exp_button.render(rl.Rectangle(button_x, button_y, UI_CONFIG.button_size, UI_CONFIG.button_size))
+
+  def user_interacting(self) -> bool:
+    return self._exp_button.is_pressed
+
+  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the MAX speed indicator box."""
+    set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2
+    y = rect.y + 45
+
+    set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
+
+    max_color = COLORS.GREY
+    set_speed_color = COLORS.DARK_GREY
+    if self.is_cruise_set:
+      set_speed_color = COLORS.WHITE
+      if ui_state.status == UIStatus.ENGAGED:
+        max_color = COLORS.ENGAGED
+      elif ui_state.status == UIStatus.DISENGAGED:
+        max_color = COLORS.DISENGAGED
+      elif ui_state.status == UIStatus.OVERRIDE:
+        max_color = COLORS.OVERRIDE
+
+    max_text = tr("MAX")
+    max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
+    rl.draw_text_ex(
+      self._font_semi_bold,
+      max_text,
+      rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + 27),
+      FONT_SIZES.max_speed,
+      0,
+      max_color,
+    )
+
+    set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(self.set_speed))
+    speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x
+    rl.draw_text_ex(
+      self._font_bold,
+      set_speed_text,
+      rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77),
+      FONT_SIZES.set_speed,
+      0,
+      set_speed_color,
+    )
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the current vehicle speed and unit."""
+    speed_text = str(round(self.speed))
+    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+
+    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
+    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
new file mode 100644
index 0000000000..353cc5aa40
--- /dev/null
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -0,0 +1,449 @@
+import colorsys
+import numpy as np
+import pyray as rl
+from cereal import messaging, car
+from dataclasses import dataclass, field
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+from openpilot.system.ui.widgets import Widget
+
+from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
+
+CLIP_MARGIN = 500
+MIN_DRAW_DISTANCE = 10.0
+MAX_DRAW_DISTANCE = 100.0
+
+THROTTLE_COLORS = [
+  rl.Color(13, 248, 122, 102),   # HSLF(148/360, 0.94, 0.51, 0.4)
+  rl.Color(114, 255, 92, 89),    # HSLF(112/360, 1.0, 0.68, 0.35)
+  rl.Color(114, 255, 92, 0),     # HSLF(112/360, 1.0, 0.68, 0.0)
+]
+
+NO_THROTTLE_COLORS = [
+  rl.Color(242, 242, 242, 102), # HSLF(148/360, 0.0, 0.95, 0.4)
+  rl.Color(242, 242, 242, 89),  # HSLF(112/360, 0.0, 0.95, 0.35)
+  rl.Color(242, 242, 242, 0),   # HSLF(112/360, 0.0, 0.95, 0.0)
+]
+
+
+@dataclass
+class ModelPoints:
+  raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
+  projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
+
+
+@dataclass
+class LeadVehicle:
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
+  fill_alpha: int = 0
+
+
+class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
+  def __init__(self):
+    Widget.__init__(self)
+    ChevronMetrics.__init__(self)
+    ModelRendererSP.__init__(self)
+    self._longitudinal_control = False
+    self._experimental_mode = False
+    self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
+    self._prev_allow_throttle = True
+    self._lane_line_probs = np.zeros(4, dtype=np.float32)
+    self._road_edge_stds = np.zeros(2, dtype=np.float32)
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    self._path_offset_z = HEIGHT_INIT[0]
+    self._counter = -1
+    self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    # Initialize ModelPoints objects
+    self._path = ModelPoints()
+    self._lane_lines = [ModelPoints() for _ in range(4)]
+    self._road_edges = [ModelPoints() for _ in range(2)]
+    self._acceleration_x = np.empty((0,), dtype=np.float32)
+
+    # Transform matrix (3x3 for car space to screen space)
+    self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
+    self._transform_dirty = True
+    self._clip_region = None
+
+    self._exp_gradient = Gradient(
+      start=(0.0, 1.0),  # Bottom of path
+      end=(0.0, 0.0),  # Top of path
+      colors=[],
+      stops=[],
+    )
+
+    # Get longitudinal control setting from car parameters
+    if car_params := Params().get("CarParams"):
+      cp = messaging.log_from_bytes(car_params, car.CarParams)
+      self._longitudinal_control = cp.openpilotLongitudinalControl
+
+  def set_transform(self, transform: np.ndarray):
+    self._car_space_transform = transform.astype(np.float32)
+    self._transform_dirty = True
+
+  def _render(self, rect: rl.Rectangle):
+    sm = ui_state.sm
+
+    # Check if data is up-to-date
+    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+        sm.recv_frame["modelV2"] < ui_state.started_frame):
+      return
+
+    # Set up clipping region
+    self._clip_region = rl.Rectangle(
+      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
+    )
+
+    # Update state
+    self._experimental_mode = sm['selfdriveState'].experimentalMode
+
+    live_calib = sm['liveCalibration']
+    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+
+    if self._counter % 60 == 0:
+      self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
+    self._counter += 1
+
+    if sm.updated['carParams']:
+      self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
+
+    model = sm['modelV2']
+    radar_state = sm['radarState'] if sm.valid['radarState'] else None
+    lead_one = radar_state.leadOne if radar_state else None
+    render_lead_indicator = self._longitudinal_control and radar_state is not None
+
+    # Update model data when needed
+    model_updated = sm.updated['modelV2']
+    if model_updated or sm.updated['radarState'] or self._transform_dirty:
+      if model_updated:
+        self._update_raw_points(model)
+
+      path_x_array = self._path.raw_points[:, 0]
+      if path_x_array.size == 0:
+        return
+
+      self._update_model(lead_one, path_x_array)
+      if render_lead_indicator:
+        self._update_leads(radar_state, path_x_array)
+      self._transform_dirty = False
+
+    # Draw elements
+    self._draw_lane_lines()
+    self._draw_path(sm)
+
+    if render_lead_indicator and radar_state:
+      self._draw_lead_indicator()
+      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
+
+  def _update_raw_points(self, model):
+    """Update raw 3D points from model data"""
+    self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
+
+    for i, lane_line in enumerate(model.laneLines):
+      self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
+
+    for i, road_edge in enumerate(model.roadEdges):
+      self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
+
+    self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
+    self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
+    self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
+
+  def _update_leads(self, radar_state, path_x_array):
+    """Update positions of lead vehicles"""
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    leads = [radar_state.leadOne, radar_state.leadTwo]
+
+    for i, lead_data in enumerate(leads):
+      if lead_data and lead_data.status:
+        d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
+        idx = self._get_path_length_idx(path_x_array, d_rel)
+
+        # Get z-coordinate from path at the lead vehicle position
+        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
+        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
+        if point:
+          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
+
+  def _update_model(self, lead, path_x_array):
+    """Update model visualization data based on model message"""
+    max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
+    max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], max_distance)
+
+    # Update lane lines using raw points
+    for i, lane_line in enumerate(self._lane_lines):
+      lane_line.projected_points = self._map_line_to_polygon(
+        lane_line.raw_points, 0.025 * self._lane_line_probs[i], 0.0, max_idx, max_distance
+      )
+
+    # Update road edges using raw points
+    for road_edge in self._road_edges:
+      road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx, max_distance)
+
+    # Update path using raw points
+    if lead and lead.status:
+      lead_d = lead.dRel * 2.0
+      max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
+
+    max_idx = self._get_path_length_idx(path_x_array, max_distance)
+    self._path.projected_points = self._map_line_to_polygon(
+      self._path.raw_points, 0.9, self._path_offset_z, max_idx, max_distance, allow_invert=False
+    )
+
+    self._update_experimental_gradient()
+
+  def _update_experimental_gradient(self):
+    """Pre-calculate experimental mode gradient colors"""
+    if not self._experimental_mode:
+      return
+
+    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+
+    segment_colors = []
+    gradient_stops = []
+
+    i = 0
+    while i < max_len:
+      # Some points (screen space) are out of frame (rect space)
+      track_y = self._path.projected_points[i][1]
+      if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
+        i += 1
+        continue
+
+      # Calculate color based on acceleration (0 is bottom, 1 is top)
+      lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
+
+      # speed up: 120, slow down: 0
+      path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
+
+      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
+      lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
+      alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
+
+      # Use HSL to RGB conversion
+      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
+
+      gradient_stops.append(lin_grad_point)
+      segment_colors.append(color)
+
+      # Skip a point, unless next is last
+      i += 1 + (1 if (i + 2) < max_len else 0)
+
+    # Store the gradient in the path object
+    self._exp_gradient = Gradient(
+      start=(0.0, 1.0),  # Bottom of path
+      end=(0.0, 0.0),  # Top of path
+      colors=segment_colors,
+      stops=gradient_stops,
+    )
+
+  def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
+    speed_buff, lead_buff = 10.0, 40.0
+
+    # Calculate fill alpha
+    fill_alpha = 0
+    if d_rel < lead_buff:
+      fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
+      if v_rel < 0:
+        fill_alpha += 255 * (-1 * (v_rel / speed_buff))
+      fill_alpha = min(fill_alpha, 255)
+
+    # Calculate size and position
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
+    x = np.clip(point[0], 0.0, rect.width - sz / 2)
+    y = min(point[1], rect.height - sz * 0.6)
+
+    g_xo = sz / 5
+    g_yo = sz / 10
+
+    glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
+    chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
+
+    return LeadVehicle(glow=glow, chevron=chevron, fill_alpha=int(fill_alpha))
+
+  def _draw_lane_lines(self):
+    """Draw lane lines and road edges"""
+    for i, lane_line in enumerate(self._lane_lines):
+      if lane_line.projected_points.size == 0:
+        continue
+
+      alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7)
+      color = rl.Color(255, 255, 255, int(alpha * 255))
+      draw_polygon(self._rect, lane_line.projected_points, color)
+
+    for i, road_edge in enumerate(self._road_edges):
+      if road_edge.projected_points.size == 0:
+        continue
+
+      alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0)
+      color = rl.Color(255, 0, 0, int(alpha * 255))
+      draw_polygon(self._rect, road_edge.projected_points, color)
+
+  def _draw_path(self, sm):
+    """Draw path with dynamic coloring based on mode and throttle state."""
+    if not self._path.projected_points.size:
+      return
+
+    allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
+    self._blend_filter.update(int(allow_throttle))
+
+    if ui_state.rainbow_path:
+      self.rainbow_path.draw_rainbow_path(self._rect, self._path)
+      return
+
+    if self._experimental_mode:
+      # Draw with acceleration coloring
+      if len(self._exp_gradient.colors) > 1:
+        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+      else:
+        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+    else:
+      # Blend throttle/no throttle colors based on transition
+      blend_factor = round(self._blend_filter.x * 100) / 100
+      blended_colors = self._blend_colors(NO_THROTTLE_COLORS, THROTTLE_COLORS, blend_factor)
+      gradient = Gradient(
+        start=(0.0, 1.0),  # Bottom of path
+        end=(0.0, 0.0),  # Top of path
+        colors=blended_colors,
+        stops=[0.0, 0.5, 1.0],
+      )
+      draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+
+  def _draw_lead_indicator(self):
+    # Draw lead vehicles if available
+    for lead in self._lead_vehicles:
+      if not lead.glow or not lead.chevron:
+        continue
+
+      rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
+      rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
+
+  @staticmethod
+  def _get_path_length_idx(pos_x_array: np.ndarray, path_distance: float) -> int:
+    """Get the index corresponding to the given path distance"""
+    if len(pos_x_array) == 0:
+      return 0
+    indices = np.where(pos_x_array <= path_distance)[0]
+    return indices[-1] if indices.size > 0 else 0
+
+  def _map_to_screen(self, in_x, in_y, in_z):
+    """Project a point in car space to screen space"""
+    input_pt = np.array([in_x, in_y, in_z])
+    pt = self._car_space_transform @ input_pt
+
+    if abs(pt[2]) < 1e-6:
+      return None
+
+    x, y = pt[0] / pt[2], pt[1] / pt[2]
+
+    clip = self._clip_region
+    if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
+      return None
+
+    return (x, y)
+
+  def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, max_distance: float, allow_invert: bool = True) -> np.ndarray:
+    """Convert 3D line to 2D polygon for rendering."""
+    if line.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Slice points and filter non-negative x-coordinates
+    points = line[:max_idx + 1]
+
+    # Interpolate around max_idx so path end is smooth (max_distance is always >= p0.x)
+    if 0 < max_idx < line.shape[0] - 1:
+      p0 = line[max_idx]
+      p1 = line[max_idx + 1]
+      x0, x1 = p0[0], p1[0]
+      interp_y = np.interp(max_distance, [x0, x1], [p0[1], p1[1]])
+      interp_z = np.interp(max_distance, [x0, x1], [p0[2], p1[2]])
+      interp_point = np.array([max_distance, interp_y, interp_z], dtype=points.dtype)
+      points = np.concatenate((points, interp_point[None, :]), axis=0)
+
+    points = points[points[:, 0] >= 0]
+    if points.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    N = points.shape[0]
+    # Generate left and right 3D points in one array using broadcasting
+    offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32)
+    points_3d = points[None, :, :] + offsets[:, None, :]  # Shape: 2xNx3
+    points_3d = points_3d.reshape(2 * N, 3)  # Shape: (2*N)x3
+
+    # Transform all points to projected space in one operation
+    proj = self._car_space_transform @ points_3d.T  # Shape: 3x(2*N)
+    proj = proj.reshape(3, 2, N)
+    left_proj = proj[:, 0, :]
+    right_proj = proj[:, 1, :]
+
+    # Filter points where z is sufficiently large
+    valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6)
+    if not np.any(valid_proj):
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Compute screen coordinates
+    left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :]
+    right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :]
+
+    # Define clip region bounds
+    clip = self._clip_region
+    x_min, x_max = clip.x, clip.x + clip.width
+    y_min, y_max = clip.y, clip.y + clip.height
+
+    # Filter points within clip region
+    left_in_clip = (
+      (left_screen[0] >= x_min) & (left_screen[0] <= x_max) &
+      (left_screen[1] >= y_min) & (left_screen[1] <= y_max)
+    )
+    right_in_clip = (
+      (right_screen[0] >= x_min) & (right_screen[0] <= x_max) &
+      (right_screen[1] >= y_min) & (right_screen[1] <= y_max)
+    )
+    both_in_clip = left_in_clip & right_in_clip
+
+    if not np.any(both_in_clip):
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Select valid and clipped points
+    left_screen = left_screen[:, both_in_clip]
+    right_screen = right_screen[:, both_in_clip]
+
+    # Handle Y-coordinate inversion on hills
+    if not allow_invert and left_screen.shape[1] > 1:
+      y = left_screen[1, :]  # y-coordinates
+      keep = y == np.minimum.accumulate(y)
+      if not np.any(keep):
+        return np.empty((0, 2), dtype=np.float32)
+      left_screen = left_screen[:, keep]
+      right_screen = right_screen[:, keep]
+
+    return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
+
+  @staticmethod
+  def _hsla_to_color(h, s, l, a):
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
+    )
+
+  @staticmethod
+  def _blend_colors(begin_colors, end_colors, t):
+    if t >= 1.0:
+      return end_colors
+    if t <= 0.0:
+      return begin_colors
+
+    inv_t = 1.0 - t
+    return [rl.Color(
+      int(inv_t * start.r + t * end.r),
+      int(inv_t * start.g + t * end.g),
+      int(inv_t * start.b + t * end.b),
+      int(inv_t * start.a + t * end.a)
+    ) for start, end in zip(begin_colors, end_colors, strict=True)]
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
deleted file mode 100644
index 85a3144bd2..0000000000
--- a/selfdrive/ui/qt/api.cc
+++ /dev/null
@@ -1,147 +0,0 @@
-#include "selfdrive/ui/qt/api.h"
-
-#include <openssl/pem.h>
-#include <openssl/rsa.h>
-
-#include <QApplication>
-#include <QCryptographicHash>
-#include <QDateTime>
-#include <QDebug>
-#include <QJsonDocument>
-#include <QNetworkRequest>
-
-#include <memory>
-#include <string>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-
-namespace CommaApi {
-
-RSA *get_rsa_private_key() {
-  static std::unique_ptr<RSA, decltype(&RSA_free)> rsa_private(nullptr, RSA_free);
-  if (!rsa_private) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      qDebug() << "No RSA private key found, please run manager.py or registration.py";
-      return nullptr;
-    }
-    rsa_private.reset(PEM_read_RSAPrivateKey(fp, NULL, NULL, NULL));
-    fclose(fp);
-  }
-  return rsa_private.get();
-}
-
-QByteArray rsa_sign(const QByteArray &data) {
-  RSA *rsa_private = get_rsa_private_key();
-  if (!rsa_private) return {};
-
-  QByteArray sig(RSA_size(rsa_private), Qt::Uninitialized);
-  unsigned int sig_len;
-  int ret = RSA_sign(NID_sha256, (unsigned char*)data.data(), data.size(), (unsigned char*)sig.data(), &sig_len, rsa_private);
-  assert(ret == 1);
-  assert(sig.size() == sig_len);
-  return sig;
-}
-
-QString create_jwt(const QJsonObject &payloads, int expiry) {
-  QJsonObject header = {{"alg", "RS256"}};
-
-  auto t = QDateTime::currentSecsSinceEpoch();
-  QJsonObject payload = {{"identity", getDongleId().value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
-  for (auto it = payloads.begin(); it != payloads.end(); ++it) {
-    payload.insert(it.key(), it.value());
-  }
-
-  auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
-  QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
-                QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
-
-  auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
-  return jwt + "." + rsa_sign(hash).toBase64(b64_opts);
-}
-
-}  // namespace CommaApi
-
-HttpRequest::HttpRequest(QObject *parent, bool create_jwt, int timeout) : create_jwt(create_jwt), QObject(parent) {
-  networkTimer = new QTimer(this);
-  networkTimer->setSingleShot(true);
-  networkTimer->setInterval(timeout);
-  connect(networkTimer, &QTimer::timeout, this, &HttpRequest::requestTimeout);
-}
-
-bool HttpRequest::active() const {
-  return reply != nullptr;
-}
-
-bool HttpRequest::timeout() const {
-  return reply && reply->error() == QNetworkReply::OperationCanceledError;
-}
-
-QNetworkRequest HttpRequest::prepareRequest(const QString &requestURL) {
-  QNetworkRequest request;
-  QString token;
-  if (create_jwt) {
-    token = GetJwtToken();
-  } else {
-    QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
-    QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
-    token = json_d["access_token"].toString();
-  }
-
-  request.setUrl(QUrl(requestURL));
-  request.setRawHeader("User-Agent", GetUserAgent().toUtf8());
-
-  if (!token.isEmpty()) {
-    request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
-  }
-  return request;
-}
-
-void HttpRequest::sendRequest(const QString &requestURL, const Method method) {
-  if (active()) {
-    qDebug() << "HttpRequest is active";
-    return;
-  }
-  
-  QNetworkRequest request = prepareRequest(requestURL);
-  if (method == Method::GET) {
-    reply = nam()->get(request);
-  } else if (method == Method::DELETE) {
-    reply = nam()->deleteResource(request);
-  }
-
-  networkTimer->start();
-  connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished);
-}
-
-void HttpRequest::requestTimeout() {
-  reply->abort();
-}
-
-void HttpRequest::requestFinished() {
-  networkTimer->stop();
-
-  if (reply->error() == QNetworkReply::NoError) {
-    emit requestDone(reply->readAll(), true, reply->error());
-  } else {
-    QString error;
-    if (reply->error() == QNetworkReply::OperationCanceledError) {
-      nam()->clearAccessCache();
-      nam()->clearConnectionCache();
-      error = "Request timed out";
-    } else {
-      error = reply->errorString();
-    }
-    emit requestDone(error, false, reply->error());
-  }
-
-  reply->deleteLater();
-  reply = nullptr;
-}
-
-QNetworkAccessManager *HttpRequest::nam() {
-  static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp);
-  return networkAccessManager;
-}
diff --git a/selfdrive/ui/qt/api.h b/selfdrive/ui/qt/api.h
deleted file mode 100644
index 80b85f7ca7..0000000000
--- a/selfdrive/ui/qt/api.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include <QJsonObject>
-#include <QNetworkReply>
-#include <QString>
-#include <QTimer>
-
-#include "util.h"
-#include "common/util.h"
-
-namespace CommaApi {
-
-const QString BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-QByteArray rsa_sign(const QByteArray &data);
-QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600);
-
-}  // namespace CommaApi
-
-/**
- * Makes a request to the request endpoint.
- */
-
-class HttpRequest : public QObject {
-  Q_OBJECT
-
-public:
-  enum class Method {GET, DELETE, POST, PUT};
-
-  explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
-  virtual void sendRequest(const QString &requestURL, Method method);
-  void sendRequest(const QString &requestURL) { sendRequest(requestURL, Method::GET);}
-  bool active() const;
-  bool timeout() const;
-
-signals:
-  void requestDone(const QString &response, bool success, QNetworkReply::NetworkError error);
-
-protected:
-  QNetworkReply *reply = nullptr;
-  static QNetworkAccessManager *nam();
-  QTimer *networkTimer = nullptr;
-  bool create_jwt;
-  virtual QNetworkRequest prepareRequest(const QString& requestURL);
-  [[nodiscard]] virtual QString GetJwtToken() const { return CommaApi::create_jwt(); }
-  [[nodiscard]] virtual QString GetUserAgent() const { return getUserAgent(); }
-
-protected slots:
-  void requestTimeout();
-  void requestFinished();
-};
diff --git a/selfdrive/ui/qt/body.cc b/selfdrive/ui/qt/body.cc
deleted file mode 100644
index e01adbe063..0000000000
--- a/selfdrive/ui/qt/body.cc
+++ /dev/null
@@ -1,161 +0,0 @@
-#include "selfdrive/ui/qt/body.h"
-
-#include <cmath>
-#include <algorithm>
-
-#include <QPainter>
-#include <QStackedLayout>
-
-#include "common/params.h"
-#include "common/timing.h"
-
-RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) {
-  setCheckable(true);
-  setChecked(false);
-  setFixedSize(148, 148);
-
-  QObject::connect(this, &QPushButton::toggled, [=]() {
-    setEnabled(false);
-  });
-}
-
-void RecordButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  QPoint center(width() / 2, height() / 2);
-
-  QColor bg(isChecked() ? "#FFFFFF" : "#737373");
-  QColor accent(isChecked() ? "#FF0000" : "#FFFFFF");
-  if (!isEnabled()) {
-    bg = QColor("#404040");
-    accent = QColor("#FFFFFF");
-  }
-
-  if (isDown()) {
-    accent.setAlphaF(0.7);
-  }
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(center, 74, 74);
-
-  p.setPen(QPen(accent, 6));
-  p.setBrush(Qt::NoBrush);
-  p.drawEllipse(center, 42, 42);
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(accent);
-  p.drawEllipse(center, 22, 22);
-}
-
-
-BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) {
-  QStackedLayout *layout = new QStackedLayout(this);
-  layout->setStackingMode(QStackedLayout::StackAll);
-
-  QWidget *w = new QWidget;
-  QVBoxLayout *vlayout = new QVBoxLayout(w);
-  vlayout->setMargin(45);
-  layout->addWidget(w);
-
-  // face
-  face = new QLabel();
-  face->setAlignment(Qt::AlignCenter);
-  layout->addWidget(face);
-  awake = new QMovie("../assets/body/awake.gif", {}, this);
-  awake->setCacheMode(QMovie::CacheAll);
-  sleep = new QMovie("../assets/body/sleep.gif", {}, this);
-  sleep->setCacheMode(QMovie::CacheAll);
-
-  // record button
-  btn = new RecordButton(this);
-  vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight);
-  QObject::connect(btn, &QPushButton::clicked, [=](bool checked) {
-    btn->setEnabled(false);
-    Params().putBool("DisableLogging", !checked);
-    last_button = nanos_since_boot();
-  });
-  w->raise();
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState);
-}
-
-void BodyWindow::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  p.fillRect(rect(), QColor(0, 0, 0));
-
-  // battery outline + detail
-  p.translate(width() - 136, 16);
-  const QColor gray = QColor("#737373");
-  p.setBrush(Qt::NoBrush);
-  p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
-  p.drawRoundedRect(2, 2, 78, 36, 8, 8);
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(gray);
-  p.drawRoundedRect(84, 12, 6, 16, 4, 4);
-  p.drawRect(84, 12, 3, 16);
-
-  // battery level
-  double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f);
-  const int m = 5; // manual margin since we can't do an inner border
-  p.setPen(Qt::NoPen);
-  p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A"));
-  p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4);
-
-  // charging status
-  if (charging) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(Qt::white);
-    const QPolygonF charger({
-      QPointF(12.31, 0),
-      QPointF(12.31, 16.92),
-      QPointF(18.46, 16.92),
-      QPointF(6.15, 40),
-      QPointF(6.15, 23.08),
-      QPointF(0, 23.08),
-    });
-    p.drawPolygon(charger.translated(98, 0));
-  }
-}
-
-void BodyWindow::offroadTransition(bool offroad) {
-  btn->setChecked(true);
-  btn->setEnabled(true);
-  fuel_filter.reset(1.0);
-}
-
-void BodyWindow::updateState(const UIState &s) {
-  if (!isVisible()) {
-    return;
-  }
-
-  const SubMaster &sm = *(s.sm);
-  auto cs = sm["carState"].getCarState();
-
-  charging = cs.getCharging();
-  fuel_filter.update(cs.getFuelGauge());
-
-  // TODO: use carState.standstill when that's fixed
-  const bool standstill = std::abs(cs.getVEgo()) < 0.01;
-  QMovie *m = standstill ? sleep : awake;
-  if (m != face->movie()) {
-    face->setMovie(m);
-    face->movie()->start();
-  }
-
-  // update record button state
-  if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) {
-    for (auto proc : sm["managerState"].getManagerState().getProcesses()) {
-      if (proc.getName() == "loggerd") {
-        btn->setEnabled(true);
-        btn->setChecked(proc.getRunning());
-      }
-    }
-  }
-
-  update();
-}
diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h
deleted file mode 100644
index 187e015af7..0000000000
--- a/selfdrive/ui/qt/body.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-
-#include <QMovie>
-#include <QLabel>
-#include <QPushButton>
-
-#include "common/util.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#define UIState UIStateSP
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-class RecordButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  RecordButton(QWidget* parent = 0);
-
-private:
-  void paintEvent(QPaintEvent*) override;
-};
-
-class BodyWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  BodyWindow(QWidget* parent = 0);
-
-private:
-  bool charging = false;
-  uint64_t last_button = 0;
-  FirstOrderFilter fuel_filter;
-  QLabel *face;
-  QMovie *awake, *sleep;
-  RecordButton *btn;
-  void paintEvent(QPaintEvent*) override;
-
-private slots:
-  void updateState(const UIState &s);
-  void offroadTransition(bool onroad);
-};
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
deleted file mode 100644
index 3f7457192e..0000000000
--- a/selfdrive/ui/qt/home.cc
+++ /dev/null
@@ -1,95 +0,0 @@
-#include "selfdrive/ui/qt/home.h"
-
-#include <QHBoxLayout>
-#include <QMouseEvent>
-
-#include "selfdrive/ui/qt/util.h"
-
-// HomeWindow: the container for the offroad and onroad UIs
-
-HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-  main_layout->setMargin(0);
-  main_layout->setSpacing(0);
-
-  sidebar = new Sidebar(this);
-  main_layout->addWidget(sidebar);
-  QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
-
-  slayout = new QStackedLayout();
-  main_layout->addLayout(slayout);
-
-  home = new OffroadHome(this);
-  QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
-  slayout->addWidget(home);
-
-  onroad = new OnroadWindow(this);
-  slayout->addWidget(onroad);
-
-  body = new BodyWindow(this);
-  slayout->addWidget(body);
-
-  driver_view = new DriverViewWindow(this);
-  connect(driver_view, &DriverViewWindow::done, [=] {
-    showDriverView(false);
-  });
-  slayout->addWidget(driver_view);
-  setAttribute(Qt::WA_NoSystemBackground);
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
-  QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
-}
-
-void HomeWindow::showSidebar(bool show) {
-  sidebar->setVisible(show);
-}
-
-void HomeWindow::updateState(const UIState &s) {
-  const SubMaster &sm = *(s.sm);
-
-  // switch to the generic robot UI
-  if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) {
-    body->setEnabled(true);
-    slayout->setCurrentWidget(body);
-  }
-}
-
-void HomeWindow::offroadTransition(bool offroad) {
-  body->setEnabled(false);
-  sidebar->setVisible(offroad);
-  if (offroad) {
-    slayout->setCurrentWidget(home);
-  } else {
-    slayout->setCurrentWidget(onroad);
-  }
-}
-
-void HomeWindow::showDriverView(bool show) {
-  if (show) {
-    emit closeSettings();
-    slayout->setCurrentWidget(driver_view);
-  } else {
-    slayout->setCurrentWidget(home);
-  }
-  sidebar->setVisible(show == false);
-}
-
-void HomeWindow::mousePressEvent(QMouseEvent* e) {
-  // Handle sidebar collapsing
-  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-    sidebar->setVisible(!sidebar->isVisible());
-  }
-}
-
-void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
-  HomeWindow::mousePressEvent(e);
-  const SubMaster &sm = *(uiState()->sm);
-  if (sm["carParams"].getCarParams().getNotCar()) {
-    if (onroad->isVisible()) {
-      slayout->setCurrentWidget(body);
-    } else if (body->isVisible()) {
-      slayout->setCurrentWidget(onroad);
-    }
-    showSidebar(false);
-  }
-}
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
deleted file mode 100644
index b333624163..0000000000
--- a/selfdrive/ui/qt/home.h
+++ /dev/null
@@ -1,60 +0,0 @@
-#pragma once
-
-#include <QFrame>
-#include <QLabel>
-#include <QPushButton>
-#include <QStackedLayout>
-#include <QTimer>
-#include <QWidget>
-
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
-#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
-#define OnroadWindow OnroadWindowSP
-#define OffroadHome OffroadHomeSP
-#define LayoutWidget LayoutWidgetSP
-#define Sidebar SidebarSP
-#define ElidedLabel ElidedLabelSP
-#define SetupWidget SetupWidgetSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/qt/sidebar.h"
-#endif
-
-#include "selfdrive/ui/qt/offroad/offroad_home.h"
-
-class HomeWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit HomeWindow(QWidget* parent = 0);
-
-signals:
-  void openSettings(int index = 0, const QString &param = "");
-  void closeSettings();
-
-public slots:
-  void offroadTransition(bool offroad);
-  void showDriverView(bool show);
-  void showSidebar(bool show);
-
-protected:
-  void mousePressEvent(QMouseEvent* e) override;
-  void mouseDoubleClickEvent(QMouseEvent* e) override;
-
-  Sidebar *sidebar;
-  OffroadHome *home;
-  OnroadWindow *onroad;
-  BodyWindow *body;
-  DriverViewWindow *driver_view;
-  QStackedLayout *slayout;
-
-protected slots:
-  virtual void updateState(const UIState &s);
-};
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
deleted file mode 100644
index 02c137413c..0000000000
--- a/selfdrive/ui/qt/network/networking.cc
+++ /dev/null
@@ -1,383 +0,0 @@
-#include "selfdrive/ui/qt/network/networking.h"
-
-#include <algorithm>
-
-#include <QHBoxLayout>
-#include <QScrollBar>
-#include <QStyle>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-#endif
-
-static const int ICON_WIDTH = 49;
-
-// Networking functions
-
-Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
-
-  wifi = new WifiManager(this);
-  connect(wifi, &WifiManager::refreshSignal, this, &Networking::refresh);
-  connect(wifi, &WifiManager::wrongPassword, this, &Networking::wrongPassword);
-
-  wifiScreen = new QWidget(this);
-  QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen);
-  vlayout->setContentsMargins(20, 20, 20, 20);
-  if (show_advanced) {
-    QPushButton* advancedSettings = new QPushButton(tr("Advanced"));
-    advancedSettings->setObjectName("advanced_btn");
-    advancedSettings->setStyleSheet("margin-right: 30px;");
-    advancedSettings->setFixedSize(400, 100);
-    connect(advancedSettings, &QPushButton::clicked, [=]() { main_layout->setCurrentWidget(an); });
-    vlayout->addSpacing(10);
-    vlayout->addWidget(advancedSettings, 0, Qt::AlignRight);
-    vlayout->addSpacing(10);
-  }
-
-  wifiWidget = new WifiUI(this, wifi);
-  wifiWidget->setObjectName("wifiWidget");
-  connect(wifiWidget, &WifiUI::connectToNetwork, this, &Networking::connectToNetwork);
-
-  ScrollView *wifiScroller = new ScrollView(wifiWidget, this);
-  wifiScroller->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-  vlayout->addWidget(wifiScroller, 1);
-  main_layout->addWidget(wifiScreen);
-
-  an = new AdvancedNetworking(this, wifi);
-  connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); });
-  connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); });
-  main_layout->addWidget(an);
-
-  QPalette pal = palette();
-  pal.setColor(QPalette::Window, QColor(0x29, 0x29, 0x29));
-  setAutoFillBackground(true);
-  setPalette(pal);
-
-  setStyleSheet(R"(
-    #wifiWidget > QPushButton, #back_btn, #advanced_btn {
-      font-size: 50px;
-      margin: 0px;
-      padding: 15px;
-      border-width: 0;
-      border-radius: 30px;
-      color: #dddddd;
-      background-color: #393939;
-    }
-    #back_btn:pressed, #advanced_btn:pressed {
-      background-color:  #4a4a4a;
-    }
-  )");
-  main_layout->setCurrentWidget(wifiScreen);
-}
-
-void Networking::setPrimeType(PrimeState::Type type) {
-  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
-  wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
-}
-
-void Networking::refresh() {
-  wifiWidget->refresh();
-  an->refresh();
-}
-
-void Networking::connectToNetwork(const Network n) {
-  if (wifi->isKnownConnection(n.ssid)) {
-    wifi->activateWifiConnection(n.ssid);
-  } else if (n.security_type == SecurityType::OPEN) {
-    wifi->connect(n, false);
-  } else if (n.security_type == SecurityType::WPA) {
-    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
-    if (!pass.isEmpty()) {
-      wifi->connect(n, false, pass);
-    }
-  }
-}
-
-void Networking::wrongPassword(const QString &ssid) {
-  if (wifi->seenNetworks.contains(ssid)) {
-    const Network &n = wifi->seenNetworks.value(ssid);
-    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
-    if (!pass.isEmpty()) {
-      wifi->connect(n, false, pass);
-    }
-  }
-}
-
-void Networking::showEvent(QShowEvent *event) {
-  wifi->start();
-}
-
-void Networking::hideEvent(QHideEvent *event) {
-  main_layout->setCurrentWidget(wifiScreen);
-  wifi->stop();
-}
-
-// AdvancedNetworking functions
-
-AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWidget(parent), wifi(wifi) {
-
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(40);
-  main_layout->setSpacing(20);
-
-  // Back button
-  QPushButton* back = new QPushButton(tr("Back"));
-  back->setObjectName("back_btn");
-  back->setFixedSize(400, 100);
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  ListWidget *list = new ListWidget(this);
-  // Enable tethering layout
-  tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled());
-  list->addItem(tetheringToggle);
-  QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering);
-
-  // Change tethering password
-  ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT"));
-  connect(editPasswordButton, &ButtonControl::clicked, [=]() {
-    QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword());
-    if (!pass.isEmpty()) {
-      wifi->changeTetheringPassword(pass);
-    }
-  });
-  list->addItem(editPasswordButton);
-
-  // IP address
-  ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
-  list->addItem(ipLabel);
-
-  // Roaming toggle
-  const bool roamingEnabled = params.getBool("GsmRoaming");
-  roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);
-  QObject::connect(roamingToggle, &ToggleControl::toggleFlipped, [=](bool state) {
-    params.putBool("GsmRoaming", state);
-    wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")), params.getBool("GsmMetered"));
-  });
-  list->addItem(roamingToggle);
-
-  // APN settings
-  editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT"));
-  connect(editApnButton, &ButtonControl::clicked, [=]() {
-    const QString cur_apn = QString::fromStdString(params.get("GsmApn"));
-    QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed();
-
-    if (apn.isEmpty()) {
-      params.remove("GsmApn");
-    } else {
-      params.put("GsmApn", apn.toStdString());
-    }
-    wifi->updateGsmSettings(params.getBool("GsmRoaming"), apn, params.getBool("GsmMetered"));
-  });
-  list->addItem(editApnButton);
-
-  // Metered toggle
-  const bool metered = params.getBool("GsmMetered");
-  meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered);
-  QObject::connect(meteredToggle, &SshToggle::toggleFlipped, [=](bool state) {
-    params.putBool("GsmMetered", state);
-    wifi->updateGsmSettings(params.getBool("GsmRoaming"), QString::fromStdString(params.get("GsmApn")), state);
-  });
-  list->addItem(meteredToggle);
-
-  // Hidden Network
-  hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT"));
-  connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() {
-    QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1);
-    if (!ssid.isEmpty()) {
-      QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1);
-      Network hidden_network;
-      hidden_network.ssid = ssid.toUtf8();
-      if (!pass.isEmpty()) {
-        hidden_network.security_type = SecurityType::WPA;
-        wifi->connect(hidden_network, true, pass);
-      } else {
-        wifi->connect(hidden_network, true);
-      }
-      emit requestWifiScreen();
-    }
-  });
-  list->addItem(hiddenNetworkButton);
-
-  // Set initial config
-  wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);
-
-  main_layout->addWidget(new ScrollView(list, this));
-  main_layout->addStretch(1);
-}
-
-void AdvancedNetworking::setGsmVisible(bool visible) {
-  roamingToggle->setVisible(visible);
-  editApnButton->setVisible(visible);
-  meteredToggle->setVisible(visible);
-}
-
-void AdvancedNetworking::refresh() {
-  ipLabel->setText(wifi->ipv4_address);
-  tetheringToggle->setEnabled(true);
-  update();
-}
-
-void AdvancedNetworking::toggleTethering(bool enabled) {
-  wifi->setTetheringEnabled(enabled);
-  tetheringToggle->setEnabled(false);
-}
-
-// WifiUI functions
-
-WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // load imgs
-  for (const auto &s : {"low", "medium", "high", "full"}) {
-    QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg");
-    strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation));
-  }
-  lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
-  checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
-  circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
-
-  scanningLabel = new QLabel(tr("Scanning for networks..."));
-  scanningLabel->setStyleSheet("font-size: 65px;");
-  main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter);
-
-  wifi_list_widget = new ListWidget(this);
-  wifi_list_widget->setVisible(false);
-  main_layout->addWidget(wifi_list_widget);
-
-  setStyleSheet(R"(
-    QScrollBar::handle:vertical {
-      min-height: 0px;
-      border-radius: 4px;
-      background-color: #8A8A8A;
-    }
-    #forgetBtn {
-      font-size: 32px;
-      font-weight: 600;
-      color: #292929;
-      background-color: #BDBDBD;
-      border-width: 1px solid #828282;
-      border-radius: 5px;
-      padding: 40px;
-      padding-bottom: 16px;
-      padding-top: 16px;
-    }
-    #forgetBtn:pressed {
-      background-color: #828282;
-    }
-    #connecting {
-      font-size: 32px;
-      font-weight: 600;
-      color: white;
-      border-radius: 0;
-      padding: 27px;
-      padding-left: 43px;
-      padding-right: 43px;
-      background-color: black;
-    }
-    #ssidLabel {
-      text-align: left;
-      border: none;
-      padding-top: 50px;
-      padding-bottom: 50px;
-    }
-    #ssidLabel:disabled {
-      color: #696969;
-    }
-  )");
-}
-
-void WifiUI::refresh() {
-  bool is_empty = wifi->seenNetworks.isEmpty();
-  scanningLabel->setVisible(is_empty);
-  wifi_list_widget->setVisible(!is_empty);
-  if (is_empty) return;
-
-  setUpdatesEnabled(false);
-
-  const bool is_tethering_enabled = wifi->isTetheringEnabled();
-  QList<Network> sortedNetworks = wifi->seenNetworks.values();
-  std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength);
-
-  int n = 0;
-  for (Network &network : sortedNetworks) {
-    QPixmap status_icon;
-    if (network.connected == ConnectedType::CONNECTED) {
-      status_icon = checkmark;
-    } else if (network.security_type == SecurityType::UNSUPPORTED) {
-      status_icon = circled_slash;
-    } else if (network.security_type == SecurityType::WPA) {
-      status_icon = lock;
-    }
-    bool show_forget_btn = wifi->isKnownConnection(network.ssid) && !is_tethering_enabled;
-    QPixmap strength = strengths[strengthLevel(network.strength)];
-
-    auto item = getItem(n++);
-    item->setItem(network, status_icon, show_forget_btn, strength);
-    item->setVisible(true);
-  }
-  for (; n < wifi_items.size(); ++n) wifi_items[n]->setVisible(false);
-
-  setUpdatesEnabled(true);
-}
-
-WifiItem *WifiUI::getItem(int n) {
-  auto item = n < wifi_items.size() ? wifi_items[n] : wifi_items.emplace_back(new WifiItem(tr("CONNECTING..."), tr("FORGET")));
-  if (!item->parentWidget()) {
-    QObject::connect(item, &WifiItem::connectToNetwork, this, &WifiUI::connectToNetwork);
-    QObject::connect(item, &WifiItem::forgotNetwork, [this](const Network n) {
-      if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(n.ssid)), tr("Forget"), this))
-        wifi->forgetConnection(n.ssid);
-    });
-    wifi_list_widget->addItem(item);
-  }
-  return item;
-}
-
-// WifiItem
-
-WifiItem::WifiItem(const QString &connecting_text, const QString &forget_text, QWidget *parent) : QWidget(parent) {
-  QHBoxLayout *hlayout = new QHBoxLayout(this);
-  hlayout->setContentsMargins(44, 0, 73, 0);
-  hlayout->setSpacing(50);
-
-  hlayout->addWidget(ssidLabel = new ElidedLabel());
-  ssidLabel->setObjectName("ssidLabel");
-  ssidLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  hlayout->addWidget(connecting = new QPushButton(connecting_text), 0, Qt::AlignRight);
-  connecting->setObjectName("connecting");
-  hlayout->addWidget(forgetBtn = new QPushButton(forget_text), 0, Qt::AlignRight);
-  forgetBtn->setObjectName("forgetBtn");
-  hlayout->addWidget(iconLabel = new QLabel(), 0, Qt::AlignRight);
-  hlayout->addWidget(strengthLabel = new QLabel(), 0, Qt::AlignRight);
-
-  iconLabel->setFixedWidth(ICON_WIDTH);
-  QObject::connect(forgetBtn, &QPushButton::clicked, [this]() { emit forgotNetwork(network); });
-  QObject::connect(ssidLabel, &ElidedLabel::clicked, [this]() {
-    if (network.connected == ConnectedType::DISCONNECTED) emit connectToNetwork(network);
-  });
-}
-
-void WifiItem::setItem(const Network &n, const QPixmap &status_icon, bool show_forget_btn, const QPixmap &strength_icon) {
-  network = n;
-
-  ssidLabel->setText(n.ssid);
-  ssidLabel->setEnabled(n.security_type != SecurityType::UNSUPPORTED);
-  ssidLabel->setFont(InterFont(55, network.connected == ConnectedType::DISCONNECTED ? QFont::Normal : QFont::Bold));
-
-  connecting->setVisible(n.connected == ConnectedType::CONNECTING);
-  forgetBtn->setVisible(show_forget_btn);
-
-  iconLabel->setPixmap(status_icon);
-  strengthLabel->setPixmap(strength_icon);
-}
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
deleted file mode 100644
index a5bb83f8ac..0000000000
--- a/selfdrive/ui/qt/network/networking.h
+++ /dev/null
@@ -1,115 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include "selfdrive/ui/qt/network/wifi_manager.h"
-#include "selfdrive/ui/qt/prime_state.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/qt/widgets/ssh_keys.h"
-#include "selfdrive/ui/qt/widgets/toggle.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-#define ElidedLabel ElidedLabelSP
-#define LabelControl LabelControlSP
-#define ListWidget ListWidgetSP
-#define ToggleControl ToggleControlSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#endif
-
-class WifiItem : public QWidget {
-  Q_OBJECT
-public:
-  explicit WifiItem(const QString &connecting_text, const QString &forget_text, QWidget* parent = nullptr);
-  void setItem(const Network& n, const QPixmap &icon, bool show_forget_btn, const QPixmap &strength);
-
-signals:
-  // Cannot pass Network by reference. it may change after the signal is sent.
-  void connectToNetwork(const Network n);
-  void forgotNetwork(const Network n);
-
-protected:
-  ElidedLabel* ssidLabel;
-  QPushButton* connecting;
-  QPushButton* forgetBtn;
-  QLabel* iconLabel;
-  QLabel* strengthLabel;
-  Network network;
-};
-
-class WifiUI : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit WifiUI(QWidget *parent = 0, WifiManager* wifi = 0);
-
-private:
-  WifiItem *getItem(int n);
-
-  WifiManager *wifi = nullptr;
-  QLabel *scanningLabel = nullptr;
-  QPixmap lock;
-  QPixmap checkmark;
-  QPixmap circled_slash;
-  QVector<QPixmap> strengths;
-  ListWidget *wifi_list_widget = nullptr;
-  std::vector<WifiItem*> wifi_items;
-
-signals:
-  void connectToNetwork(const Network n);
-
-public slots:
-  void refresh();
-};
-
-class AdvancedNetworking : public QWidget {
-  Q_OBJECT
-public:
-  explicit AdvancedNetworking(QWidget* parent = 0, WifiManager* wifi = 0);
-  void setGsmVisible(bool visible);
-
-private:
-  LabelControl* ipLabel;
-  ToggleControl* tetheringToggle;
-  ToggleControl* roamingToggle;
-  ButtonControl* editApnButton;
-  ButtonControl* hiddenNetworkButton;
-  ToggleControl* meteredToggle;
-  WifiManager* wifi = nullptr;
-  Params params;
-
-signals:
-  void backPress();
-  void requestWifiScreen();
-
-public slots:
-  void toggleTethering(bool enabled);
-  void refresh();
-};
-
-class Networking : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit Networking(QWidget* parent = 0, bool show_advanced = true);
-  void setPrimeType(PrimeState::Type type);
-  WifiManager* wifi = nullptr;
-
-protected:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* wifiScreen = nullptr;
-  AdvancedNetworking* an = nullptr;
-  WifiUI* wifiWidget;
-
-  void showEvent(QShowEvent* event) override;
-  void hideEvent(QHideEvent* event) override;
-
-public slots:
-  void refresh();
-
-private slots:
-  void connectToNetwork(const Network n);
-  void wrongPassword(const QString &ssid);
-};
diff --git a/selfdrive/ui/qt/network/networkmanager.h b/selfdrive/ui/qt/network/networkmanager.h
deleted file mode 100644
index 8bdeaf3bbd..0000000000
--- a/selfdrive/ui/qt/network/networkmanager.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#pragma once
-
-/**
- * We are using a NetworkManager DBUS API : https://developer.gnome.org/NetworkManager/1.26/spec.html
- * */
-
-// https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
-const int NM_802_11_AP_FLAGS_NONE = 0x00000000;
-const int NM_802_11_AP_FLAGS_PRIVACY = 0x00000001;
-const int NM_802_11_AP_FLAGS_WPS = 0x00000002;
-
-// https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags
-const int NM_802_11_AP_SEC_PAIR_WEP40      = 0x00000001;
-const int NM_802_11_AP_SEC_PAIR_WEP104     = 0x00000002;
-const int NM_802_11_AP_SEC_GROUP_WEP40     = 0x00000010;
-const int NM_802_11_AP_SEC_GROUP_WEP104    = 0x00000020;
-const int NM_802_11_AP_SEC_KEY_MGMT_PSK    = 0x00000100;
-const int NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200;
-
-const QString NM_DBUS_PATH                          = "/org/freedesktop/NetworkManager";
-const QString NM_DBUS_PATH_SETTINGS                 = "/org/freedesktop/NetworkManager/Settings";
-
-const QString NM_DBUS_INTERFACE                     = "org.freedesktop.NetworkManager";
-const QString NM_DBUS_INTERFACE_PROPERTIES          = "org.freedesktop.DBus.Properties";
-const QString NM_DBUS_INTERFACE_SETTINGS            = "org.freedesktop.NetworkManager.Settings";
-const QString NM_DBUS_INTERFACE_SETTINGS_CONNECTION = "org.freedesktop.NetworkManager.Settings.Connection";
-const QString NM_DBUS_INTERFACE_DEVICE              = "org.freedesktop.NetworkManager.Device";
-const QString NM_DBUS_INTERFACE_DEVICE_WIRELESS     = "org.freedesktop.NetworkManager.Device.Wireless";
-const QString NM_DBUS_INTERFACE_ACCESS_POINT        = "org.freedesktop.NetworkManager.AccessPoint";
-const QString NM_DBUS_INTERFACE_ACTIVE_CONNECTION   = "org.freedesktop.NetworkManager.Connection.Active";
-const QString NM_DBUS_INTERFACE_IP4_CONFIG          = "org.freedesktop.NetworkManager.IP4Config";
-
-const QString NM_DBUS_SERVICE                        = "org.freedesktop.NetworkManager";
-
-const int NM_DEVICE_STATE_UNKNOWN = 0;
-const int NM_DEVICE_STATE_ACTIVATED = 100;
-const int NM_DEVICE_STATE_NEED_AUTH = 60;
-const int NM_DEVICE_TYPE_WIFI = 2;
-const int NM_DEVICE_TYPE_MODEM = 8;
-const int NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8;
-const int DBUS_TIMEOUT = 100;
-
-// https://developer-old.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMMetered
-const int NM_METERED_UNKNOWN   = 0;
-const int NM_METERED_YES       = 1;
-const int NM_METERED_NO        = 2;
-const int NM_METERED_GUESS_YES = 3;
-const int NM_METERED_GUESS_NO  = 4;
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
deleted file mode 100644
index 6fa7700cdd..0000000000
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ /dev/null
@@ -1,500 +0,0 @@
-#include "selfdrive/ui/qt/network/wifi_manager.h"
-
-#include <utility>
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/util.h"
-
-bool compare_by_strength(const Network &a, const Network &b) {
-  return std::tuple(a.connected, strengthLevel(a.strength), b.ssid) >
-         std::tuple(b.connected, strengthLevel(b.strength), a.ssid);
-}
-
-template <typename T = QDBusMessage, typename... Args>
-T call(const QString &path, const QString &interface, const QString &method, Args &&...args) {
-  QDBusInterface nm(NM_DBUS_SERVICE, path, interface, QDBusConnection::systemBus());
-  nm.setTimeout(DBUS_TIMEOUT);
-
-  QDBusMessage response = nm.call(method, std::forward<Args>(args)...);
-  if (response.type() == QDBusMessage::ErrorMessage) {
-    qCritical() << "DBus call error:" << response.errorMessage();
-    return T();
-  }
-
-  if constexpr (std::is_same_v<T, QDBusMessage>) {
-    return response;
-  } else if (response.arguments().count() >= 1) {
-    QVariant vFirst = response.arguments().at(0).value<QDBusVariant>().variant();
-    if (vFirst.canConvert<T>()) {
-      return vFirst.value<T>();
-    }
-    QDebug critical = qCritical();
-    critical << "Variant unpacking failure :" << method << ',';
-    (critical << ... << args);
-  }
-  return T();
-}
-
-template <typename... Args>
-QDBusPendingCall asyncCall(const QString &path, const QString &interface, const QString &method, Args &&...args) {
-  QDBusInterface nm = QDBusInterface(NM_DBUS_SERVICE, path, interface, QDBusConnection::systemBus());
-  return nm.asyncCall(method, args...);
-}
-
-bool emptyPath(const QString &path) {
-  return path == "" || path == "/";
-}
-
-WifiManager::WifiManager(QObject *parent) : QObject(parent) {
-  qDBusRegisterMetaType<Connection>();
-  qDBusRegisterMetaType<IpConfig>();
-
-  // Set tethering ssid as "weedle" + first 4 characters of a dongle id
-  tethering_ssid = "weedle";
-  if (auto dongle_id = getDongleId()) {
-    tethering_ssid += "-" + dongle_id->left(4);
-  }
-
-  adapter = getAdapter();
-  if (!adapter.isEmpty()) {
-    setup();
-  } else {
-    QDBusConnection::systemBus().connect(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, "DeviceAdded", this, SLOT(deviceAdded(QDBusObjectPath)));
-  }
-
-  timer.callOnTimeout(this, &WifiManager::requestScan);
-
-  initConnections();
-}
-
-void WifiManager::setup() {
-  auto bus = QDBusConnection::systemBus();
-  bus.connect(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_DEVICE, "StateChanged", this, SLOT(stateChange(unsigned int, unsigned int, unsigned int)));
-  bus.connect(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_PROPERTIES, "PropertiesChanged", this, SLOT(propertyChange(QString, QVariantMap, QStringList)));
-
-  bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "ConnectionRemoved", this, SLOT(connectionRemoved(QDBusObjectPath)));
-  bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "NewConnection", this, SLOT(newConnection(QDBusObjectPath)));
-
-  raw_adapter_state = call<uint>(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "State");
-  activeAp = call<QDBusObjectPath>(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE_WIRELESS, "ActiveAccessPoint").path();
-
-  requestScan();
-}
-
-void WifiManager::start() {
-  timer.start(5000);
-  refreshNetworks();
-}
-
-void WifiManager::stop() {
-  timer.stop();
-}
-
-void WifiManager::refreshNetworks() {
-  if (adapter.isEmpty() || !timer.isActive()) return;
-
-  QDBusPendingCall pending_call = asyncCall(adapter, NM_DBUS_INTERFACE_DEVICE_WIRELESS, "GetAllAccessPoints");
-  QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(pending_call);
-  QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, &WifiManager::refreshFinished);
-}
-
-void WifiManager::refreshFinished(QDBusPendingCallWatcher *watcher) {
-  ipv4_address = getIp4Address();
-  seenNetworks.clear();
-
-  const QDBusReply<QList<QDBusObjectPath>> watcher_reply = *watcher;
-  if (!watcher_reply.isValid()) {
-    qCritical() << "Failed to refresh";
-    watcher->deleteLater();
-    return;
-  }
-
-  for (const QDBusObjectPath &path : watcher_reply.value()) {
-    QDBusReply<QVariantMap> reply = call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "GetAll", NM_DBUS_INTERFACE_ACCESS_POINT);
-    if (!reply.isValid()) {
-      qCritical() << "Failed to retrieve properties for path:" << path.path();
-      continue;
-    }
-
-    auto properties = reply.value();
-    const QByteArray ssid = properties["Ssid"].toByteArray();
-    if (ssid.isEmpty()) continue;
-
-    // May be multiple access points for each SSID.
-    // Use first for ssid and security type, then update connected status and strength using all
-    if (!seenNetworks.contains(ssid)) {
-      seenNetworks[ssid] = {ssid, 0U, ConnectedType::DISCONNECTED, getSecurityType(properties)};
-    }
-
-    if (path.path() == activeAp) {
-      seenNetworks[ssid].connected = (ssid == connecting_to_network) ? ConnectedType::CONNECTING : ConnectedType::CONNECTED;
-    }
-
-    uint32_t strength = properties["Strength"].toUInt();
-    if (seenNetworks[ssid].strength < strength) {
-      seenNetworks[ssid].strength = strength;
-    }
-  }
-
-  emit refreshSignal();
-  watcher->deleteLater();
-}
-
-QString WifiManager::getIp4Address() {
-  if (raw_adapter_state != NM_DEVICE_STATE_ACTIVATED) return "";
-
-  for (const auto &p : getActiveConnections()) {
-    QString type = call<QString>(p.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type");
-    if (type == "802-11-wireless") {
-      auto ip4config = call<QDBusObjectPath>(p.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Ip4Config");
-      const auto &arr = call<QDBusArgument>(ip4config.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_IP4_CONFIG, "AddressData");
-      QVariantMap path;
-      arr.beginArray();
-      while (!arr.atEnd()) {
-        arr >> path;
-        arr.endArray();
-        return path.value("address").value<QString>();
-      }
-      arr.endArray();
-    }
-  }
-  return "";
-}
-
-SecurityType WifiManager::getSecurityType(const QVariantMap &properties) {
-  int sflag = properties["Flags"].toUInt();
-  int wpaflag = properties["WpaFlags"].toUInt();
-  int rsnflag = properties["RsnFlags"].toUInt();
-  int wpa_props = wpaflag | rsnflag;
-
-  // obtained by looking at flags of networks in the office as reported by an Android phone
-  const int supports_wpa = NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 | NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK;
-
-  if ((sflag == NM_802_11_AP_FLAGS_NONE) || ((sflag & NM_802_11_AP_FLAGS_WPS) && !(wpa_props & supports_wpa))) {
-    return SecurityType::OPEN;
-  } else if ((sflag & NM_802_11_AP_FLAGS_PRIVACY) && (wpa_props & supports_wpa) && !(wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X)) {
-    return SecurityType::WPA;
-  } else {
-    LOGW("Unsupported network! sflag: %d, wpaflag: %d, rsnflag: %d", sflag, wpaflag, rsnflag);
-    return SecurityType::UNSUPPORTED;
-  }
-}
-
-void WifiManager::connect(const Network &n, const bool is_hidden, const QString &password, const QString &username) {
-  setCurrentConnecting(n.ssid);
-  forgetConnection(n.ssid);  // Clear all connections that may already exist to the network we are connecting
-  Connection connection;
-  connection["connection"]["type"] = "802-11-wireless";
-  connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}');
-  connection["connection"]["id"] = "sunnypilot connection " + QString::fromStdString(n.ssid.toStdString());
-  connection["connection"]["autoconnect-retries"] = 0;
-
-  connection["802-11-wireless"]["ssid"] = n.ssid;
-  connection["802-11-wireless"]["hidden"] = is_hidden;
-  connection["802-11-wireless"]["mode"] = "infrastructure";
-
-  if (n.security_type == SecurityType::WPA) {
-    connection["802-11-wireless-security"]["key-mgmt"] = "wpa-psk";
-    connection["802-11-wireless-security"]["auth-alg"] = "open";
-    connection["802-11-wireless-security"]["psk"] = password;
-  }
-
-  connection["ipv4"]["method"] = "auto";
-  connection["ipv4"]["dns-priority"] = 600;
-  connection["ipv6"]["method"] = "ignore";
-
-  asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
-}
-
-void WifiManager::deactivateConnectionBySsid(const QString &ssid) {
-  for (QDBusObjectPath active_connection : getActiveConnections()) {
-    auto pth = call<QDBusObjectPath>(active_connection.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "SpecificObject");
-    if (!emptyPath(pth.path())) {
-      QString Ssid = get_property(pth.path(), "Ssid");
-      if (Ssid == ssid) {
-        deactivateConnection(active_connection);
-        return;
-      }
-    }
-  }
-}
-
-void WifiManager::deactivateConnection(const QDBusObjectPath &path) {
-  asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "DeactivateConnection", QVariant::fromValue(path));
-}
-
-QVector<QDBusObjectPath> WifiManager::getActiveConnections() {
-  auto result = call<QDBusArgument>(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "ActiveConnections");
-  return qdbus_cast<QVector<QDBusObjectPath>>(result);
-}
-
-bool WifiManager::isKnownConnection(const QString &ssid) {
-  return !getConnectionPath(ssid).path().isEmpty();
-}
-
-void WifiManager::forgetConnection(const QString &ssid) {
-  const QDBusObjectPath &path = getConnectionPath(ssid);
-  if (!path.path().isEmpty()) {
-    call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "Delete");
-  }
-}
-
-void WifiManager::setCurrentConnecting(const QString &ssid) {
-  connecting_to_network = ssid;
-  for (auto &network : seenNetworks) {
-    network.connected = (network.ssid == ssid) ? ConnectedType::CONNECTING : ConnectedType::DISCONNECTED;
-  }
-  emit refreshSignal();
-}
-
-uint WifiManager::getAdapterType(const QDBusObjectPath &path) {
-  return call<uint>(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "DeviceType");
-}
-
-void WifiManager::requestScan() {
-  if (!adapter.isEmpty()) {
-    asyncCall(adapter, NM_DBUS_INTERFACE_DEVICE_WIRELESS, "RequestScan", QVariantMap());
-  }
-}
-
-QByteArray WifiManager::get_property(const QString &network_path , const QString &property) {
-  return call<QByteArray>(network_path, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACCESS_POINT, property);
-}
-
-QString WifiManager::getAdapter(const uint adapter_type) {
-  QDBusReply<QList<QDBusObjectPath>> response = call(NM_DBUS_PATH, NM_DBUS_INTERFACE, "GetDevices");
-  for (const QDBusObjectPath &path : response.value()) {
-    if (getAdapterType(path) == adapter_type) {
-      return path.path();
-    }
-  }
-  return "";
-}
-
-void WifiManager::stateChange(unsigned int new_state, unsigned int previous_state, unsigned int change_reason) {
-  raw_adapter_state = new_state;
-  if (new_state == NM_DEVICE_STATE_NEED_AUTH && change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT && !connecting_to_network.isEmpty()) {
-    forgetConnection(connecting_to_network);
-    emit wrongPassword(connecting_to_network);
-  } else if (new_state == NM_DEVICE_STATE_ACTIVATED) {
-    connecting_to_network = "";
-    refreshNetworks();
-  }
-}
-
-// https://developer.gnome.org/NetworkManager/stable/gdbus-org.freedesktop.NetworkManager.Device.Wireless.html
-void WifiManager::propertyChange(const QString &interface, const QVariantMap &props, const QStringList &invalidated_props) {
-  if (interface == NM_DBUS_INTERFACE_DEVICE_WIRELESS && props.contains("LastScan")) {
-    refreshNetworks();
-  } else if (interface == NM_DBUS_INTERFACE_DEVICE_WIRELESS && props.contains("ActiveAccessPoint")) {
-    activeAp = props.value("ActiveAccessPoint").value<QDBusObjectPath>().path();
-  }
-}
-
-void WifiManager::deviceAdded(const QDBusObjectPath &path) {
-  if (getAdapterType(path) == NM_DEVICE_TYPE_WIFI && emptyPath(adapter)) {
-    adapter = path.path();
-    setup();
-  }
-}
-
-void WifiManager::connectionRemoved(const QDBusObjectPath &path) {
-  knownConnections.remove(path);
-}
-
-void WifiManager::newConnection(const QDBusObjectPath &path) {
-  Connection settings = getConnectionSettings(path);
-  if (settings.value("connection").value("type") == "802-11-wireless") {
-    knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString();
-    if (knownConnections[path] != tethering_ssid) {
-      activateWifiConnection(knownConnections[path]);
-    }
-  }
-}
-
-QDBusObjectPath WifiManager::getConnectionPath(const QString &ssid) {
-  return knownConnections.key(ssid);
-}
-
-Connection WifiManager::getConnectionSettings(const QDBusObjectPath &path) {
-  return QDBusReply<Connection>(call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "GetSettings")).value();
-}
-
-void WifiManager::initConnections() {
-  const QDBusReply<QList<QDBusObjectPath>> response = call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "ListConnections");
-  for (const QDBusObjectPath &path : response.value()) {
-    const Connection settings = getConnectionSettings(path);
-    if (settings.value("connection").value("type") == "802-11-wireless") {
-      knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString();
-    } else if (settings.value("connection").value("id") == "lte") {
-      lteConnectionPath = path;
-    }
-  }
-
-  if (!isKnownConnection(tethering_ssid)) {
-    addTetheringConnection();
-  }
-}
-
-std::optional<QDBusPendingCall> WifiManager::activateWifiConnection(const QString &ssid) {
-  const QDBusObjectPath &path = getConnectionPath(ssid);
-  if (!path.path().isEmpty()) {
-    setCurrentConnecting(ssid);
-    return asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/")));
-  }
-  return std::nullopt;
-}
-
-void WifiManager::activateModemConnection(const QDBusObjectPath &path) {
-  QString modem = getAdapter(NM_DEVICE_TYPE_MODEM);
-  if (!path.path().isEmpty() && !modem.isEmpty()) {
-    asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(modem)), QVariant::fromValue(QDBusObjectPath("/")));
-  }
-}
-
-// function matches tici/hardware.py
-NetworkType WifiManager::currentNetworkType() {
-  auto primary_conn = call<QDBusObjectPath>(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "PrimaryConnection");
-  auto primary_type = call<QString>(primary_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type");
-
-  if (primary_type == "802-3-ethernet") {
-    return NetworkType::ETHERNET;
-  } else if (primary_type == "802-11-wireless" && !isTetheringEnabled()) {
-    return NetworkType::WIFI;
-  } else {
-    for (const QDBusObjectPath &conn : getActiveConnections()) {
-      auto type = call<QString>(conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type");
-      if (type == "gsm") {
-        return NetworkType::CELL;
-      }
-    }
-  }
-  return NetworkType::NONE;
-}
-
-void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
-  if (!lteConnectionPath.path().isEmpty()) {
-    bool changes = false;
-    bool auto_config = apn.isEmpty();
-    Connection settings = getConnectionSettings(lteConnectionPath);
-    if (settings.value("gsm").value("auto-config").toBool() != auto_config) {
-      qWarning() << "Changing gsm.auto-config to" << auto_config;
-      settings["gsm"]["auto-config"] = auto_config;
-      changes = true;
-    }
-
-    if (settings.value("gsm").value("apn").toString() != apn) {
-      qWarning() << "Changing gsm.apn to" << apn;
-      settings["gsm"]["apn"] = apn;
-      changes = true;
-    }
-
-    if (settings.value("gsm").value("home-only").toBool() == roaming) {
-      qWarning() << "Changing gsm.home-only to" << !roaming;
-      settings["gsm"]["home-only"] = !roaming;
-      changes = true;
-    }
-
-    int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO;
-    if (settings.value("connection").value("metered").toInt() != meteredInt) {
-      qWarning() << "Changing connection.metered to" << meteredInt;
-      settings["connection"]["metered"] = meteredInt;
-      changes = true;
-    }
-
-    if (changes) {
-      QDBusPendingCall pending_call = asyncCall(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings));  // update is temporary
-      QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(pending_call);
-      QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, [this, watcher]() {
-        deactivateConnection(lteConnectionPath);
-        activateModemConnection(lteConnectionPath);
-        watcher->deleteLater();
-      });
-    }
-  }
-}
-
-// Functions for tethering
-void WifiManager::addTetheringConnection() {
-  Connection connection;
-  connection["connection"]["id"] = "Hotspot";
-  connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}');
-  connection["connection"]["type"] = "802-11-wireless";
-  connection["connection"]["interface-name"] = "wlan0";
-  connection["connection"]["autoconnect"] = false;
-
-  connection["802-11-wireless"]["band"] = "bg";
-  connection["802-11-wireless"]["mode"] = "ap";
-  connection["802-11-wireless"]["ssid"] = tethering_ssid.toUtf8();
-
-  connection["802-11-wireless-security"]["group"] = QStringList("ccmp");
-  connection["802-11-wireless-security"]["key-mgmt"] = "wpa-psk";
-  connection["802-11-wireless-security"]["pairwise"] = QStringList("ccmp");
-  connection["802-11-wireless-security"]["proto"] = QStringList("rsn");
-  connection["802-11-wireless-security"]["psk"] = defaultTetheringPassword;
-
-  connection["ipv4"]["method"] = "shared";
-  QVariantMap address;
-  address["address"] = "192.168.43.1";
-  address["prefix"] = 24u;
-  connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address);
-  connection["ipv4"]["gateway"] = "192.168.43.1";
-  connection["ipv4"]["never-default"] = true;
-  connection["ipv6"]["method"] = "ignore";
-
-  asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
-}
-
-void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
-  if (!ipv4_forward) {
-    QTimer::singleShot(5000, this, [=] {
-      qWarning() << "net.ipv4.ip_forward = 0";
-      std::system("sudo sysctl net.ipv4.ip_forward=0");
-    });
-  }
-  call->deleteLater();
-  tethering_on = true;
-}
-
-void WifiManager::setTetheringEnabled(bool enabled) {
-  if (enabled) {
-    auto pending_call = activateWifiConnection(tethering_ssid);
-
-    if (pending_call) {
-      QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(*pending_call);
-      QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, &WifiManager::tetheringActivated);
-    }
-
-  } else {
-    deactivateConnectionBySsid(tethering_ssid);
-    tethering_on = false;
-  }
-}
-
-bool WifiManager::isTetheringEnabled() {
-  if (!emptyPath(activeAp)) {
-    return get_property(activeAp, "Ssid") == tethering_ssid;
-  }
-  return false;
-}
-
-QString WifiManager::getTetheringPassword() {
-  const QDBusObjectPath &path = getConnectionPath(tethering_ssid);
-  if (!path.path().isEmpty()) {
-    QDBusReply<QMap<QString, QVariantMap>> response = call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "GetSecrets", "802-11-wireless-security");
-    return response.value().value("802-11-wireless-security").value("psk").toString();
-  }
-  return "";
-}
-
-void WifiManager::changeTetheringPassword(const QString &newPassword) {
-  const QDBusObjectPath &path = getConnectionPath(tethering_ssid);
-  if (!path.path().isEmpty()) {
-    Connection settings = getConnectionSettings(path);
-    settings["802-11-wireless-security"]["psk"] = newPassword;
-    call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "Update", QVariant::fromValue(settings));
-    if (isTetheringEnabled()) {
-      activateWifiConnection(tethering_ssid);
-    }
-  }
-}
diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h
deleted file mode 100644
index e5f79c5149..0000000000
--- a/selfdrive/ui/qt/network/wifi_manager.h
+++ /dev/null
@@ -1,104 +0,0 @@
-#pragma once
-
-#include <optional>
-#include <QtDBus>
-#include <QTimer>
-
-#include "selfdrive/ui/qt/network/networkmanager.h"
-
-enum class SecurityType {
-  OPEN,
-  WPA,
-  UNSUPPORTED
-};
-enum class ConnectedType {
-  DISCONNECTED,
-  CONNECTING,
-  CONNECTED
-};
-enum class NetworkType {
-  NONE,
-  WIFI,
-  CELL,
-  ETHERNET
-};
-
-typedef QMap<QString, QVariantMap> Connection;
-typedef QVector<QVariantMap> IpConfig;
-
-struct Network {
-  QByteArray ssid;
-  unsigned int strength;
-  ConnectedType connected;
-  SecurityType security_type;
-};
-bool compare_by_strength(const Network &a, const Network &b);
-inline int strengthLevel(unsigned int strength) { return std::clamp((int)round(strength / 33.), 0, 3); }
-
-class WifiManager : public QObject {
-  Q_OBJECT
-
-public:
-  QMap<QString, Network> seenNetworks;
-  QMap<QDBusObjectPath, QString> knownConnections;
-  QString ipv4_address;
-  bool tethering_on = false;
-  bool ipv4_forward = false;
-
-  explicit WifiManager(QObject* parent);
-  void start();
-  void stop();
-  void requestScan();
-  void forgetConnection(const QString &ssid);
-  bool isKnownConnection(const QString &ssid);
-  std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid);
-  NetworkType currentNetworkType();
-  void updateGsmSettings(bool roaming, QString apn, bool metered);
-  void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {});
-
-  // Tethering functions
-  void setTetheringEnabled(bool enabled);
-  bool isTetheringEnabled();
-  void changeTetheringPassword(const QString &newPassword);
-  QString getTetheringPassword();
-
-private:
-  QString adapter;  // Path to network manager wifi-device
-  QTimer timer;
-  unsigned int raw_adapter_state = NM_DEVICE_STATE_UNKNOWN;  // Connection status https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMDeviceState
-  QString connecting_to_network;
-  QString tethering_ssid;
-  const QString defaultTetheringPassword = "swagswagcomma";
-  QString activeAp;
-  QDBusObjectPath lteConnectionPath;
-
-  QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI);
-  uint getAdapterType(const QDBusObjectPath &path);
-  QString getIp4Address();
-  void deactivateConnectionBySsid(const QString &ssid);
-  void deactivateConnection(const QDBusObjectPath &path);
-  QVector<QDBusObjectPath> getActiveConnections();
-  QByteArray get_property(const QString &network_path, const QString &property);
-  SecurityType getSecurityType(const QVariantMap &properties);
-  QDBusObjectPath getConnectionPath(const QString &ssid);
-  Connection getConnectionSettings(const QDBusObjectPath &path);
-  void initConnections();
-  void setup();
-  void refreshNetworks();
-  void activateModemConnection(const QDBusObjectPath &path);
-  void addTetheringConnection();
-  void setCurrentConnecting(const QString &ssid);
-
-signals:
-  void wrongPassword(const QString &ssid);
-  void refreshSignal();
-
-private slots:
-  void stateChange(unsigned int new_state, unsigned int previous_state, unsigned int change_reason);
-  void propertyChange(const QString &interface, const QVariantMap &props, const QStringList &invalidated_props);
-  void deviceAdded(const QDBusObjectPath &path);
-  void connectionRemoved(const QDBusObjectPath &path);
-  void newConnection(const QDBusObjectPath &path);
-  void refreshFinished(QDBusPendingCallWatcher *call);
-  void tetheringActivated(QDBusPendingCallWatcher *call);
-};
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
deleted file mode 100644
index 4d9d8a6ce7..0000000000
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
-#include "selfdrive/ui/qt/widgets/ssh_keys.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#endif
-
-DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
-  adbToggle = new ParamControl("AdbEnabled", tr("Enable ADB"),
-            tr("ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."), "");
-  addItem(adbToggle);
-
-  // SSH keys
-  addItem(new SshToggle());
-  addItem(new SshControl());
-
-  joystickToggle = new ParamControl("JoystickDebugMode", tr("Joystick Debug Mode"), "", "");
-  QObject::connect(joystickToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    params.putBool("LongitudinalManeuverMode", false);
-    longManeuverToggle->refresh();
-  });
-  addItem(joystickToggle);
-
-  longManeuverToggle = new ParamControl("LongitudinalManeuverMode", tr("Longitudinal Maneuver Mode"), "", "");
-  QObject::connect(longManeuverToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    params.putBool("JoystickDebugMode", false);
-    joystickToggle->refresh();
-  });
-  addItem(longManeuverToggle);
-
-  experimentalLongitudinalToggle = new ParamControl(
-    "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)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
-    ""
-  );
-  experimentalLongitudinalToggle->setConfirmation(true, false);
-  QObject::connect(experimentalLongitudinalToggle, &ParamControl::toggleFlipped, [=]() {
-    updateToggles(offroad);
-  });
-  addItem(experimentalLongitudinalToggle);
-
-  // TODO-SP: Move to Vehicles panel when ported back
-  hyundaiRadarTracksToggle = new ParamControl(
-    "HyundaiRadarTracksToggle",
-    tr("Hyundai: Enable Radar Tracks"),
-    tr("Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. "
-       "This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance."), "");
-  hyundaiRadarTracksToggle->setConfirmation(true, false);
-  QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    updateToggles(offroad);
-  });
-  addItem(hyundaiRadarTracksToggle);
-
-  enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
-  addItem(enableGithubRunner);
-
-  // error log button
-  errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."));
-  connect(errorLogBtn, &ButtonControl::clicked, [=]() {
-    std::string txt = util::read_file("/data/community/crashes/error.log");
-    ConfirmationDialog::rich(QString::fromStdString(txt), this);
-  });
-  addItem(errorLogBtn);
-
-  // Joystick and longitudinal maneuvers should be hidden on release branches
-  is_release = params.getBool("IsReleaseBranch");
-
-  // Toggles should be not available to change in onroad state
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
-}
-
-void DeveloperPanel::updateToggles(bool _offroad) {
-  for (auto btn : findChildren<ParamControl *>()) {
-    btn->setVisible(!is_release);
-
-    /*
-     * experimentalLongitudinalToggle should be toggelable when:
-     * - visible, and
-     * - during onroad & offroad states
-     */
-    if (btn != experimentalLongitudinalToggle) {
-      btn->setEnabled(_offroad);
-    }
-  }
-
-  // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    auto hyundai = CP.getBrand() == "hyundai";
-    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
-
-    if (!CP.getAlphaLongitudinalAvailable() || is_release) {
-      params.remove("AlphaLongitudinalEnabled");
-      experimentalLongitudinalToggle->setEnabled(false);
-    }
-
-    /*
-     * experimentalLongitudinalToggle should be visible when:
-     * - is not a release branch, and
-     * - the car supports experimental longitudinal control (alpha)
-     */
-    experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
-
-    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
-    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
-  } else {
-    longManeuverToggle->setEnabled(false);
-    experimentalLongitudinalToggle->setVisible(false);
-    hyundaiRadarTracksToggle->setVisible(false);
-  }
-  experimentalLongitudinalToggle->refresh();
-
-  // Handle specific controls visibility for release branches
-  enableGithubRunner->setVisible(!is_release);
-  errorLogBtn->setVisible(!is_release);
-  joystickToggle->setVisible(!is_release);
-
-  offroad = _offroad;
-}
-
-void DeveloperPanel::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
deleted file mode 100644
index 591e5f0fdf..0000000000
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#else
-#include "selfdrive/ui/qt/offroad/settings.h"
-#endif
-
-class DeveloperPanel : public ListWidget {
-  Q_OBJECT
-public:
-  explicit DeveloperPanel(SettingsWindow *parent);
-  void showEvent(QShowEvent *event) override;
-
-private:
-  Params params;
-  ParamControl* adbToggle;
-  ParamControl* joystickToggle;
-  ButtonControl* errorLogBtn;
-  ParamControl* longManeuverToggle;
-  ParamControl* experimentalLongitudinalToggle;
-  ParamControl* hyundaiRadarTracksToggle;
-  ParamControl* enableGithubRunner;
-  bool is_release;
-  bool offroad = false;
-
-private slots:
-  void updateToggles(bool _offroad);
-};
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
deleted file mode 100644
index 9010227f18..0000000000
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ /dev/null
@@ -1,82 +0,0 @@
-#include "selfdrive/ui/qt/offroad/driverview.h"
-
-#include <algorithm>
-#include <QPainter>
-
-#include "selfdrive/ui/qt/util.h"
-
-DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
-  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
-    if (isVisible()) {
-      emit done();
-    }
-  });
-}
-
-void DriverViewWindow::showEvent(QShowEvent* event) {
-  params.putBool("IsDriverViewEnabled", true);
-  device()->resetInteractiveTimeout(60);
-  CameraWidget::showEvent(event);
-}
-
-void DriverViewWindow::hideEvent(QHideEvent* event) {
-  params.putBool("IsDriverViewEnabled", false);
-  stopVipcThread();
-  CameraWidget::hideEvent(event);
-}
-
-void DriverViewWindow::paintGL() {
-  CameraWidget::paintGL();
-
-  std::lock_guard lk(frame_lock);
-  QPainter p(this);
-  // startup msg
-  if (frames.empty()) {
-    p.setPen(Qt::white);
-    p.setRenderHint(QPainter::TextAntialiasing);
-    p.setFont(InterFont(100, QFont::Bold));
-    p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
-    return;
-  }
-
-  const auto &sm = *(uiState()->sm);
-  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
-  bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
-  auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
-
-  bool face_detected = driver_data.getFaceProb() > 0.7;
-  if (face_detected) {
-    auto fxy_list = driver_data.getFacePosition();
-    auto std_list = driver_data.getFaceOrientationStd();
-    float face_x = fxy_list[0];
-    float face_y = fxy_list[1];
-    float face_std = std::max(std_list[0], std_list[1]);
-
-    float alpha = 0.7;
-    if (face_std > 0.15) {
-      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
-    }
-    const int box_size = 220;
-    // use approx instead of distort_points
-    int fbox_x = 1080.0 - 1714.0 * face_x;
-    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
-    p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
-    p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
-  }
-
-  driver_monitor.updateState(*uiState());
-  driver_monitor.draw(p, rect());
-}
-
-mat4 DriverViewWindow::calcFrameMatrix() {
-  const float driver_view_ratio = 2.0;
-  const float yscale = stream_height * driver_view_ratio / stream_width;
-  const float xscale = yscale * glHeight() / glWidth() * stream_width / stream_height;
-  return mat4{{
-    xscale,  0.0, 0.0, 0.0,
-    0.0,  yscale, 0.0, 0.0,
-    0.0,  0.0, 1.0, 0.0,
-    0.0,  0.0, 0.0, 1.0,
-  }};
-}
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
deleted file mode 100644
index f6eb752fe6..0000000000
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
-
-class DriverViewWindow : public CameraWidget {
-  Q_OBJECT
-
-public:
-  explicit DriverViewWindow(QWidget *parent);
-
-signals:
-  void done();
-
-protected:
-  mat4 calcFrameMatrix() override;
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-  void paintGL() override;
-
-  Params params;
-  DriverMonitorRenderer driver_monitor;
-};
diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc
deleted file mode 100644
index 457b4053a7..0000000000
--- a/selfdrive/ui/qt/offroad/experimental_mode.cc
+++ /dev/null
@@ -1,82 +0,0 @@
-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
-
-#include <QDebug>
-#include <QHBoxLayout>
-#include <QPainter>
-#include <QPainterPath>
-#include <QStyle>
-
-#include "selfdrive/ui/ui.h"
-
-#ifdef SUNNYPILOT
-constexpr int toggles_settings_index = 3;
-#else
-constexpr int toggles_settings_index = 2;
-#endif
-
-ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) {
-  chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
-  experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
-
-  // go to toggles and expand experimental mode description
-  connect(this, &QPushButton::clicked, [=]() { emit openSettings(toggles_settings_index, "ExperimentalMode"); });
-
-  setFixedHeight(125);
-  QHBoxLayout *main_layout = new QHBoxLayout;
-  main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0);
-
-  mode_label = new QLabel;
-  mode_icon = new QLabel;
-  mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-
-  main_layout->addWidget(mode_label, 1, Qt::AlignLeft);
-  main_layout->addWidget(mode_icon, 0, Qt::AlignRight);
-
-  setLayout(main_layout);
-
-  setStyleSheet(R"(
-    QPushButton {
-      border: none;
-    }
-
-    QLabel {
-      font-size: 45px;
-      font-weight: 300;
-      text-align: left;
-      font-family: JetBrainsMono;
-      color: #000000;
-    }
-  )");
-}
-
-void ExperimentalModeButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.setPen(Qt::NoPen);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  QPainterPath path;
-  path.addRoundedRect(rect(), 10, 10);
-
-  // gradient
-  bool pressed = isDown();
-  QLinearGradient gradient(rect().left(), 0, rect().right(), 0);
-  if (experimental_mode) {
-    gradient.setColorAt(0, QColor(255, 155, 63, pressed ? 0xcc : 0xff));
-    gradient.setColorAt(1, QColor(219, 56, 34, pressed ? 0xcc : 0xff));
-  } else {
-    gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
-    gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
-  }
-  p.fillPath(path, gradient);
-
-  // vertical line
-  p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine));
-  int line_x = rect().right() - img_width - (2 * horizontal_padding);
-  p.drawLine(line_x, rect().bottom(), line_x, rect().top());
-}
-
-void ExperimentalModeButton::showEvent(QShowEvent *event) {
-  experimental_mode = params.getBool("ExperimentalMode");
-  mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap);
-  mode_label->setText(experimental_mode ? tr("EXPERIMENTAL MODE ON") : tr("CHILL MODE ON"));
-}
diff --git a/selfdrive/ui/qt/offroad/experimental_mode.h b/selfdrive/ui/qt/offroad/experimental_mode.h
deleted file mode 100644
index bfb7638bbe..0000000000
--- a/selfdrive/ui/qt/offroad/experimental_mode.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QPushButton>
-
-#include "common/params.h"
-
-class ExperimentalModeButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit ExperimentalModeButton(QWidget* parent = 0);
-
-signals:
-  void openSettings(int index = 0, const QString &toggle = "");
-
-private:
-  void showEvent(QShowEvent *event) override;
-
-  Params params;
-  bool experimental_mode;
-  int img_width = 100;
-  int horizontal_padding = 30;
-  QPixmap experimental_pixmap;
-  QPixmap chill_pixmap;
-  QLabel *mode_label;
-  QLabel *mode_icon;
-
-protected:
-  void paintEvent(QPaintEvent *event) override;
-};
diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc
deleted file mode 100644
index c710a8bf28..0000000000
--- a/selfdrive/ui/qt/offroad/firehose.cc
+++ /dev/null
@@ -1,114 +0,0 @@
-#include "selfdrive/ui/qt/offroad/firehose.h"
-
-#include <QLabel>
-#include <QPushButton>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QFrame>
-#include <QScrollArea>
-#include <QStackedLayout>
-#include <QProgressBar>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QTimer>
-
-#ifdef SUNNYPILOT
-#define UIState UIStateSP
-#endif
-
-FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) {
-  layout = new QVBoxLayout(this);
-  layout->setContentsMargins(40, 40, 40, 40);
-  layout->setSpacing(20);
-
-  // header
-  QLabel *title = new QLabel(tr("🔥 Firehose Mode 🔥"));
-  title->setStyleSheet("font-size: 100px; font-weight: 500; font-family: 'Noto Color Emoji';");
-  layout->addWidget(title, 0, Qt::AlignCenter);
-
-  // Create a container for the content
-  QFrame *content = new QFrame();
-  content->setStyleSheet("background-color: #292929; border-radius: 15px; padding: 20px;");
-  QVBoxLayout *content_layout = new QVBoxLayout(content);
-  content_layout->setSpacing(20);
-
-  // Top description
-  QLabel *description = new QLabel(tr("sunnypilot learns to drive by watching humans, like you, drive.\n\nFirehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."));
-  description->setStyleSheet("font-size: 45px; padding-bottom: 20px;");
-  description->setWordWrap(true);
-  content_layout->addWidget(description);
-
-  // Add a separator
-  QFrame *line = new QFrame();
-  line->setFrameShape(QFrame::HLine);
-  line->setFrameShadow(QFrame::Sunken);
-  line->setStyleSheet("background-color: #444444; margin-top: 5px; margin-bottom: 5px;");
-  content_layout->addWidget(line);
-
-  toggle_label = new QLabel(tr("Firehose Mode: ACTIVE"));
-  toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: white;");
-  content_layout->addWidget(toggle_label);
-
-  // Add contribution label
-  contribution_label = new QLabel();
-  contribution_label->setStyleSheet("font-size: 52px; margin-top: 10px; margin-bottom: 10px;");
-  contribution_label->setWordWrap(true);
-  contribution_label->hide();
-  content_layout->addWidget(contribution_label);
-
-  // Add a separator before detailed instructions
-  QFrame *line2 = new QFrame();
-  line2->setFrameShape(QFrame::HLine);
-  line2->setFrameShadow(QFrame::Sunken);
-  line2->setStyleSheet("background-color: #444444; margin-top: 10px; margin-bottom: 10px;");
-  content_layout->addWidget(line2);
-
-  // Detailed instructions at the bottom
-  detailed_instructions = new QLabel(tr(
-    "For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br>"
-    "<br>"
-    "Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br>"
-    "<br><br>"
-    "<b>Frequently Asked Questions</b><br><br>"
-    "<i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br>"
-    "<i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br>"
-    "<i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br>"
-    "<i>Does it matter which software I run?</i> Yes, only upstream sunnypilot (and particular forks) are able to be used for training."
-  ));
-  detailed_instructions->setStyleSheet("font-size: 40px; color: #E4E4E4;");
-  detailed_instructions->setWordWrap(true);
-  content_layout->addWidget(detailed_instructions);
-
-  layout->addWidget(content, 1);
-
-  // Set up the API request for firehose stats
-  const QString dongle_id = QString::fromStdString(Params().get("DongleId"));
-  firehose_stats = new RequestRepeater(this, CommaApi::BASE_URL + "/v1/devices/" + dongle_id + "/firehose_stats",
-                                       "ApiCache_FirehoseStats", 30, true);
-  QObject::connect(firehose_stats, &RequestRepeater::requestDone, [=](const QString &response, bool success) {
-    if (success) {
-      QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-      QJsonObject json = doc.object();
-      int count = json["firehose"].toInt();
-      contribution_label->setText(tr("<b>%n segment(s)</b> of your driving is in the training dataset so far.", "", count));
-      contribution_label->show();
-    }
-  });
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &FirehosePanel::refresh);
-}
-
-void FirehosePanel::refresh() {
-  auto deviceState = (*uiState()->sm)["deviceState"].getDeviceState();
-  auto networkType = deviceState.getNetworkType();
-  bool networkMetered = deviceState.getNetworkMetered();
-
-  bool is_active = !networkMetered && (networkType != cereal::DeviceState::NetworkType::NONE);
-  if (is_active) {
-    toggle_label->setText(tr("ACTIVE"));
-    toggle_label->setStyleSheet("font-size: 60px; font-weight: bold; color: #2ecc71;");
-  } else {
-    toggle_label->setText(tr("<span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network"));
-    toggle_label->setStyleSheet("font-size: 60px;");
-  }
-}
diff --git a/selfdrive/ui/qt/offroad/firehose.h b/selfdrive/ui/qt/offroad/firehose.h
deleted file mode 100644
index 0a5fd77ba3..0000000000
--- a/selfdrive/ui/qt/offroad/firehose.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <QWidget>
-#include <QVBoxLayout>
-#include <QLabel>
-#include "selfdrive/ui/qt/request_repeater.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#else
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/offroad/settings.h"
-#endif
-
-// Forward declarations
-class SettingsWindow;
-
-class FirehosePanel : public QWidget {
-  Q_OBJECT
-public:
-  explicit FirehosePanel(SettingsWindow *parent);
-
-private:
-  QVBoxLayout *layout;
-
-  QLabel *detailed_instructions;
-  QLabel *contribution_label;
-  QLabel *toggle_label;
-
-  RequestRepeater *firehose_stats;
-
-private slots:
-  void refresh();
-};
diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc
deleted file mode 100644
index 6fcb6a71ae..0000000000
--- a/selfdrive/ui/qt/offroad/offroad_home.cc
+++ /dev/null
@@ -1,158 +0,0 @@
-/**
- * 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/qt/offroad/offroad_home.h"
-
-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-// OffroadHome: the offroad home page
-
-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 40);
-
-  // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(0, 0, 0, 0);
-  header_layout->setSpacing(16);
-
-  update_notif = new QPushButton(tr("UPDATE"));
-  update_notif->setVisible(false);
-  update_notif->setStyleSheet("background-color: #364DEF;");
-  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  alert_notif = new QPushButton();
-  alert_notif->setVisible(false);
-  alert_notif->setStyleSheet("background-color: #E22C2C;");
-  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  version = new ElidedLabel();
-  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
-
-  main_layout->addLayout(header_layout);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  QWidget *home_widget = new QWidget(this);
-  {
-    home_layout = new QHBoxLayout(home_widget);
-    home_layout->setContentsMargins(0, 0, 0, 0);
-    home_layout->setSpacing(30);
-
-#ifndef SUNNYPILOT
-    // left: PrimeAdWidget
-    QStackedWidget *left_widget = new QStackedWidget(this);
-    QVBoxLayout *left_prime_layout = new QVBoxLayout();
-    left_prime_layout->setContentsMargins(0, 0, 0, 0);
-    QWidget *prime_user = new PrimeUserWidget();
-    prime_user->setStyleSheet(R"(
-    border-radius: 10px;
-    background-color: #333333;
-    )");
-    left_prime_layout->addWidget(prime_user);
-    left_prime_layout->addStretch();
-    left_widget->addWidget(new LayoutWidget(left_prime_layout));
-    left_widget->addWidget(new PrimeAdWidget);
-    left_widget->setStyleSheet("border-radius: 10px;");
-
-    connect(uiState()->prime_state, &PrimeState::changed, [left_widget]() {
-      left_widget->setCurrentIndex(uiState()->prime_state->isSubscribed() ? 0 : 1);
-    });
-
-    home_layout->addWidget(left_widget, 1);
-#endif
-
-    // right: ExperimentalModeButton, SetupWidget
-    QWidget* right_widget = new QWidget(this);
-    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
-    right_column->setContentsMargins(0, 0, 0, 0);
-    right_widget->setFixedWidth(750);
-    right_column->setSpacing(30);
-
-    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
-    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(experimental_mode, 1);
-
-    SetupWidget *setup_widget = new SetupWidget;
-    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
-    right_column->addWidget(setup_widget, 1);
-
-    home_layout->addWidget(right_widget, 1);
-  }
-  center_layout->addWidget(home_widget);
-
-  // add update & alerts widgets
-  update_widget = new UpdateAlert();
-  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(update_widget);
-  alerts_widget = new OffroadAlert();
-  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(alerts_widget);
-
-  main_layout->addLayout(center_layout, 1);
-
-  // set up refresh timer
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &OffroadHome::refresh);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-    }
-    OffroadHome {
-      background-color: black;
-    }
-    OffroadHome > QPushButton {
-      padding: 15px 30px;
-      border-radius: 5px;
-      font-size: 40px;
-      font-weight: 500;
-    }
-    OffroadHome > QLabel {
-      font-size: 55px;
-    }
-  )");
-}
-
-void OffroadHome::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(10 * 1000);
-}
-
-void OffroadHome::hideEvent(QHideEvent *event) {
-  timer->stop();
-}
-
-void OffroadHome::refresh() {
-  version->setText(getBrand() + " " +  QString::fromStdString(params.get("UpdaterCurrentDescription")));
-
-  bool updateAvailable = update_widget->refresh();
-  int alerts = alerts_widget->refresh();
-
-  // pop-up new notification
-  int idx = center_layout->currentIndex();
-  if (!updateAvailable && !alerts) {
-    idx = 0;
-  } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-    idx = 1;
-  } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-    idx = 2;
-  }
-  center_layout->setCurrentIndex(idx);
-
-  update_notif->setVisible(updateAvailable);
-  alert_notif->setVisible(alerts);
-  if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
-  }
-}
diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h
deleted file mode 100644
index 40b63ce8d8..0000000000
--- a/selfdrive/ui/qt/offroad/offroad_home.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/**
- * 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 "common/params.h"
-#include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/prime.h"
-#define OnroadWindow OnroadWindowSP
-#define LayoutWidget LayoutWidgetSP
-#define Sidebar SidebarSP
-#define ElidedLabel ElidedLabelSP
-#define SetupWidget SetupWidgetSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-#endif
-
-class OffroadHome : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit OffroadHome(QWidget* parent = 0);
-
-  signals:
-    void openSettings(int index = 0, const QString &param = "");
-
-protected:
-  QHBoxLayout *home_layout;
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-  void refresh();
-
-  Params params;
-
-  QTimer* timer;
-  ElidedLabel* version;
-  QStackedLayout* center_layout;
-  UpdateAlert *update_widget;
-  OffroadAlert* alerts_widget;
-  QPushButton* alert_notif;
-  QPushButton* update_notif;
-};
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
deleted file mode 100644
index 309a73b939..0000000000
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ /dev/null
@@ -1,211 +0,0 @@
-#include "selfdrive/ui/qt/offroad/onboarding.h"
-
-#include <string>
-
-#include <QLabel>
-#include <QPainter>
-#include <QTransform>
-#include <QVBoxLayout>
-
-#include "common/util.h"
-#include "common/params.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-
-TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) {
-  setAttribute(Qt::WA_OpaquePaintEvent);
-}
-
-void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
-  if (click_timer.elapsed() < 250) {
-    return;
-  }
-  click_timer.restart();
-
-  auto contains = [this](QRect r, const QPoint &pt) {
-    if (image.size() != image_raw_size) {
-      QTransform transform;
-      transform.translate((width()- image.width()) / 2.0, (height()- image.height()) / 2.0);
-      transform.scale(image.width() / (float)image_raw_size.width(), image.height() / (float)image_raw_size.height());
-      r= transform.mapRect(r);
-    }
-    return r.contains(pt);
-  };
-
-  if (contains(boundingRect[currentIndex], e->pos())) {
-    if (currentIndex == 9) {
-      const QRect yes = QRect(707, 804, 531, 164);
-      Params().putBool("RecordFront", contains(yes, e->pos()));
-    }
-    currentIndex += 1;
-  } else if (currentIndex == (boundingRect.size() - 2) && contains(boundingRect.last(), e->pos())) {
-    currentIndex = 0;
-  }
-
-  if (currentIndex >= (boundingRect.size() - 1)) {
-    emit completedTraining();
-  } else {
-    update();
-  }
-}
-
-void TrainingGuide::showEvent(QShowEvent *event) {
-  currentIndex = 0;
-  click_timer.start();
-}
-
-QImage TrainingGuide::loadImage(int id) {
-  QImage img(img_path + QString("step%1.png").arg(id));
-  image_raw_size = img.size();
-  if (image_raw_size != rect().size()) {
-    img = img.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
-  }
-  return img;
-}
-
-void TrainingGuide::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-
-  QRect bg(0, 0, painter.device()->width(), painter.device()->height());
-  painter.fillRect(bg, QColor("#000000"));
-
-  image = loadImage(currentIndex);
-  QRect rect(image.rect());
-  rect.moveCenter(bg.center());
-  painter.drawImage(rect.topLeft(), image);
-
-  // progress bar
-  if (currentIndex > 0 && currentIndex < (boundingRect.size() - 2)) {
-    const int h = 20;
-    const int w = (currentIndex / (float)(boundingRect.size() - 2)) * width();
-    painter.fillRect(QRect(0, height() - h, w, h), QColor("#465BEA"));
-  }
-}
-
-void TermsPage::showEvent(QShowEvent *event) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(45, 35, 45, 45);
-  main_layout->setSpacing(0);
-
-  QVBoxLayout *vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(165, 165, 165, 0);
-  main_layout->addLayout(vlayout);
-
-  QLabel *title = new QLabel(tr("Welcome to sunnypilot"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addSpacing(90);
-  QLabel *desc = new QLabel(tr("You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing."));
-  desc->setWordWrap(true);
-  desc->setStyleSheet("font-size: 80px; font-weight: 300;");
-  vlayout->addWidget(desc, 0);
-
-  vlayout->addStretch();
-
-  QHBoxLayout* buttons = new QHBoxLayout;
-  buttons->setMargin(0);
-  buttons->setSpacing(45);
-  main_layout->addLayout(buttons);
-
-  QPushButton *decline_btn = new QPushButton(tr("Decline"));
-  buttons->addWidget(decline_btn);
-  QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
-
-  accept_btn = new QPushButton(tr("Agree"));
-  accept_btn->setStyleSheet(R"(
-    QPushButton {
-      background-color: #465BEA;
-    }
-    QPushButton:pressed {
-      background-color: #3049F4;
-    }
-  )");
-  buttons->addWidget(accept_btn);
-  QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms);
-}
-
-void DeclinePage::showEvent(QShowEvent *event) {
-  if (layout()) {
-    return;
-  }
-
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(45);
-  main_layout->setSpacing(40);
-
-  QLabel *text = new QLabel(this);
-  text->setText(tr("You must accept the Terms and Conditions in order to use sunnypilot."));
-  text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
-  text->setWordWrap(true);
-  main_layout->addWidget(text, 0, Qt::AlignCenter);
-
-  QHBoxLayout* buttons = new QHBoxLayout;
-  buttons->setSpacing(45);
-  main_layout->addLayout(buttons);
-
-  QPushButton *back_btn = new QPushButton(tr("Back"));
-  buttons->addWidget(back_btn);
-
-  QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
-
-  QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand()));
-  uninstall_btn->setStyleSheet("background-color: #B73D3D");
-  buttons->addWidget(uninstall_btn);
-  QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
-    Params().putBool("DoUninstall", true);
-  });
-}
-
-void OnboardingWindow::updateActiveScreen() {
-  if (!accepted_terms) {
-    setCurrentIndex(0);
-  } else if (!training_done) {
-    setCurrentIndex(1);
-  } else {
-    emit onboardingDone();
-  }
-}
-
-OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
-  std::string current_terms_version = params.get("TermsVersion");
-  std::string current_training_version = params.get("TrainingVersion");
-  accepted_terms = params.get("HasAcceptedTerms") == current_terms_version;
-  training_done = params.get("CompletedTrainingVersion") == current_training_version;
-
-  TermsPage* terms = new TermsPage(this);
-  addWidget(terms);
-  connect(terms, &TermsPage::acceptedTerms, [=]() {
-    params.put("HasAcceptedTerms", current_terms_version);
-    accepted_terms = true;
-    updateActiveScreen();
-  });
-  connect(terms, &TermsPage::declinedTerms, [=]() { setCurrentIndex(2); });
-
-  TrainingGuide* tr = new TrainingGuide(this);
-  addWidget(tr);
-  connect(tr, &TrainingGuide::completedTraining, [=]() {
-    training_done = true;
-    params.put("CompletedTrainingVersion", current_training_version);
-    updateActiveScreen();
-  });
-
-  DeclinePage* declinePage = new DeclinePage(this);
-  addWidget(declinePage);
-  connect(declinePage, &DeclinePage::getBack, [=]() { updateActiveScreen(); });
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      background-color: black;
-    }
-    QPushButton {
-      height: 160px;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-  )");
-  updateActiveScreen();
-}
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
deleted file mode 100644
index 0c6c58e4a7..0000000000
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ /dev/null
@@ -1,108 +0,0 @@
-#pragma once
-
-#include <QElapsedTimer>
-#include <QImage>
-#include <QMouseEvent>
-#include <QPushButton>
-#include <QStackedWidget>
-#include <QWidget>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/qt_window.h"
-
-class TrainingGuide : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit TrainingGuide(QWidget *parent = 0);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void paintEvent(QPaintEvent *event) override;
-  void mouseReleaseEvent(QMouseEvent* e) override;
-  QImage loadImage(int id);
-
-  QImage image;
-  QSize image_raw_size;
-  int currentIndex = 0;
-
-  // Bounding boxes for each training guide step
-  const QRect continueBtn = {1840, 0, 320, 1080};
-  QVector<QRect> boundingRect {
-    QRect(112, 804, 618, 164),
-    continueBtn,
-    continueBtn,
-    QRect(1641, 558, 210, 313),
-    QRect(1662, 528, 184, 108),
-    continueBtn,
-    QRect(1814, 621, 211, 170),
-    QRect(1350, 0, 497, 755),
-    QRect(1540, 386, 468, 238),
-    QRect(112, 804, 1126, 164),
-    QRect(1598, 199, 316, 333),
-    continueBtn,
-    QRect(1364, 90, 796, 990),
-    continueBtn,
-    QRect(1593, 114, 318, 853),
-    QRect(1379, 511, 391, 243),
-    continueBtn,
-    continueBtn,
-    QRect(630, 804, 626, 164),
-    QRect(108, 804, 426, 164),
-  };
-
-  const QString img_path = "../assets/training/";
-  QElapsedTimer click_timer;
-
-signals:
-  void completedTraining();
-};
-
-
-class TermsPage : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}
-
-private:
-  void showEvent(QShowEvent *event) override;
-
-protected:
-  QPushButton *accept_btn;
-
-signals:
-  void acceptedTerms();
-  void declinedTerms();
-};
-
-class DeclinePage : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {}
-
-private:
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void getBack();
-};
-
-class OnboardingWindow : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  explicit OnboardingWindow(QWidget *parent = 0);
-  inline void showTrainingGuide() { setCurrentIndex(1); }
-  virtual inline bool completed() const { return accepted_terms && training_done; }
-
-protected:
-  virtual void updateActiveScreen();
-
-  Params params;
-  bool accepted_terms = false, training_done = false;
-
-signals:
-  void onboardingDone();
-};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
deleted file mode 100644
index ccfc3940db..0000000000
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ /dev/null
@@ -1,469 +0,0 @@
-#include <cassert>
-#include <cmath>
-#include <string>
-#include <tuple>
-#include <vector>
-
-#include <QDebug>
-
-#include "common/watchdog.h"
-#include "common/util.h"
-#include "selfdrive/ui/qt/network/networking.h"
-#include "selfdrive/ui/qt/offroad/settings.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
-#include "selfdrive/ui/qt/offroad/firehose.h"
-
-TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  // param, title, desc, icon
-  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
-    {
-      "OpenpilotEnabledToggle",
-      tr("Enable sunnypilot"),
-      tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
-      "../assets/img_chffr_wheel.png",
-    },
-    {
-      "ExperimentalMode",
-      tr("Experimental Mode"),
-      "",
-      "../assets/img_experimental_white.svg",
-    },
-    {
-      "DynamicExperimentalControl",
-      tr("Enable Dynamic Experimental Control"),
-      tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
-      "../assets/offroad/icon_blank.png",
-    },
-    {
-      "DisengageOnAccelerator",
-      tr("Disengage on Accelerator Pedal"),
-      tr("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
-      "../assets/offroad/icon_disengage_on_accelerator.svg",
-    },
-    {
-      "IsLdwEnabled",
-      tr("Enable Lane Departure Warnings"),
-      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
-      "../assets/offroad/icon_warning.png",
-    },
-    {
-      "AlwaysOnDM",
-      tr("Always-On Driver Monitoring"),
-      tr("Enable driver monitoring even when sunnypilot is not engaged."),
-      "../assets/offroad/icon_monitoring.png",
-    },
-    {
-      "RecordFront",
-      tr("Record and Upload Driver Camera"),
-      tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
-      "../assets/offroad/icon_monitoring.png",
-    },
-    {
-      "IsMetric",
-      tr("Use Metric System"),
-      tr("Display speed in km/h instead of mph."),
-      "../assets/offroad/icon_metric.png",
-    },
-  };
-
-
-  std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
-  long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
-                                          tr("Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. "
-                                             "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
-                                             "your steering wheel distance button."),
-                                          "../assets/offroad/icon_speed_limit.png",
-                                          longi_button_texts);
-
-  // set up uiState update for personality setting
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
-
-  for (auto &[param, title, desc, icon] : toggle_defs) {
-    auto toggle = new ParamControl(param, title, desc, icon, this);
-
-    bool locked = params.getBool((param + "Lock").toStdString());
-    toggle->setEnabled(!locked);
-
-    addItem(toggle);
-    toggles[param.toStdString()] = toggle;
-
-    // insert longitudinal personality after NDOG toggle
-    if (param == "DisengageOnAccelerator") {
-      addItem(long_personality_setting);
-    }
-  }
-
-  // Toggles with confirmation dialogs
-#ifndef SUNNYPILOT
-  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
-#endif
-  toggles["ExperimentalMode"]->setConfirmation(true, true);
-}
-
-void TogglesPanel::updateState(const UIState &s) {
-  const SubMaster &sm = *(s.sm);
-
-  if (sm.updated("selfdriveState")) {
-    auto personality = sm["selfdriveState"].getSelfdriveState().getPersonality();
-    if (personality != s.scene.personality && s.scene.started && isVisible()) {
-      long_personality_setting->setCheckedButton(static_cast<int>(personality));
-    }
-    uiState()->scene.personality = personality;
-  }
-}
-
-void TogglesPanel::expandToggleDescription(const QString &param) {
-  toggles[param.toStdString()]->showDescription();
-}
-
-void TogglesPanel::showEvent(QShowEvent *event) {
-  updateToggles();
-}
-
-void TogglesPanel::updateToggles() {
-  auto experimental_mode_toggle = toggles["ExperimentalMode"];
-  const QString e2e_description = QString("%1<br>"
-                                          "<h4>%2</h4><br>"
-                                          "%3<br>"
-                                          "<h4>%4</h4><br>"
-                                          "%5<br>")
-                                  .arg(tr("sunnypilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
-                                  .arg(tr("End-to-End Longitudinal Control"))
-                                  .arg(tr("Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
-                                          "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
-                                          "mistakes should be expected."))
-                                  .arg(tr("New Driving Visualization"))
-                                  .arg(tr("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."));
-
-  const bool is_release = params.getBool("IsReleaseBranch");
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    if (hasLongitudinalControl(CP)) {
-      // normal description and toggle
-      experimental_mode_toggle->setEnabled(true);
-      experimental_mode_toggle->setDescription(e2e_description);
-      long_personality_setting->setEnabled(true);
-    } else {
-      // no long for now
-      experimental_mode_toggle->setEnabled(false);
-      long_personality_setting->setEnabled(false);
-      params.remove("ExperimentalMode");
-
-      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
-
-      QString long_desc = unavailable + " " + \
-                          tr("openpilot longitudinal control may come in a future update.");
-      if (CP.getAlphaLongitudinalAvailable()) {
-        if (is_release) {
-          long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
-        } else {
-          long_desc = tr("Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.");
-        }
-      }
-      experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
-    }
-
-    experimental_mode_toggle->refresh();
-  } else {
-    experimental_mode_toggle->setDescription(e2e_description);
-  }
-}
-
-DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
-  setSpacing(50);
-  addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
-  addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
-
-  pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"),
-                                  tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
-  connect(pair_device, &ButtonControl::clicked, [=]() {
-    PairingPopup popup(this);
-    popup.exec();
-  });
-  addItem(pair_device);
-
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this] (PrimeState::Type type) {
-    pair_device->setVisible(type == PrimeState::PRIME_TYPE_UNPAIRED);
-  });
-
-#ifndef SUNNYPILOT
-  // offroad-only buttons
-
-  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
-                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
-  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
-  addItem(dcamBtn);
-#endif
-
-  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
-  connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
-  connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
-      params.remove("CalibrationParams");
-      params.remove("LiveTorqueParameters");
-    }
-  });
-  addItem(resetCalibBtn);
-
-#ifndef SUNNYPILOT
-  auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of sunnypilot"));
-  connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
-      emit reviewTrainingGuide();
-    }
-  });
-  addItem(retrainingBtn);
-
-  if (Hardware::TICI()) {
-    auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
-    connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
-      const std::string txt = util::read_file("../assets/offroad/fcc.html");
-      ConfirmationDialog::rich(QString::fromStdString(txt), this);
-    });
-    addItem(regulatoryBtn);
-  }
-
-  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
-  connect(translateBtn, &ButtonControl::clicked, [=]() {
-    QMap<QString, QString> langs = getSupportedLanguages();
-    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
-    if (!selection.isEmpty()) {
-      // put language setting, exit Qt UI, and trigger fast restart
-      params.put("LanguageSetting", langs[selection].toStdString());
-      qApp->exit(18);
-      watchdog_kick(0);
-    }
-  });
-  addItem(translateBtn);
-#endif
-
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<ButtonControl *>()) {
-      if (btn != pair_device) {
-        btn->setEnabled(offroad);
-      }
-    }
-  });
-
-#ifndef SUNNYPILOT
-  // power buttons
-  QHBoxLayout *power_layout = new QHBoxLayout();
-  power_layout->setSpacing(30);
-
-  QPushButton *reboot_btn = new QPushButton(tr("Reboot"));
-  reboot_btn->setObjectName("reboot_btn");
-  power_layout->addWidget(reboot_btn);
-  QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
-
-  QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
-  poweroff_btn->setObjectName("poweroff_btn");
-  power_layout->addWidget(poweroff_btn);
-  QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
-
-  if (!Hardware::PC()) {
-    connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
-  }
-
-  setStyleSheet(R"(
-    #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
-    #reboot_btn:pressed { background-color: #4a4a4a; }
-    #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
-    #poweroff_btn:pressed { background-color: #FF2424; }
-  )");
-  addItem(power_layout);
-#endif
-}
-
-void DevicePanel::updateCalibDescription() {
-  QString desc =
-      tr("sunnypilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.");
-  std::string calib_bytes = params.get("CalibrationParams");
-  if (!calib_bytes.empty()) {
-    try {
-      AlignedBuffer aligned_buf;
-      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
-      auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
-      if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
-        double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
-        double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
-                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
-                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
-      }
-    } catch (kj::Exception) {
-      qInfo() << "invalid CalibrationParams";
-    }
-  }
-  qobject_cast<ButtonControl *>(sender())->setDescription(desc);
-}
-
-void DevicePanel::reboot() {
-  if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
-      // Check engaged again in case it changed while the dialog was open
-      if (!uiState()->engaged()) {
-        params.putBool("DoReboot", true);
-      }
-    }
-  } else {
-    ConfirmationDialog::alert(tr("Disengage to Reboot"), this);
-  }
-}
-
-void DevicePanel::poweroff() {
-  if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
-      // Check engaged again in case it changed while the dialog was open
-      if (!uiState()->engaged()) {
-        params.putBool("DoShutdown", true);
-      }
-    }
-  } else {
-    ConfirmationDialog::alert(tr("Disengage to Power Off"), this);
-  }
-}
-
-void SettingsWindow::showEvent(QShowEvent *event) {
-  setCurrentPanel(0);
-}
-
-void SettingsWindow::setCurrentPanel(int index, const QString &param) {
-  if (!param.isEmpty()) {
-    // Check if param ends with "Panel" to determine if it's a panel name
-    if (param.endsWith("Panel")) {
-      QString panelName = param;
-      panelName.chop(5); // Remove "Panel" suffix
-      
-      // Find the panel by name
-      for (int i = 0; i < nav_btns->buttons().size(); i++) {
-        bool panel_trimmed = false;
-#ifdef SUNNYPILOT
-        panel_trimmed = nav_btns->buttons()[i]->text().trimmed() == tr(panelName.toStdString().c_str());
-#endif
-        if ((nav_btns->buttons()[i]->text() == tr(panelName.toStdString().c_str())) || panel_trimmed) {
-          index = i;
-          break;
-        }
-      }
-    } else {
-      emit expandToggleDescription(param);
-    }
-  }
-  
-  panel_widget->setCurrentIndex(index);
-  nav_btns->buttons()[index]->setChecked(true);
-}
-
-SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
-#ifndef SUNNYPILOT
-  // setup two main layouts
-  sidebar_widget = new QWidget;
-  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
-  panel_widget = new QStackedWidget();
-
-  // close button
-  QPushButton *close_btn = new QPushButton(tr("×"));
-  close_btn->setStyleSheet(R"(
-    QPushButton {
-      font-size: 140px;
-      padding-bottom: 20px;
-      border-radius: 100px;
-      background-color: #292929;
-      font-weight: 400;
-    }
-    QPushButton:pressed {
-      background-color: #3B3B3B;
-    }
-  )");
-  close_btn->setFixedSize(200, 200);
-  sidebar_layout->addSpacing(45);
-  sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
-
-  // setup panels
-  DevicePanel *device = new DevicePanel(this);
-  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
-  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
-
-  TogglesPanel *toggles = new TogglesPanel(this);
-  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
-
-  auto networking = new Networking(this);
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
-
-  QList<QPair<QString, QWidget *>> panels = {
-    {tr("Device"), device},
-    {tr("Network"), networking},
-    {tr("Toggles"), toggles},
-    {tr("Software"), new SoftwarePanel(this)},
-    {tr("Firehose"), new FirehosePanel(this)},
-    {tr("Developer"), new DeveloperPanel(this)},
-  };
-
-  nav_btns = new QButtonGroup(this);
-  for (auto &[name, panel] : panels) {
-    QPushButton *btn = new QPushButton(name);
-    btn->setCheckable(true);
-    btn->setChecked(nav_btns->buttons().size() == 0);
-    btn->setStyleSheet(R"(
-      QPushButton {
-        color: grey;
-        border: none;
-        background: none;
-        font-size: 65px;
-        font-weight: 500;
-      }
-      QPushButton:checked {
-        color: white;
-      }
-      QPushButton:pressed {
-        color: #ADADAD;
-      }
-    )");
-    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-    nav_btns->addButton(btn);
-    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
-
-    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
-    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
-
-    ScrollView *panel_frame = new ScrollView(panel, this);
-    panel_widget->addWidget(panel_frame);
-
-    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
-      btn->setChecked(true);
-      panel_widget->setCurrentWidget(w);
-    });
-  }
-  sidebar_layout->setContentsMargins(50, 50, 100, 50);
-
-  // main settings layout, sidebar + main panel
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-
-  sidebar_widget->setFixedWidth(500);
-  main_layout->addWidget(sidebar_widget);
-  main_layout->addWidget(panel_widget);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-size: 50px;
-    }
-    SettingsWindow {
-      background-color: black;
-    }
-    QStackedWidget, ScrollView {
-      background-color: #292929;
-      border-radius: 30px;
-    }
-  )");
-#endif
-}
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
deleted file mode 100644
index 8b162bb843..0000000000
--- a/selfdrive/ui/qt/offroad/settings.h
+++ /dev/null
@@ -1,115 +0,0 @@
-#pragma once
-
-#include <map>
-#include <string>
-
-#include <QButtonGroup>
-#include <QFrame>
-#include <QLabel>
-#include <QPushButton>
-#include <QStackedWidget>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/util.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#define ListWidget ListWidgetSP
-#define ParamControl ParamControlSP
-#define ButtonControl ButtonControlSP
-#define ButtonParamControl ButtonParamControlSP
-#define ToggleControl ToggleControlSP
-#define LabelControl LabelControlSP
-#else
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#endif
-
-// ********** settings window + top-level panels **********
-class SettingsWindow : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit SettingsWindow(QWidget *parent = 0);
-  void setCurrentPanel(int index, const QString &param = "");
-
-protected:
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void closeSettings();
-  void reviewTrainingGuide();
-  void showDriverView();
-  void expandToggleDescription(const QString &param);
-
-protected:
-  QPushButton *sidebar_alert_widget;
-  QWidget *sidebar_widget;
-  QButtonGroup *nav_btns;
-  QStackedWidget *panel_widget;
-};
-
-class DevicePanel : public ListWidget {
-  Q_OBJECT
-public:
-  explicit DevicePanel(SettingsWindow *parent);
-
-signals:
-  void reviewTrainingGuide();
-  void showDriverView();
-
-protected slots:
-  void poweroff();
-  void reboot();
-  void updateCalibDescription();
-
-protected:
-  Params params;
-  ButtonControl *pair_device;
-};
-
-class TogglesPanel : public ListWidget {
-  Q_OBJECT
-public:
-  explicit TogglesPanel(SettingsWindow *parent);
-  void showEvent(QShowEvent *event) override;
-
-public slots:
-  void expandToggleDescription(const QString &param);
-
-protected slots:
-  virtual void updateState(const UIState &s);
-
-protected:
-  Params params;
-  std::map<std::string, ParamControl*> toggles;
-  ButtonParamControl *long_personality_setting;
-
-  virtual void updateToggles();
-};
-
-class SoftwarePanel : public ListWidget {
-  Q_OBJECT
-public:
-  explicit SoftwarePanel(QWidget* parent = nullptr);
-
-protected:
-  void showEvent(QShowEvent *event) override;
-  virtual void updateLabels();
-  void checkForUpdates();
-
-  bool is_onroad = false;
-
-  QLabel *onroadLbl;
-  LabelControl *versionLbl;
-  ButtonControl *installBtn;
-  ButtonControl *downloadBtn;
-  ButtonControl *targetBranchBtn;
-
-  Params params;
-  ParamWatcher *fs_watch;
-};
-
-// Forward declaration
-class FirehosePanel;
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
deleted file mode 100644
index 449f3c5203..0000000000
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ /dev/null
@@ -1,154 +0,0 @@
-#include "selfdrive/ui/qt/offroad/settings.h"
-
-#include <cassert>
-#include <cmath>
-#include <string>
-
-#include <QDebug>
-#include <QLabel>
-
-#include "common/params.h"
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "system/hardware/hw.h"
-
-
-void SoftwarePanel::checkForUpdates() {
-  std::system("pkill -SIGUSR1 -f system.updated.updated");
-}
-
-SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
-  onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off."));
-  onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;");
-  addItem(onroadLbl);
-
-  // current version
-  versionLbl = new LabelControl(tr("Current Version"), "");
-  addItem(versionLbl);
-
-  // download update btn
-  downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
-  connect(downloadBtn, &ButtonControl::clicked, [=]() {
-    downloadBtn->setEnabled(false);
-    if (downloadBtn->text() == tr("CHECK")) {
-      checkForUpdates();
-    } else {
-      std::system("pkill -SIGHUP -f system.updated.updated");
-    }
-  });
-  addItem(downloadBtn);
-
-  // install update btn
-  installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL"));
-  connect(installBtn, &ButtonControl::clicked, [=]() {
-    installBtn->setEnabled(false);
-    params.putBool("DoReboot", true);
-  });
-  addItem(installBtn);
-
-  // branch selecting
-  targetBranchBtn = new ButtonControl(tr("Target Branch"), tr("SELECT"));
-  connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
-    auto current = params.get("GitBranch");
-    QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "nightly-dev", "master"}) {
-      auto i = branches.indexOf(b);
-      if (i >= 0) {
-        branches.removeAt(i);
-        branches.insert(0, b);
-      }
-    }
-
-    QString cur = QString::fromStdString(params.get("UpdaterTargetBranch"));
-    QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this);
-    if (!selection.isEmpty()) {
-      params.put("UpdaterTargetBranch", selection.toStdString());
-      targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
-      checkForUpdates();
-    }
-  });
-  addItem(targetBranchBtn);
-
-  // uninstall button
-  auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
-  connect(uninstallBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) {
-      params.putBool("DoUninstall", true);
-    }
-  });
-  addItem(uninstallBtn);
-
-  fs_watch = new ParamWatcher(this);
-  QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    updateLabels();
-  });
-
-  connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    is_onroad = !offroad;
-    updateLabels();
-  });
-
-  updateLabels();
-}
-
-void SoftwarePanel::showEvent(QShowEvent *event) {
-  // nice for testing on PC
-  installBtn->setEnabled(true);
-
-  updateLabels();
-}
-
-void SoftwarePanel::updateLabels() {
-  // add these back in case the files got removed
-  fs_watch->addParam("LastUpdateTime");
-  fs_watch->addParam("UpdateFailedCount");
-  fs_watch->addParam("UpdaterState");
-  fs_watch->addParam("UpdateAvailable");
-
-  if (!isVisible()) {
-    return;
-  }
-
-  // updater only runs offroad
-  onroadLbl->setVisible(is_onroad);
-  downloadBtn->setVisible(!is_onroad);
-
-  // download update
-  QString updater_state = QString::fromStdString(params.get("UpdaterState"));
-  bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0;
-  if (updater_state != "idle") {
-    downloadBtn->setEnabled(false);
-    downloadBtn->setValue(updater_state);
-  } else {
-    if (failed) {
-      downloadBtn->setText(tr("CHECK"));
-      downloadBtn->setValue(tr("failed to check for update"));
-    } else if (params.getBool("UpdaterFetchAvailable")) {
-      downloadBtn->setText(tr("DOWNLOAD"));
-      downloadBtn->setValue(tr("update available"));
-    } else {
-      QString lastUpdate = tr("never");
-      auto tm = params.get("LastUpdateTime");
-      if (!tm.empty()) {
-        lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
-      }
-      downloadBtn->setText(tr("CHECK"));
-      downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate));
-    }
-    downloadBtn->setEnabled(true);
-  }
-  targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
-
-  // current + new versions
-  versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
-  versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));
-
-  installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable"));
-  installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
-  installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
-
-  update();
-}
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
deleted file mode 100644
index d6829c6b08..0000000000
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ /dev/null
@@ -1,112 +0,0 @@
-#include "selfdrive/ui/qt/onroad/alerts.h"
-
-#include <QPainter>
-#include <map>
-
-#include "selfdrive/ui/qt/util.h"
-
-void OnroadAlerts::updateState(const UIState &s) {
-  Alert a = getAlert(*(s.sm), s.scene.started_frame);
-  if (!alert.equal(a)) {
-    alert = a;
-    update();
-  }
-}
-
-void OnroadAlerts::clear() {
-  alert = {};
-  update();
-}
-
-OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
-  const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState();
-  const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState");
-
-  Alert a = {};
-  if (selfdrive_frame >= started_frame) {  // Don't get old alert.
-    a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(),
-         ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()};
-  }
-
-  if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
-    const int SELFDRIVE_STATE_TIMEOUT = 5;
-    const int ss_missing = (nanos_since_boot() - sm.rcv_time("selfdriveState")) / 1e9;
-
-    // Handle selfdrive timeout
-    if (selfdrive_frame < started_frame) {
-      // car is started, but selfdriveState hasn't been seen at all
-      a = {tr("sunnypilot Unavailable"), tr("Waiting to start"),
-           "selfdriveWaiting", cereal::SelfdriveState::AlertSize::MID,
-           cereal::SelfdriveState::AlertStatus::NORMAL};
-    } else if (ss_missing > SELFDRIVE_STATE_TIMEOUT && !Hardware::PC()) {
-      // car is started, but selfdrive is lagging or died
-      if (ss.getEnabled() && (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10) {
-        a = {tr("TAKE CONTROL IMMEDIATELY"), tr("System Unresponsive"),
-             "selfdriveUnresponsive", cereal::SelfdriveState::AlertSize::FULL,
-             cereal::SelfdriveState::AlertStatus::CRITICAL};
-      } else {
-        a = {tr("System Unresponsive"), tr("Reboot Device"),
-             "selfdriveUnresponsivePermanent", cereal::SelfdriveState::AlertSize::MID,
-             cereal::SelfdriveState::AlertStatus::NORMAL};
-      }
-    }
-  }
-  return a;
-}
-
-void OnroadAlerts::paintEvent(QPaintEvent *event) {
-  if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
-    return;
-  }
-  static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
-    {cereal::SelfdriveState::AlertSize::SMALL, 271},
-    {cereal::SelfdriveState::AlertSize::MID, 420},
-    {cereal::SelfdriveState::AlertSize::FULL, height()},
-  };
-  int h = alert_heights[alert.size];
-
-  int margin = 40;
-  int radius = 30;
-  if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
-    margin = 0;
-    radius = 0;
-  }
-  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
-
-  QPainter p(this);
-
-  // draw background + gradient
-  p.setPen(Qt::NoPen);
-  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-  p.setBrush(QBrush(alert_colors[alert.status]));
-  p.drawRoundedRect(r, radius, radius);
-
-  QLinearGradient g(0, r.y(), 0, r.bottom());
-  g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
-  g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35));
-
-  p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
-  p.setBrush(QBrush(g));
-  p.drawRoundedRect(r, radius, radius);
-  p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-
-  // text
-  const QPoint c = r.center();
-  p.setPen(QColor(0xff, 0xff, 0xff));
-  p.setRenderHint(QPainter::TextAntialiasing);
-  if (alert.size == cereal::SelfdriveState::AlertSize::SMALL) {
-    p.setFont(InterFont(74, QFont::DemiBold));
-    p.drawText(r, Qt::AlignCenter, alert.text1);
-  } else if (alert.size == cereal::SelfdriveState::AlertSize::MID) {
-    p.setFont(InterFont(88, QFont::Bold));
-    p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    p.setFont(InterFont(66));
-    p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
-  } else if (alert.size == cereal::SelfdriveState::AlertSize::FULL) {
-    bool l = alert.text1.length() > 15;
-    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
-    p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    p.setFont(InterFont(88));
-    p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
-  }
-}
diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h
deleted file mode 100644
index de38d8ffc3..0000000000
--- a/selfdrive/ui/qt/onroad/alerts.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include <QWidget>
-
-#include "selfdrive/ui/ui.h"
-
-class OnroadAlerts : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
-  void updateState(const UIState &s);
-  void clear();
-
-protected:
-  struct Alert {
-    QString text1;
-    QString text2;
-    QString type;
-    cereal::SelfdriveState::AlertSize size;
-    cereal::SelfdriveState::AlertStatus status;
-
-    bool equal(const Alert &other) const {
-      return text1 == other.text1 && text2 == other.text2 && type == other.type;
-    }
-  };
-
-  const QMap<cereal::SelfdriveState::AlertStatus, QColor> alert_colors = {
-    {cereal::SelfdriveState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
-    {cereal::SelfdriveState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
-    {cereal::SelfdriveState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
-  };
-
-  void paintEvent(QPaintEvent*) override;
-  OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame);
-
-  QColor bg;
-  Alert alert = {};
-};
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
deleted file mode 100644
index f504ad69f1..0000000000
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ /dev/null
@@ -1,157 +0,0 @@
-
-#include "selfdrive/ui/qt/onroad/annotated_camera.h"
-
-#include <QPainter>
-#include <algorithm>
-#include <cmath>
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/util.h"
-
-// Window that shows camera view and variety of info drawn on top
-AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
-    : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
-  pm = std::make_unique<PubMaster>(std::vector<const char*>{"uiDebug"});
-
-  main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(UI_BORDER_SIZE);
-  main_layout->setSpacing(0);
-
-  experimental_btn = new ExperimentalButton(this);
-  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
-}
-
-void AnnotatedCameraWidget::updateState(const UIState &s) {
-  // update engageability/experimental mode button
-  experimental_btn->updateState(s);
-  dmon.updateState(s);
-}
-
-void AnnotatedCameraWidget::initializeGL() {
-  CameraWidget::initializeGL();
-  qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
-  qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
-  qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
-  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));
-
-  prev_draw_t = millis_since_boot();
-  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
-}
-
-mat4 AnnotatedCameraWidget::calcFrameMatrix() {
-  // Project point at "infinity" to compute x and y offsets
-  // to ensure this ends up in the middle of the screen
-  // for narrow come and a little lower for wide cam.
-  // TODO: use proper perspective transform?
-
-  // Select intrinsic matrix and calibration based on camera type
-  auto *s = uiState();
-  bool wide_cam = active_stream_type == VISION_STREAM_WIDE_ROAD;
-  const auto &intrinsic_matrix = wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX;
-  const auto &calibration = wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
-
-   // Compute the calibration transformation matrix
-  const auto calib_transform = intrinsic_matrix * calibration;
-
-  float zoom = wide_cam ? 2.0 : 1.1;
-  Eigen::Vector3f inf(1000., 0., 0.);
-  auto Kep = calib_transform * inf;
-
-  int w = width(), h = height();
-  float center_x = intrinsic_matrix(0, 2);
-  float center_y = intrinsic_matrix(1, 2);
-
-  float max_x_offset = center_x * zoom - w / 2 - 5;
-  float max_y_offset = center_y * zoom - h / 2 - 5;
-  float x_offset = std::clamp<float>((Kep.x() / Kep.z() - center_x) * zoom, -max_x_offset, max_x_offset);
-  float y_offset = std::clamp<float>((Kep.y() / Kep.z() - center_y) * zoom, -max_y_offset, max_y_offset);
-
-  // Apply transformation such that video pixel coordinates match video
-  // 1) Put (0, 0) in the middle of the video
-  // 2) Apply same scaling as video
-  // 3) Put (0, 0) in top left corner of video
-  Eigen::Matrix3f video_transform =(Eigen::Matrix3f() <<
-    zoom, 0.0f, (w / 2 - x_offset) - (center_x * zoom),
-    0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
-    0.0f, 0.0f, 1.0f).finished();
-
-  model.setTransform(video_transform * calib_transform);
-
-  float zx = zoom * 2 * center_x / w;
-  float zy = zoom * 2 * center_y / h;
-  return mat4{{
-    zx, 0.0, 0.0, -x_offset / w * 2,
-    0.0, zy, 0.0, y_offset / h * 2,
-    0.0, 0.0, 1.0, 0.0,
-    0.0, 0.0, 0.0, 1.0,
-  }};
-}
-
-void AnnotatedCameraWidget::paintGL() {
-  UIState *s = uiState();
-  SubMaster &sm = *(s->sm);
-  const double start_draw_t = millis_since_boot();
-
-  // draw camera frame
-  {
-    std::lock_guard lk(frame_lock);
-
-    if (frames.empty()) {
-      if (skip_frame_count > 0) {
-        skip_frame_count--;
-        qDebug() << "skipping frame, not ready";
-        return;
-      }
-    } else {
-      // skip drawing up to this many frames if we're
-      // missing camera frames. this smooths out the
-      // transitions from the narrow and wide cameras
-      skip_frame_count = 5;
-    }
-
-    // Wide or narrow cam dependent on speed
-    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
-    if (has_wide_cam) {
-      float v_ego = sm["carState"].getCarState().getVEgo();
-      if ((v_ego < 10) || available_streams.size() == 1) {
-        wide_cam_requested = true;
-      } else if (v_ego > 15) {
-        wide_cam_requested = false;
-      }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-    }
-    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
-    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
-    CameraWidget::paintGL();
-  }
-
-  QPainter painter(this);
-  painter.setRenderHint(QPainter::Antialiasing);
-  painter.setPen(Qt::NoPen);
-
-  model.draw(painter, rect());
-  dmon.draw(painter, rect());
-  hud.updateState(*s);
-  hud.draw(painter, rect());
-
-  double cur_draw_t = millis_since_boot();
-  double dt = cur_draw_t - prev_draw_t;
-  double fps = fps_filter.update(1. / dt * 1000);
-  if (fps < 15) {
-    LOGW("slow frame rate: %.2f fps", fps);
-  }
-  prev_draw_t = cur_draw_t;
-
-  // publish debug msg
-  MessageBuilder msg;
-  auto m = msg.initEvent().initUiDebug();
-  m.setDrawTimeMillis(cur_draw_t - start_draw_t);
-  pm->send("uiDebug", msg);
-}
-
-void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
-  CameraWidget::showEvent(event);
-
-  ui_update_params(uiState());
-  prev_draw_t = millis_since_boot();
-}
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
deleted file mode 100644
index 219b39546f..0000000000
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-
-#include <QVBoxLayout>
-#include <memory>
-#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
-#include "selfdrive/ui/qt/onroad/model.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
-#include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
-#define ExperimentalButton ExperimentalButtonSP
-#else
-#include "selfdrive/ui/qt/onroad/buttons.h"
-#include "selfdrive/ui/qt/onroad/hud.h"
-#endif
-
-class AnnotatedCameraWidget : public CameraWidget {
-  Q_OBJECT
-
-public:
-  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
-  virtual ~AnnotatedCameraWidget() = default;
-  virtual void updateState(const UIState &s);
-
-private:
-  QVBoxLayout *main_layout;
-  ExperimentalButton *experimental_btn;
-  DriverMonitorRenderer dmon;
-  HudRenderer hud;
-  ModelRenderer model;
-  std::unique_ptr<PubMaster> pm;
-
-  int skip_frame_count = 0;
-  bool wide_cam_requested = false;
-
-protected:
-  void paintGL() override;
-  void initializeGL() override;
-  void showEvent(QShowEvent *event) override;
-  mat4 calcFrameMatrix() override;
-
-  double prev_draw_t = 0;
-  FirstOrderFilter fps_filter;
-};
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
deleted file mode 100644
index 94f042c406..0000000000
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ /dev/null
@@ -1,53 +0,0 @@
-#include "selfdrive/ui/qt/onroad/buttons.h"
-
-#include <QPainter>
-
-#include "selfdrive/ui/qt/util.h"
-
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
-  p.setRenderHint(QPainter::Antialiasing);
-  p.setOpacity(1.0);  // bg dictates opacity of ellipse
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(center, btn_size / 2, btn_size / 2);
-  p.setOpacity(opacity);
-  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
-  p.setOpacity(1.0);
-}
-
-// ExperimentalButton
-ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-
-  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
-  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
-  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
-}
-
-void ExperimentalButton::changeMode() {
-  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
-  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
-  if (can_change) {
-    params.putBool("ExperimentalMode", !experimental_mode);
-  }
-}
-
-void ExperimentalButton::updateState(const UIState &s) {
-  const auto cs = (*s.sm)["selfdriveState"].getSelfdriveState();
-  bool eng = cs.getEngageable() || cs.getEnabled();
-  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
-    engageable = eng;
-    experimental_mode = cs.getExperimentalMode();
-    update();
-  }
-}
-
-void ExperimentalButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawButton(p);
-}
-
-void ExperimentalButton::drawButton(QPainter &p) {
-  QPixmap img = experimental_mode ? experimental_img : engage_img;
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
-}
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
deleted file mode 100644
index fca909f9b2..0000000000
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <QPushButton>
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-const int btn_size = 192;
-const int img_size = (btn_size / 4) * 3;
-
-class ExperimentalButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit ExperimentalButton(QWidget *parent = 0);
-  virtual void updateState(const UIState &s);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  void changeMode();
-
-  Params params;
-
-protected:
-  virtual void drawButton(QPainter &p);
-
-  QPixmap engage_img;
-  QPixmap experimental_img;
-  bool experimental_mode;
-  bool engageable;
-};
-
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
deleted file mode 100644
index afd003cf8f..0000000000
--- a/selfdrive/ui/qt/onroad/driver_monitoring.cc
+++ /dev/null
@@ -1,107 +0,0 @@
-#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
-#include <algorithm>
-#include <cmath>
-
-#include "selfdrive/ui/qt/onroad/buttons.h"
-#include "selfdrive/ui/qt/util.h"
-
-// Default 3D coordinates for face keypoints
-static constexpr vec3 DEFAULT_FACE_KPTS_3D[] = {
-  {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
-  {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00},
-  {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00},
-  {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00},
-  {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00},
-  {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00},
-  {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
-};
-
-// Colors used for drawing based on monitoring state
-static const QColor DMON_ENGAGED_COLOR = QColor::fromRgbF(0.1, 0.945, 0.26);
-static const QColor DMON_DISENGAGED_COLOR = QColor::fromRgbF(0.545, 0.545, 0.545);
-
-DriverMonitorRenderer::DriverMonitorRenderer() : face_kpts_draw(std::size(DEFAULT_FACE_KPTS_3D)) {
-  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
-}
-
-void DriverMonitorRenderer::updateState(const UIState &s) {
-  auto &sm = *(s.sm);
-  is_visible = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
-               sm.rcv_frame("driverStateV2") > s.scene.started_frame;
-  if (!is_visible) return;
-
-  auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
-  is_active = dm_state.getIsActiveMode();
-  is_rhd = dm_state.getIsRHD();
-  dm_fade_state = std::clamp(dm_fade_state + 0.2f * (0.5f - is_active), 0.0f, 1.0f);
-
-  const auto &driverstate = sm["driverStateV2"].getDriverStateV2();
-  const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation();
-
-  for (int i = 0; i < 3; ++i) {
-    float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i];
-    driver_pose_diff[i] = std::abs(driver_pose_vals[i] - v_this);
-    driver_pose_vals[i] = 0.8f * v_this + (1 - 0.8) * driver_pose_vals[i];
-    driver_pose_sins[i] = std::sin(driver_pose_vals[i] * (1.0f - dm_fade_state));
-    driver_pose_coss[i] = std::cos(driver_pose_vals[i] * (1.0f - dm_fade_state));
-  }
-
-  auto [sin_y, sin_x, sin_z] = driver_pose_sins;
-  auto [cos_y, cos_x, cos_z] = driver_pose_coss;
-
-  // Rotation matrix for transforming face keypoints based on driver's head orientation
-  const mat3 r_xyz = {{
-    cos_x * cos_z, cos_x * sin_z, -sin_x,
-    -sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x,
-    cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x,
-  }};
-
-  // Transform vertices
-  for (int i = 0; i < face_kpts_draw.size(); ++i) {
-    vec3 kpt = matvecmul3(r_xyz, DEFAULT_FACE_KPTS_3D[i]);
-    face_kpts_draw[i] = {{kpt.v[0], kpt.v[1], kpt.v[2] * (1.0f - dm_fade_state) + 8 * dm_fade_state}};
-  }
-}
-
-void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
-  if (!is_visible) return;
-
-  painter.save();
-
-  int offset = UI_BORDER_SIZE + btn_size / 2;
-  float x = is_rhd ? surface_rect.width() - offset : offset;
-  float y = surface_rect.height() - offset;
-  float opacity = is_active ? 0.65f : 0.2f;
-
-  drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
-
-  QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
-  for (int i = 0; i < std::size(keypoints); ++i) {
-    const auto &v = face_kpts_draw[i].v;
-    float kp = (v[2] - 8) / 120.0f + 1.0f;
-    keypoints[i] = QPointF(v[0] * kp + x, v[1] * kp + y);
-  }
-
-  painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap));
-  painter.drawPolyline(keypoints, std::size(keypoints));
-
-  // tracking arcs
-  const int arc_l = 133;
-  const float arc_t_default = 6.7f;
-  const float arc_t_extend = 12.0f;
-  QColor arc_color = uiState()->engaged() ? DMON_ENGAGED_COLOR : DMON_DISENGAGED_COLOR;
-  arc_color.setAlphaF(0.4 * (1.0f - dm_fade_state));
-
-  float delta_x = -driver_pose_sins[1] * arc_l / 2.0f;
-  float delta_y = -driver_pose_sins[0] * arc_l / 2.0f;
-
-  // Draw horizontal tracking arc
-  painter.setPen(QPen(arc_color, arc_t_default + arc_t_extend * std::min(1.0, driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
-  painter.drawArc(QRectF(std::min(x + delta_x, x), y - arc_l / 2, std::abs(delta_x), arc_l), (driver_pose_sins[1] > 0 ? 90 : -90) * 16, 180 * 16);
-
-  // Draw vertical tracking arc
-  painter.setPen(QPen(arc_color, arc_t_default + arc_t_extend * std::min(1.0, driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap));
-  painter.drawArc(QRectF(x - arc_l / 2, std::min(y + delta_y, y), arc_l, std::abs(delta_y)), (driver_pose_sins[0] > 0 ? 0 : 180) * 16, 180 * 16);
-
-  painter.restore();
-}
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.h b/selfdrive/ui/qt/onroad/driver_monitoring.h
deleted file mode 100644
index 47db151c81..0000000000
--- a/selfdrive/ui/qt/onroad/driver_monitoring.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#pragma once
-
-#include <vector>
-#include <QPainter>
-#include "selfdrive/ui/ui.h"
-
-class DriverMonitorRenderer {
-public:
-  DriverMonitorRenderer();
-  void updateState(const UIState &s);
-  void draw(QPainter &painter, const QRect &surface_rect);
-
-private:
-  float driver_pose_vals[3] = {};
-  float driver_pose_diff[3] = {};
-  float driver_pose_sins[3] = {};
-  float driver_pose_coss[3] = {};
-  bool is_visible = false;
-  bool is_active = false;
-  bool is_rhd = false;
-  float dm_fade_state = 1.0;
-  QPixmap dm_img;
-  std::vector<vec3> face_kpts_draw;
-};
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
deleted file mode 100644
index 4cfa3d0e3c..0000000000
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ /dev/null
@@ -1,112 +0,0 @@
-#include "selfdrive/ui/qt/onroad/hud.h"
-
-#include <cmath>
-
-#include "selfdrive/ui/qt/util.h"
-
-constexpr int SET_SPEED_NA = 255;
-
-HudRenderer::HudRenderer() {}
-
-void HudRenderer::updateState(const UIState &s) {
-  is_metric = s.scene.is_metric;
-  status = s.status;
-
-  const SubMaster &sm = *(s.sm);
-  if (sm.rcv_frame("carState") < s.scene.started_frame) {
-    is_cruise_set = false;
-    set_speed = SET_SPEED_NA;
-    speed = 0.0;
-    return;
-  }
-
-  const auto &controls_state = sm["controlsState"].getControlsState();
-  const auto &car_state = sm["carState"].getCarState();
-
-  // Handle older routes where vCruiseCluster is not set
-  set_speed = car_state.getVCruiseCluster() == 0.0 ? controls_state.getVCruiseDEPRECATED() : car_state.getVCruiseCluster();
-  is_cruise_set = set_speed > 0 && set_speed != SET_SPEED_NA;
-  is_cruise_available = set_speed != -1;
-
-  if (is_cruise_set && !is_metric) {
-    set_speed *= KM_TO_MILE;
-  }
-
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = std::max<float>(0.0f, v_ego * (is_metric ? MS_TO_KPH : MS_TO_MPH));
-}
-
-void HudRenderer::draw(QPainter &p, const QRect &surface_rect) {
-  p.save();
-
-  // Draw header gradient
-  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
-  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
-  bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
-  p.fillRect(0, 0, surface_rect.width(), UI_HEADER_HEIGHT, bg);
-
-
-  if (is_cruise_available) {
-    drawSetSpeed(p, surface_rect);
-  }
-  drawCurrentSpeed(p, surface_rect);
-
-  p.restore();
-}
-
-void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
-  // Draw outer box + border to contain set speed
-  const QSize default_size = {172, 204};
-  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
-  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-
-  // Draw set speed box
-  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
-  p.setBrush(QColor(0, 0, 0, 166));
-  p.drawRoundedRect(set_speed_rect, 32, 32);
-
-  // Colors based on status
-  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
-  QColor set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
-  if (is_cruise_set) {
-    set_speed_color = QColor(255, 255, 255);
-    if (status == STATUS_DISENGAGED) {
-      max_color = QColor(255, 255, 255);
-    } else if (status == STATUS_OVERRIDE) {
-      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    } else {
-      max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
-    }
-  }
-
-  // Draw "MAX" text
-  p.setFont(InterFont(40, QFont::DemiBold));
-  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
-
-  // Draw set speed
-  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
-  p.setFont(InterFont(90, QFont::Bold));
-  p.setPen(set_speed_color);
-  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
-}
-
-void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) {
-  QString speedStr = QString::number(std::nearbyint(speed));
-
-  p.setFont(InterFont(176, QFont::Bold));
-  drawText(p, surface_rect.center().x(), 210, speedStr);
-
-  p.setFont(InterFont(66));
-  drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
-}
-
-void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h
deleted file mode 100644
index 6638af8a05..0000000000
--- a/selfdrive/ui/qt/onroad/hud.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <QPainter>
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-class HudRenderer : public QObject {
-  Q_OBJECT
-
-public:
-  HudRenderer();
-  virtual ~HudRenderer() = default;
-  virtual void updateState(const UIState &s);
-  virtual void draw(QPainter &p, const QRect &surface_rect);
-
-protected:
-  void drawSetSpeed(QPainter &p, const QRect &surface_rect);
-  void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
-  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
-
-  float speed = 0;
-  float set_speed = 0;
-  bool is_cruise_set = false;
-  bool is_cruise_available = true;
-  bool is_metric = false;
-  bool v_ego_cluster_seen = false;
-  int status = STATUS_DISENGAGED;
-};
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
deleted file mode 100644
index 52902abdc8..0000000000
--- a/selfdrive/ui/qt/onroad/model.cc
+++ /dev/null
@@ -1,250 +0,0 @@
-#include "selfdrive/ui/qt/onroad/model.h"
-
-constexpr int CLIP_MARGIN = 500;
-constexpr float MIN_DRAW_DISTANCE = 10.0;
-constexpr float MAX_DRAW_DISTANCE = 100.0;
-
-static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto &line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
-void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
-  auto *s = uiState();
-  auto &sm = *(s->sm);
-  // Check if data is up-to-date
-  if (sm.rcv_frame("liveCalibration") < s->scene.started_frame ||
-      sm.rcv_frame("modelV2") < s->scene.started_frame) {
-    return;
-  }
-
-  clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
-  experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
-  longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
-  path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
-
-  painter.save();
-
-  const auto &model = sm["modelV2"].getModelV2();
-  const auto &radar_state = sm["radarState"].getRadarState();
-  const auto &lead_one = radar_state.getLeadOne();
-
-  update_model(model, lead_one);
-  drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
-
-  if (longitudinal_control && sm.alive("radarState")) {
-    update_leads(radar_state, model.getPosition());
-    const auto &lead_two = radar_state.getLeadTwo();
-    if (lead_one.getStatus()) {
-      drawLead(painter, lead_one, lead_vertices[0], surface_rect);
-    }
-    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-      drawLead(painter, lead_two, lead_vertices[1], surface_rect);
-    }
-  }
-
-  painter.restore();
-}
-
-void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
-  for (int i = 0; i < 2; ++i) {
-    const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
-    if (lead_data.getStatus()) {
-      float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &lead_vertices[i]);
-    }
-  }
-}
-
-void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
-  const auto &model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
-
-  // update lane lines
-  const auto &lane_lines = model.getLaneLines();
-  const auto &line_probs = model.getLaneLineProbs();
-  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
-  for (int i = 0; i < std::size(lane_line_vertices); i++) {
-    lane_line_probs[i] = line_probs[i];
-    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
-  }
-
-  // update road edges
-  const auto &road_edges = model.getRoadEdges();
-  const auto &edge_stds = model.getRoadEdgeStds();
-  for (int i = 0; i < std::size(road_edge_vertices); i++) {
-    road_edge_stds[i] = edge_stds[i];
-    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
-  }
-
-  // update path
-  if (lead.getStatus()) {
-    const float lead_d = lead.getDRel() * 2.;
-    max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
-  }
-  max_idx = get_path_length_idx(model_position, max_distance);
-  mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
-}
-
-void ModelRenderer::drawLaneLines(QPainter &painter) {
-  // lanelines
-  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(lane_line_vertices[i]);
-  }
-
-  // road edges
-  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(road_edge_vertices[i]);
-  }
-}
-
-void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) {
-  QLinearGradient bg(0, height, 0, 0);
-  if (experimental_mode) {
-    // The first half of track_vertices are the points for the right side of the path
-    const auto &acceleration = model.getAcceleration().getX();
-    const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size());
-
-    for (int i = 0; i < max_len; ++i) {
-      // Some points are out of frame
-      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
-      if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue;
-
-      // Flip so 0 is bottom of frame
-      float lin_grad_point = (height - track_vertices[track_idx].y()) / height;
-
-      // speed up: 120, slow down: 0
-      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-      // FIXME: painter.drawPolygon can be slow if hue is not rounded
-      path_hue = int(path_hue * 100 + 0.5) / 100;
-
-      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);        // lighter when grey
-      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
-      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-
-      // Skip a point, unless next is last
-      i += (i + 2) < max_len ? 1 : 0;
-    }
-
-  } else {
-    updatePathGradient(bg);
-  }
-
-  painter.setBrush(bg);
-  painter.drawPolygon(track_vertices);
-}
-
-void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
-  static const QColor throttle_colors[] = {
-      QColor::fromHslF(148. / 360., 0.94, 0.51, 0.4),
-      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.35),
-      QColor::fromHslF(112. / 360., 1.0, 0.68, 0.0)};
-
-  static const QColor no_throttle_colors[] = {
-      QColor::fromHslF(148. / 360., 0.0, 0.95, 0.4),
-      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.35),
-      QColor::fromHslF(112. / 360., 0.0, 0.95, 0.0),
-  };
-
-  // Transition speed; 0.1 corresponds to 0.5 seconds at UI_FREQ
-  constexpr float transition_speed = 0.1f;
-
-  // Start transition if throttle state changes
-  bool allow_throttle = (*uiState()->sm)["longitudinalPlan"].getLongitudinalPlan().getAllowThrottle() || !longitudinal_control;
-  if (allow_throttle != prev_allow_throttle) {
-    prev_allow_throttle = allow_throttle;
-    // Invert blend factor for a smooth transition when the state changes mid-animation
-    blend_factor = std::max(1.0f - blend_factor, 0.0f);
-  }
-
-  const QColor *begin_colors = allow_throttle ? no_throttle_colors : throttle_colors;
-  const QColor *end_colors = allow_throttle ? throttle_colors : no_throttle_colors;
-  if (blend_factor < 1.0f) {
-    blend_factor = std::min(blend_factor + transition_speed, 1.0f);
-  }
-
-  // Set gradient colors by blending the start and end colors
-  bg.setColorAt(0.0f, blendColors(begin_colors[0], end_colors[0], blend_factor));
-  bg.setColorAt(0.5f, blendColors(begin_colors[1], end_colors[1], blend_factor));
-  bg.setColorAt(1.0f, blendColors(begin_colors[2], end_colors[2], blend_factor));
-}
-
-QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float t) {
-  if (t == 1.0f) return end;
-  return QColor::fromRgbF(
-      (1 - t) * start.redF() + t * end.redF(),
-      (1 - t) * start.greenF() + t * end.greenF(),
-      (1 - t) * start.blueF() + t * end.blueF(),
-      (1 - t) * start.alphaF() + t * end.alphaF());
-}
-
-void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
-                             const QPointF &vd, const QRect &surface_rect) {
-  const float speedBuff = 10.;
-  const float leadBuff = 40.;
-  const float d_rel = lead_data.getDRel();
-  const float v_rel = lead_data.getVRel();
-
-  float fillAlpha = 0;
-  if (d_rel < leadBuff) {
-    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
-    if (v_rel < 0) {
-      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
-    }
-    fillAlpha = (int)(fmin(fillAlpha, 255));
-  }
-
-  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
-  float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2);
-  float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6);
-
-  float g_xo = sz / 5;
-  float g_yo = sz / 10;
-
-  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
-  painter.drawPolygon(glow, std::size(glow));
-
-  // chevron
-  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(QColor(201, 34, 49, fillAlpha));
-  painter.drawPolygon(chevron, std::size(chevron));
-}
-
-// Projects a point in car to space to the corresponding point in full frame image space.
-bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
-  Eigen::Vector3f input(in_x, in_y, in_z);
-  auto pt = car_space_transform * input;
-  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
-  return clip_region.contains(*out);
-}
-
-void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
-                                     QPolygonF *pvd, int max_idx, bool allow_invert) {
-  const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
-  QPointF left, right;
-  pvd->clear();
-  for (int i = 0; i <= max_idx; i++) {
-    // highly negative x positions  are drawn above the frame and cause flickering, clip to zy plane of camera
-    if (line_x[i] < 0) continue;
-
-    bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
-    bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
-    if (l && r) {
-      // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
-      if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
-        continue;
-      }
-      pvd->push_back(left);
-      pvd->push_front(right);
-    }
-  }
-}
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
deleted file mode 100644
index 7e1b43acb4..0000000000
--- a/selfdrive/ui/qt/onroad/model.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <QPainter>
-#include <QPolygonF>
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-class ModelRenderer {
-public:
-  ModelRenderer() {}
-  void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
-  void draw(QPainter &painter, const QRect &surface_rect);
-
-private:
-  bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
-  void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
-                        QPolygonF *pvd, int max_idx, bool allow_invert = true);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
-  void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
-  void drawLaneLines(QPainter &painter);
-  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
-  void updatePathGradient(QLinearGradient &bg);
-  QColor blendColors(const QColor &start, const QColor &end, float t);
-
-  bool longitudinal_control = false;
-  bool experimental_mode = false;
-  float blend_factor = 1.0f;
-  bool prev_allow_throttle = true;
-  float lane_line_probs[4] = {};
-  float road_edge_stds[2] = {};
-  float path_offset_z = 1.22f;
-  QPolygonF track_vertices;
-  QPolygonF lane_line_vertices[4] = {};
-  QPolygonF road_edge_vertices[2] = {};
-  QPointF lead_vertices[2] = {};
-  Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
-  QRectF clip_region;
-};
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
deleted file mode 100644
index 7db9a05a0c..0000000000
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ /dev/null
@@ -1,69 +0,0 @@
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-
-#include <QPainter>
-#include <QStackedLayout>
-
-#include "selfdrive/ui/qt/util.h"
-
-OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout  = new QVBoxLayout(this);
-  main_layout->setMargin(UI_BORDER_SIZE);
-  QStackedLayout *stacked_layout = new QStackedLayout;
-  stacked_layout->setStackingMode(QStackedLayout::StackAll);
-  main_layout->addLayout(stacked_layout);
-
-  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
-
-  QWidget * split_wrapper = new QWidget;
-  split = new QHBoxLayout(split_wrapper);
-  split->setContentsMargins(0, 0, 0, 0);
-  split->setSpacing(0);
-  split->addWidget(nvg);
-
-  if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, this);
-    split->insertWidget(0, arCam);
-  }
-
-  stacked_layout->addWidget(split_wrapper);
-
-  alerts = new OnroadAlerts(this);
-  alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true);
-  stacked_layout->addWidget(alerts);
-
-  // setup stacking order
-  alerts->raise();
-
-  setAttribute(Qt::WA_OpaquePaintEvent);
-
-  // We handle the connection of the signals on the derived class
-#ifndef SUNNYPILOT
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-#endif
-}
-
-void OnroadWindow::updateState(const UIState &s) {
-  if (!s.scene.started) {
-    return;
-  }
-
-  alerts->updateState(s);
-  nvg->updateState(s);
-
-  QColor bgColor = bg_colors[s.status];
-  if (bg != bgColor) {
-    // repaint border
-    bg = bgColor;
-    update();
-  }
-}
-
-void OnroadWindow::offroadTransition(bool offroad) {
-  alerts->clear();
-}
-
-void OnroadWindow::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
-}
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
deleted file mode 100644
index 9b51bb62e4..0000000000
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#include "selfdrive/ui/qt/onroad/alerts.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h"
-#define UIState UIStateSP
-#define AnnotatedCameraWidget AnnotatedCameraWidgetSP
-#else
-#include "selfdrive/ui/qt/onroad/annotated_camera.h"
-#endif
-
-class OnroadWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  OnroadWindow(QWidget* parent = 0);
-
-protected:
-  void paintEvent(QPaintEvent *event);
-  OnroadAlerts *alerts;
-  AnnotatedCameraWidget *nvg;
-  QColor bg = bg_colors[STATUS_DISENGAGED];
-  QHBoxLayout* split;
-
-protected slots:
-  virtual void offroadTransition(bool offroad);
-  virtual void updateState(const UIState &s);
-};
diff --git a/selfdrive/ui/qt/prime_state.cc b/selfdrive/ui/qt/prime_state.cc
deleted file mode 100644
index f12daf1e3c..0000000000
--- a/selfdrive/ui/qt/prime_state.cc
+++ /dev/null
@@ -1,48 +0,0 @@
-#include "selfdrive/ui/qt/prime_state.h"
-
-#include <QJsonDocument>
-
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-PrimeState::PrimeState(QObject* parent) : QObject(parent) {
-  const char *env_prime_type = std::getenv("PRIME_TYPE");
-  auto type = env_prime_type ? env_prime_type : Params().get("PrimeType");
-
-  if (!type.empty()) {
-    prime_type = static_cast<PrimeState::Type>(std::atoi(type.c_str()));
-  }
-
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeState::handleReply);
-  }
-
-  // Emit the initial state change
-  QTimer::singleShot(1, [this]() { emit changed(prime_type); });
-}
-
-void PrimeState::handleReply(const QString& response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting pairing and PrimeState status";
-    return;
-  }
-
-  QJsonObject json = doc.object();
-  bool is_paired = json["is_paired"].toBool();
-  auto type = static_cast<PrimeState::Type>(json["prime_type"].toInt());
-  setType(is_paired ? type : PrimeState::PRIME_TYPE_UNPAIRED);
-}
-
-void PrimeState::setType(PrimeState::Type type) {
-  if (type != prime_type) {
-    prime_type = type;
-    Params().put("PrimeType", std::to_string(prime_type));
-    emit changed(prime_type);
-  }
-}
diff --git a/selfdrive/ui/qt/prime_state.h b/selfdrive/ui/qt/prime_state.h
deleted file mode 100644
index 0e2e3bb043..0000000000
--- a/selfdrive/ui/qt/prime_state.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-#include <QObject>
-
-class PrimeState : public QObject {
-  Q_OBJECT
-
-public:
-
- enum Type {
-   PRIME_TYPE_UNKNOWN = -2,
-   PRIME_TYPE_UNPAIRED = -1,
-   PRIME_TYPE_NONE = 0,
-   PRIME_TYPE_MAGENTA = 1,
-   PRIME_TYPE_LITE = 2,
-   PRIME_TYPE_BLUE = 3,
-   PRIME_TYPE_MAGENTA_NEW = 4,
-   PRIME_TYPE_PURPLE = 5,
- };
-
- PrimeState(QObject *parent);
- void setType(PrimeState::Type type);
- inline PrimeState::Type currentType() const { return prime_type; }
- inline bool isSubscribed() const { return prime_type > PrimeState::PRIME_TYPE_NONE; }
-
-signals:
-  void changed(PrimeState::Type prime_type);
-
-private:
-  void handleReply(const QString &response, bool success);
-
-  PrimeState::Type prime_type = PrimeState::PRIME_TYPE_UNKNOWN;
-};
diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py
deleted file mode 100644
index 88c36290d9..0000000000
--- a/selfdrive/ui/qt/python_helpers.py
+++ /dev/null
@@ -1,20 +0,0 @@
-import os
-from cffi import FFI
-
-import sip
-
-from openpilot.common.ffi_wrapper import suffix
-from openpilot.common.basedir import BASEDIR
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("void set_main_window(void *w);")
-  return ffi, ffi.dlopen(lib)
-
-
-def set_main_window(widget):
-  ffi, lib = get_ffi()
-  lib.set_main_window(ffi.cast('void*', sip.unwrapinstance(widget)))
diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
deleted file mode 100644
index 8d3d7cf72e..0000000000
--- a/selfdrive/ui/qt/qt_window.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "selfdrive/ui/qt/qt_window.h"
-
-void setMainWindow(QWidget *w) {
-  const float scale = util::getenv("SCALE", 1.0f);
-  const QSize sz = QGuiApplication::primaryScreen()->size();
-
-  if (Hardware::PC() && scale == 1.0 && !(sz - DEVICE_SCREEN_SIZE).isValid()) {
-    w->setMinimumSize(QSize(640, 480)); // allow resize smaller than fullscreen
-    w->setMaximumSize(DEVICE_SCREEN_SIZE);
-    w->resize(sz);
-  } else {
-    w->setFixedSize(DEVICE_SCREEN_SIZE * scale);
-  }
-  w->show();
-
-#ifdef QCOM2
-  QPlatformNativeInterface *native = QGuiApplication::platformNativeInterface();
-  wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w->windowHandle()));
-  wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
-  wl_surface_commit(s);
-
-  w->setWindowState(Qt::WindowFullScreen);
-  w->setVisible(true);
-
-  // ensure we have a valid eglDisplay, otherwise the ui will silently fail
-  void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());
-  assert(egl != nullptr);
-#endif
-}
-
-
-extern "C" {
-  void set_main_window(void *w) {
-    setMainWindow((QWidget*)w);
-  }
-}
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
deleted file mode 100644
index 6f16e00957..0000000000
--- a/selfdrive/ui/qt/qt_window.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include <QApplication>
-#include <QScreen>
-#include <QWidget>
-
-#ifdef QCOM2
-#include <qpa/qplatformnativeinterface.h>
-#include <wayland-client-protocol.h>
-#include <QPlatformSurfaceEvent>
-#endif
-
-#include "system/hardware/hw.h"
-
-const QString ASSET_PATH = ":/";
-const QSize DEVICE_SCREEN_SIZE = {2160, 1080};
-
-void setMainWindow(QWidget *w);
diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc
deleted file mode 100644
index 7aa731898c..0000000000
--- a/selfdrive/ui/qt/request_repeater.cc
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "selfdrive/ui/qt/request_repeater.h"
-
-RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, const QString &cacheKey,
-                                 int period, bool while_onroad) : HttpRequest(parent) {
-  timer = new QTimer(this);
-  timer->setTimerType(Qt::VeryCoarseTimer);
-  QObject::connect(timer, &QTimer::timeout, [=]() {
-    if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) {
-      sendRequest(requestURL);
-    }
-  });
-
-  timer->start(period * 1000);
-
-  if (!cacheKey.isEmpty()) {
-    prevResp = QString::fromStdString(params.get(cacheKey.toStdString()));
-    if (!prevResp.isEmpty()) {
-      QTimer::singleShot(500, [=]() { emit requestDone(prevResp, true, QNetworkReply::NoError); });
-    }
-    QObject::connect(this, &HttpRequest::requestDone, [=](const QString &resp, bool success) {
-      if (success && resp != prevResp) {
-        params.put(cacheKey.toStdString(), resp.toStdString());
-        prevResp = resp;
-      }
-    });
-  }
-}
diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h
deleted file mode 100644
index a0e8bde0eb..0000000000
--- a/selfdrive/ui/qt/request_repeater.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/api.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-class RequestRepeater : public HttpRequest {
-public:
-  RequestRepeater(QObject *parent, const QString &requestURL, const QString &cacheKey = "", int period = 0, bool while_onroad=false);
-
-private:
-  Params params;
-  QTimer *timer;
-  QString prevResp;
-};
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
deleted file mode 100644
index 82fd5a7820..0000000000
--- a/selfdrive/ui/qt/setup/reset.cc
+++ /dev/null
@@ -1,141 +0,0 @@
-#include <QApplication>
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPushButton>
-#include <QTimer>
-#include <QVBoxLayout>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/setup/reset.h"
-
-#define NVME "/dev/nvme0n1"
-#define USERDATA "/dev/disk/by-partlabel/userdata"
-
-void Reset::doErase() {
-  // best effort to wipe nvme
-  std::system("sudo umount " NVME);
-  std::system("yes | sudo mkfs.ext4 " NVME);
-
-  int rm = std::system("sudo rm -rf /data/*");
-  std::system("sudo umount " USERDATA);
-  int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA);
-
-  if (rm == 0 || fmt == 0) {
-    std::system("sudo reboot");
-  }
-  body->setText(tr("Reset failed. Reboot to try again."));
-  rebootBtn->show();
-}
-
-void Reset::startReset() {
-  body->setText(tr("Resetting device...\nThis may take up to a minute."));
-  rejectBtn->hide();
-  rebootBtn->hide();
-  confirmBtn->hide();
-#ifdef __aarch64__
-  QTimer::singleShot(100, this, &Reset::doErase);
-#endif
-}
-
-void Reset::confirm() {
-  const QString confirm_txt = tr("Are you sure you want to reset your device?");
-  if (body->text() != confirm_txt) {
-    body->setText(confirm_txt);
-  } else {
-    startReset();
-  }
-}
-
-Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(45, 220, 45, 45);
-  main_layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("System Reset"));
-  title->setStyleSheet("font-size: 90px; font-weight: 600;");
-  main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  main_layout->addSpacing(60);
-
-  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
-  body->setWordWrap(true);
-  body->setStyleSheet("font-size: 80px; font-weight: light;");
-  main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
-
-  QHBoxLayout *blayout = new QHBoxLayout();
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  rejectBtn = new QPushButton(tr("Cancel"));
-  blayout->addWidget(rejectBtn);
-  QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit);
-
-  rebootBtn = new QPushButton(tr("Reboot"));
-  blayout->addWidget(rebootBtn);
-#ifdef __aarch64__
-  QObject::connect(rebootBtn, &QPushButton::clicked, [=]{
-    std::system("sudo reboot");
-  });
-#endif
-
-  confirmBtn = new QPushButton(tr("Confirm"));
-  confirmBtn->setStyleSheet(R"(
-    QPushButton {
-      background-color: #465BEA;
-    }
-    QPushButton:pressed {
-      background-color: #3049F4;
-    }
-  )");
-  blayout->addWidget(confirmBtn);
-  QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);
-
-  bool recover = mode == ResetMode::RECOVER;
-  rejectBtn->setVisible(!recover);
-  rebootBtn->setVisible(recover);
-  if (recover) {
-    body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."));
-  }
-
-  // automatically start if we're just finishing up an ABL reset
-  if (mode == ResetMode::FORMAT) {
-    startReset();
-  }
-
-  setStyleSheet(R"(
-    * {
-      font-family: Inter;
-      color: white;
-      background-color: black;
-    }
-    QLabel {
-      margin-left: 140;
-    }
-    QPushButton {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #333333;
-    }
-    QPushButton:pressed {
-      background-color: #444444;
-    }
-  )");
-}
-
-int main(int argc, char *argv[]) {
-  ResetMode mode = ResetMode::USER_RESET;
-  if (argc > 1) {
-    if (strcmp(argv[1], "--recover") == 0) {
-      mode = ResetMode::RECOVER;
-    } else if (strcmp(argv[1], "--format") == 0) {
-      mode = ResetMode::FORMAT;
-    }
-  }
-
-  QApplication a(argc, argv);
-  Reset reset(mode);
-  setMainWindow(&reset);
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h
deleted file mode 100644
index 2e0784cdc9..0000000000
--- a/selfdrive/ui/qt/setup/reset.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#include <QLabel>
-#include <QPushButton>
-#include <QWidget>
-
-enum ResetMode {
-  USER_RESET, // user initiated a factory reset from openpilot
-  RECOVER,    // userdata is corrupt for some reason, give a chance to recover
-  FORMAT,     // finish up a factory reset from a tool that doesn't flash an empty partition to userdata
-};
-
-class Reset : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Reset(ResetMode mode, QWidget *parent = 0);
-
-private:
-  QLabel *body;
-  QPushButton *rejectBtn;
-  QPushButton *rebootBtn;
-  QPushButton *confirmBtn;
-  void doErase();
-  void startReset();
-
-private slots:
-  void confirm();
-};
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
deleted file mode 100644
index a9d447fc1b..0000000000
--- a/selfdrive/ui/qt/setup/setup.cc
+++ /dev/null
@@ -1,489 +0,0 @@
-#include "selfdrive/ui/qt/setup/setup.h"
-
-#include <cstdio>
-#include <cstdlib>
-#include <sstream>
-#include <string>
-
-#include <QApplication>
-#include <QLabel>
-#include <QVBoxLayout>
-
-#include <curl/curl.h>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/network/networking.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-
-const std::string USER_AGENT = "AGNOSSetup-";
-const QString OPENPILOT_URL = "https://openpilot.comma.ai";
-
-bool is_elf(char *fname) {
-  FILE *fp = fopen(fname, "rb");
-  if (fp == NULL) {
-    return false;
-  }
-  char buf[4];
-  size_t n = fread(buf, 1, 4, fp);
-  fclose(fp);
-  return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
-}
-
-void Setup::download(QString url) {
-  // autocomplete incomplete urls
-  if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) {
-    url.prepend("https://installer.comma.ai/");
-  }
-
-  CURL *curl = curl_easy_init();
-  if (!curl) {
-    emit finished(url, tr("Something went wrong. Reboot the device."));
-    return;
-  }
-
-  auto version = util::read_file("/VERSION");
-
-  struct curl_slist *list = NULL;
-  std::string header = "X-openpilot-serial: " + Hardware::get_serial();
-  list = curl_slist_append(list, header.c_str());
-
-  char tmpfile[] = "/tmp/installer_XXXXXX";
-  FILE *fp = fdopen(mkstemp(tmpfile), "wb");
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp);
-  curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
-  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
-
-  int ret = curl_easy_perform(curl);
-  long res_status = 0;
-  curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
-
-  if (ret != CURLE_OK || res_status != 200) {
-    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
-  } else if (!is_elf(tmpfile)) {
-    emit finished(url, tr("No custom software found at this URL."));
-  } else {
-    rename(tmpfile, "/tmp/installer");
-
-    FILE *fp_url = fopen("/tmp/installer_url", "w");
-    fprintf(fp_url, "%s", url.toStdString().c_str());
-    fclose(fp_url);
-
-    emit finished(url);
-  }
-
-  curl_slist_free_all(list);
-  curl_easy_cleanup(curl);
-  fclose(fp);
-}
-
-QWidget * Setup::low_voltage() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 0, 55, 55);
-  main_layout->setSpacing(0);
-
-  // inner text layout: warning icon, title, and body
-  QVBoxLayout *inner_layout = new QVBoxLayout();
-  inner_layout->setContentsMargins(110, 144, 365, 0);
-  main_layout->addLayout(inner_layout);
-
-  QLabel *triangle = new QLabel();
-  triangle->setPixmap(QPixmap(ASSET_PATH + "offroad/icon_warning.png"));
-  inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
-  inner_layout->addSpacing(80);
-
-  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
-  inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  inner_layout->addSpacing(25);
-
-  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300;");
-  inner_layout->addWidget(body);
-
-  inner_layout->addStretch();
-
-  // power off + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *poweroff = new QPushButton(tr("Power off"));
-  poweroff->setObjectName("navBtn");
-  blayout->addWidget(poweroff);
-  QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
-    Hardware::poweroff();
-  });
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  blayout->addWidget(cont);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::getting_started() {
-  QWidget *widget = new QWidget();
-
-  QHBoxLayout *main_layout = new QHBoxLayout(widget);
-  main_layout->setMargin(0);
-
-  QVBoxLayout *vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(165, 280, 100, 0);
-  main_layout->addLayout(vlayout);
-
-  QLabel *title = new QLabel(tr("Getting Started"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addSpacing(90);
-  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
-  desc->setWordWrap(true);
-  desc->setStyleSheet("font-size: 80px; font-weight: 300;");
-  vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  vlayout->addStretch();
-
-  QPushButton *btn = new QPushButton();
-  btn->setIcon(QIcon(":/img_continue_triangle.svg"));
-  btn->setIconSize(QSize(54, 106));
-  btn->setFixedSize(310, 1080);
-  btn->setProperty("primary", true);
-  btn->setStyleSheet("border: none;");
-  main_layout->addWidget(btn, 0, Qt::AlignRight);
-  QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage);
-
-  return widget;
-}
-
-QWidget * Setup::network_setup() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-
-  // title
-  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(25);
-
-  // wifi widget
-  Networking *networking = new Networking(this, false);
-  networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}");
-  main_layout->addWidget(networking, 1);
-
-  main_layout->addSpacing(35);
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton();
-  cont->setObjectName("navBtn");
-  cont->setProperty("primary", true);
-  cont->setEnabled(false);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
-  blayout->addWidget(cont);
-
-  // setup timer for testing internet connection
-  HttpRequest *request = new HttpRequest(this, false, 2500);
-  QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
-    cont->setEnabled(success);
-    if (success) {
-      const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
-      cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
-    } else {
-      cont->setText(tr("Waiting for internet"));
-    }
-    repaint();
-  });
-  request->sendRequest(OPENPILOT_URL);
-  QTimer *timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, [=]() {
-    if (!request->active() && cont->isVisible()) {
-      request->sendRequest(OPENPILOT_URL);
-    }
-  });
-  timer->start(1000);
-
-  return widget;
-}
-
-QWidget * radio_button(QString title, QButtonGroup *group) {
-  QPushButton *btn = new QPushButton(title);
-  btn->setCheckable(true);
-  group->addButton(btn);
-  btn->setStyleSheet(R"(
-    QPushButton {
-      height: 230;
-      padding-left: 100px;
-      padding-right: 100px;
-      text-align: left;
-      font-size: 80px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-    QPushButton:checked {
-      background-color: #465BEA;
-    }
-  )");
-
-  // checkmark icon
-  QPixmap pix(":/img_circled_check.svg");
-  btn->setIcon(pix);
-  btn->setIconSize(QSize(0, 0));
-  btn->setLayoutDirection(Qt::RightToLeft);
-  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
-    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
-  });
-  return btn;
-}
-
-QWidget * Setup::software_selection() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-  main_layout->setSpacing(0);
-
-  // title
-  QLabel *title = new QLabel(tr("Choose Software to Install"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-
-  main_layout->addSpacing(50);
-
-  // sunnypilot + custom radio buttons
-  QButtonGroup *group = new QButtonGroup(widget);
-  group->setExclusive(true);
-
-  QWidget *openpilot = radio_button(tr("sunnypilot"), group);
-  main_layout->addWidget(openpilot);
-
-  main_layout->addSpacing(30);
-
-  QWidget *custom = radio_button(tr("Custom Software"), group);
-  main_layout->addWidget(custom);
-
-  main_layout->addStretch();
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  cont->setEnabled(false);
-  cont->setProperty("primary", true);
-  blayout->addWidget(cont);
-
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    auto w = currentWidget();
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = OPENPILOT_URL;
-    if (group->checkedButton() != openpilot) {
-      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    }
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(w);
-    }
-  });
-
-  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
-    btn->setChecked(true);
-    cont->setEnabled(true);
-  });
-
-  return widget;
-}
-
-QWidget * Setup::downloading() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel(tr("Downloading..."));
-  txt->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(txt, 0, Qt::AlignCenter);
-  return widget;
-}
-
-QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 185, 55, 55);
-  main_layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Download Failed"));
-  title->setStyleSheet("font-size: 90px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
-
-  main_layout->addSpacing(67);
-
-  url->setWordWrap(true);
-  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
-  main_layout->addWidget(url);
-
-  main_layout->addSpacing(48);
-
-  body->setWordWrap(true);
-  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
-  body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
-  main_layout->addWidget(body);
-
-  main_layout->addStretch();
-
-  // reboot + start over buttons
-  QHBoxLayout *blayout = new QHBoxLayout();
-  blayout->setSpacing(50);
-  main_layout->addLayout(blayout, 0);
-
-  QPushButton *reboot = new QPushButton(tr("Reboot device"));
-  reboot->setObjectName("navBtn");
-  blayout->addWidget(reboot);
-  QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
-    Hardware::reboot();
-  });
-
-  QPushButton *restart = new QPushButton(tr("Start over"));
-  restart->setObjectName("navBtn");
-  restart->setProperty("primary", true);
-  blayout->addWidget(restart);
-  QObject::connect(restart, &QPushButton::clicked, this, [=]() {
-    setCurrentIndex(1);
-  });
-
-  widget->setStyleSheet(R"(
-    QLabel {
-      margin-left: 117;
-    }
-  )");
-  return widget;
-}
-
-void Setup::prevPage() {
-  setCurrentIndex(currentIndex() - 1);
-}
-
-void Setup::nextPage() {
-  setCurrentIndex(currentIndex() + 1);
-}
-
-Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
-  if (std::getenv("MULTILANG")) {
-    selectLanguage();
-  }
-
-  std::stringstream buffer;
-  buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf();
-  float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.;
-  if (voltage < 7) {
-    addWidget(low_voltage());
-  }
-
-  addWidget(getting_started());
-  addWidget(network_setup());
-  addWidget(software_selection());
-
-  downloading_widget = downloading();
-  addWidget(downloading_widget);
-
-  QLabel *url_label = new QLabel();
-  QLabel *body_label = new QLabel();
-  failed_widget = download_failed(url_label, body_label);
-  addWidget(failed_widget);
-
-  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
-    qDebug() << "finished" << url << error;
-    if (error.isEmpty()) {
-      // hide setup on success
-      QTimer::singleShot(3000, this, &QWidget::hide);
-    } else {
-      url_label->setText(url);
-      body_label->setText(error);
-      setCurrentWidget(failed_widget);
-    }
-  });
-
-  // TODO: revisit pressed bg color
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: Inter;
-    }
-    Setup {
-      background-color: black;
-    }
-    QPushButton#navBtn {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled {
-      color: #808080;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:pressed {
-      background-color: #444444;
-    }
-    QPushButton[primary='true'], #navBtn[primary='true'] {
-      background-color: #465BEA;
-    }
-    QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] {
-      background-color: #3049F4;
-    }
-  )");
-}
-
-void Setup::selectLanguage() {
-  QMap<QString, QString> langs = getSupportedLanguages();
-  QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this);
-  if (!selection.isEmpty()) {
-    QString selectedLang = langs[selection];
-    Params().put("LanguageSetting", selectedLang.toStdString());
-    if (translator.load(":/" + selectedLang)) {
-      qApp->installTranslator(&translator);
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  QApplication a(argc, argv);
-  Setup setup;
-  setMainWindow(&setup);
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h
deleted file mode 100644
index ee5cc85483..0000000000
--- a/selfdrive/ui/qt/setup/setup.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QStackedWidget>
-#include <QString>
-#include <QTranslator>
-#include <QWidget>
-
-class Setup : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  explicit Setup(QWidget *parent = 0);
-
-private:
-  void selectLanguage();
-  QWidget *low_voltage();
-  QWidget *getting_started();
-  QWidget *network_setup();
-  QWidget *software_selection();
-  QWidget *downloading();
-  QWidget *download_failed(QLabel *url, QLabel *body);
-
-  QWidget *failed_widget;
-  QWidget *downloading_widget;
-  QTranslator translator;
-
-signals:
-  void finished(const QString &url, const QString &error = "");
-
-public slots:
-  void nextPage();
-  void prevPage();
-  void download(QString url);
-};
diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc
deleted file mode 100644
index ed47590aa3..0000000000
--- a/selfdrive/ui/qt/setup/updater.cc
+++ /dev/null
@@ -1,186 +0,0 @@
-#include <QDebug>
-#include <QTimer>
-#include <QVBoxLayout>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/setup/updater.h"
-#include "selfdrive/ui/qt/network/networking.h"
-
-Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent)
-  : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) {
-
-  assert(updater.size());
-  assert(manifest.size());
-
-  // initial prompt screen
-  prompt = new QWidget;
-  {
-    QVBoxLayout *layout = new QVBoxLayout(prompt);
-    layout->setContentsMargins(100, 250, 100, 100);
-
-    QLabel *title = new QLabel(tr("Update Required"));
-    title->setStyleSheet("font-size: 80px; font-weight: bold;");
-    layout->addWidget(title);
-
-    layout->addSpacing(75);
-
-    QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."));
-    desc->setWordWrap(true);
-    desc->setStyleSheet("font-size: 65px;");
-    layout->addWidget(desc);
-
-    layout->addStretch();
-
-    QHBoxLayout *hlayout = new QHBoxLayout;
-    hlayout->setSpacing(30);
-    layout->addLayout(hlayout);
-
-    QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi"));
-    connect->setObjectName("navBtn");
-    QObject::connect(connect, &QPushButton::clicked, [=]() {
-      setCurrentWidget(wifi);
-    });
-    hlayout->addWidget(connect);
-
-    QPushButton *install = new QPushButton(tr("Install"));
-    install->setObjectName("navBtn");
-    install->setStyleSheet(R"(
-      QPushButton {
-        background-color: #465BEA;
-      }
-      QPushButton:pressed {
-        background-color: #3049F4;
-      }
-    )");
-    QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
-    hlayout->addWidget(install);
-  }
-
-  // wifi connection screen
-  wifi = new QWidget;
-  {
-    QVBoxLayout *layout = new QVBoxLayout(wifi);
-    layout->setContentsMargins(100, 100, 100, 100);
-
-    Networking *networking = new Networking(this, false);
-    networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
-    layout->addWidget(networking, 1);
-
-    QPushButton *back = new QPushButton(tr("Back"));
-    back->setObjectName("navBtn");
-    back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
-    QObject::connect(back, &QPushButton::clicked, [=]() {
-      setCurrentWidget(prompt);
-    });
-    layout->addWidget(back, 0, Qt::AlignLeft);
-  }
-
-  // progress screen
-  progress = new QWidget;
-  {
-    QVBoxLayout *layout = new QVBoxLayout(progress);
-    layout->setContentsMargins(150, 330, 150, 150);
-    layout->setSpacing(0);
-
-    text = new QLabel(tr("Loading..."));
-    text->setStyleSheet("font-size: 90px; font-weight: 600;");
-    layout->addWidget(text, 0, Qt::AlignTop);
-
-    layout->addSpacing(100);
-
-    bar = new QProgressBar();
-    bar->setRange(0, 100);
-    bar->setTextVisible(false);
-    bar->setFixedHeight(72);
-    layout->addWidget(bar, 0, Qt::AlignTop);
-
-    layout->addStretch();
-
-    reboot = new QPushButton(tr("Reboot"));
-    reboot->setObjectName("navBtn");
-    reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;");
-    QObject::connect(reboot, &QPushButton::clicked, [=]() {
-      Hardware::reboot();
-    });
-    layout->addWidget(reboot, 0, Qt::AlignLeft);
-    reboot->hide();
-
-    layout->addStretch();
-  }
-
-  addWidget(prompt);
-  addWidget(wifi);
-  addWidget(progress);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      outline: none;
-      font-family: Inter;
-    }
-    Updater {
-      color: white;
-      background-color: black;
-    }
-    QPushButton#navBtn {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #333333;
-    }
-    QPushButton#navBtn:pressed {
-      background-color: #444444;
-    }
-    QProgressBar {
-      border: none;
-      background-color: #292929;
-    }
-    QProgressBar::chunk {
-      background-color: #364DEF;
-    }
-  )");
-}
-
-void Updater::installUpdate() {
-  setCurrentWidget(progress);
-  QObject::connect(&proc, &QProcess::readyReadStandardOutput, this, &Updater::readProgress);
-  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Updater::updateFinished);
-  proc.setProcessChannelMode(QProcess::ForwardedErrorChannel);
-  proc.start(updater, {"--swap", manifest});
-}
-
-void Updater::readProgress() {
-  auto lines = QString(proc.readAllStandardOutput());
-  for (const QString &line : lines.trimmed().split("\n")) {
-    auto parts = line.split(":");
-    if (parts.size() == 2) {
-      text->setText(parts[0]);
-      bar->setValue((int)parts[1].toDouble());
-    } else {
-      qDebug() << line;
-    }
-  }
-  update();
-}
-
-void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) {
-  qDebug() << "finished with " << exitCode;
-  if (exitCode == 0) {
-    Hardware::reboot();
-  } else {
-    text->setText(tr("Update failed"));
-    reboot->show();
-  }
-}
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Updater updater(argv[1], argv[2]);
-  setMainWindow(&updater);
-  a.installEventFilter(&updater);
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/setup/updater.h b/selfdrive/ui/qt/setup/updater.h
deleted file mode 100644
index ce46c0aabd..0000000000
--- a/selfdrive/ui/qt/setup/updater.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QProcess>
-#include <QPushButton>
-#include <QProgressBar>
-#include <QStackedWidget>
-#include <QWidget>
-
-class Updater : public QStackedWidget {
-  Q_OBJECT
-
-public:
-  explicit Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent = 0);
-
-private slots:
-  void installUpdate();
-  void readProgress();
-  void updateFinished(int exitCode, QProcess::ExitStatus exitStatus);
-
-private:
-  QProcess proc;
-  QString updater, manifest;
-
-  QLabel *text;
-  QProgressBar *bar;
-  QPushButton *reboot;
-  QWidget *prompt, *wifi, *progress;
-};
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
deleted file mode 100644
index fd8ea5bcf5..0000000000
--- a/selfdrive/ui/qt/sidebar.cc
+++ /dev/null
@@ -1,149 +0,0 @@
-#include "selfdrive/ui/qt/sidebar.h"
-
-#include <QMouseEvent>
-
-#include "selfdrive/ui/qt/util.h"
-
-void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y) {
-  const QRect rect = {30, y, 240, 126};
-
-  p.setPen(Qt::NoPen);
-  p.setBrush(QBrush(c));
-  p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
-  p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18);
-  p.setClipping(false);
-
-  QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
-  pen.setWidth(2);
-  p.setPen(pen);
-  p.setBrush(Qt::NoBrush);
-  p.drawRoundedRect(rect, 20, 20);
-
-  p.setPen(QColor(0xff, 0xff, 0xff));
-  p.setFont(InterFont(35, QFont::DemiBold));
-  p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
-}
-
-Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
-  home_img = loadPixmap("../assets/images/button_home.png", home_btn.size());
-  flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
-  settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
-
-  connect(this, &Sidebar::valueChanged, [=] { update(); });
-
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding);
-  setFixedWidth(300);
-
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
-
-  pm = std::make_unique<PubMaster>(std::vector<const char*>{"userFlag"});
-}
-
-void Sidebar::mousePressEvent(QMouseEvent *event) {
-  if (onroad && home_btn.contains(event->pos())) {
-    flag_pressed = true;
-    update();
-  } else if (settings_btn.contains(event->pos())) {
-    settings_pressed = true;
-    update();
-  }
-}
-
-void Sidebar::mouseReleaseEvent(QMouseEvent *event) {
-  if (flag_pressed || settings_pressed) {
-    flag_pressed = settings_pressed = false;
-    update();
-  }
-  if (onroad && home_btn.contains(event->pos())) {
-    MessageBuilder msg;
-    msg.initEvent().initUserFlag();
-    pm->send("userFlag", msg);
-  } else if (settings_btn.contains(event->pos())) {
-    emit openSettings();
-  }
-}
-
-void Sidebar::offroadTransition(bool offroad) {
-  onroad = !offroad;
-  update();
-}
-
-void Sidebar::updateState(const UIState &s) {
-  if (!isVisible()) return;
-
-  auto &sm = *(s.sm);
-
-  networking = networking ? networking : window()->findChild<Networking *>("");
-  bool tethering_on = networking && networking->wifi->tethering_on;
-  auto deviceState = sm["deviceState"].getDeviceState();
-  setProperty("netType", tethering_on ? "Hotspot": network_type[deviceState.getNetworkType()]);
-  int strength = tethering_on ? 4 : (int)deviceState.getNetworkStrength();
-  setProperty("netStrength", strength > 0 ? strength + 1 : 0);
-
-  ItemStatus connectStatus;
-  auto last_ping = deviceState.getLastAthenaPingTime();
-  if (last_ping == 0) {
-    connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
-  } else {
-    connectStatus = nanos_since_boot() - last_ping < 80e9
-                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color}
-                        : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
-  }
-  setProperty("connectStatus", QVariant::fromValue(connectStatus));
-
-  ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
-  auto ts = deviceState.getThermalStatus();
-  if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
-  } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
-    tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
-  }
-  setProperty("tempStatus", QVariant::fromValue(tempStatus));
-
-  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
-  if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
-    pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
-  }
-  setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
-}
-
-void Sidebar::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawSidebar(p);
-}
-
-void Sidebar::drawSidebar(QPainter &p) {
-  p.setPen(Qt::NoPen);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  p.fillRect(rect(), QColor(57, 57, 57));
-
-  // buttons
-  p.setOpacity(settings_pressed ? 0.65 : 1.0);
-  p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img);
-  p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0);
-  p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img);
-  p.setOpacity(1.0);
-
-  // network
-  int x = 58;
-  const QColor gray(0x54, 0x54, 0x54);
-  for (int i = 0; i < 5; ++i) {
-    p.setBrush(i < net_strength ? Qt::white : gray);
-    p.drawEllipse(x, 196, 27, 27);
-    x += 37;
-  }
-
-  p.setFont(InterFont(35));
-  p.setPen(QColor(0xff, 0xff, 0xff));
-  const QRect r = QRect(58, 247, width() - 100, 50);
-  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
-
-#ifndef SUNNYPILOT
-  // metrics
-  drawMetric(p, temp_status.first, temp_status.second, 338);
-  drawMetric(p, panda_status.first, panda_status.second, 496);
-  drawMetric(p, connect_status.first, connect_status.second, 654);
-#endif
-}
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
deleted file mode 100644
index 3c57d10a1a..0000000000
--- a/selfdrive/ui/qt/sidebar.h
+++ /dev/null
@@ -1,70 +0,0 @@
-#pragma once
-
-#include <memory>
-
-#include <QFrame>
-#include <QMap>
-
-#include "selfdrive/ui/qt/network/networking.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
-Q_DECLARE_METATYPE(ItemStatus);
-
-class Sidebar : public QFrame {
-  Q_OBJECT
-  Q_PROPERTY(ItemStatus connectStatus MEMBER connect_status NOTIFY valueChanged);
-  Q_PROPERTY(ItemStatus pandaStatus MEMBER panda_status NOTIFY valueChanged);
-  Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged);
-  Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged);
-  Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
-
-public:
-  explicit Sidebar(QWidget* parent = 0);
-
-signals:
-  void openSettings(int index = 0, const QString &param = "");
-  void valueChanged();
-
-public slots:
-  void offroadTransition(bool offroad);
-  void updateState(const UIState &s);
-
-protected:
-  void paintEvent(QPaintEvent *event) override;
-  void mousePressEvent(QMouseEvent *event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override;
-  void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
-  virtual void drawSidebar(QPainter &p);
-
-  QPixmap home_img, flag_img, settings_img;
-  bool onroad, flag_pressed, settings_pressed;
-  const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
-    {cereal::DeviceState::NetworkType::NONE, tr("--")},
-    {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
-    {cereal::DeviceState::NetworkType::ETHERNET, tr("ETH")},
-    {cereal::DeviceState::NetworkType::CELL2_G, tr("2G")},
-    {cereal::DeviceState::NetworkType::CELL3_G, tr("3G")},
-    {cereal::DeviceState::NetworkType::CELL4_G, tr("LTE")},
-    {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")}
-  };
-
-  const QRect home_btn = QRect(60, 860, 180, 180);
-  const QRect settings_btn = QRect(50, 35, 200, 117);
-  const QColor good_color = QColor(255, 255, 255);
-  const QColor warning_color = QColor(218, 202, 37);
-  const QColor danger_color = QColor(201, 34, 49);
-
-  ItemStatus connect_status, panda_status, temp_status;
-  QString net_type;
-  int net_strength = 0;
-
-private:
-  std::unique_ptr<PubMaster> pm;
-  Networking *networking = nullptr;
-};
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
deleted file mode 100644
index dedc59f0e4..0000000000
--- a/selfdrive/ui/qt/util.cc
+++ /dev/null
@@ -1,223 +0,0 @@
-#include "selfdrive/ui/qt/util.h"
-
-#include <map>
-#include <string>
-#include <vector>
-
-#include <QApplication>
-#include <QDir>
-#include <QFile>
-#include <QFileInfo>
-#include <QHash>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QLayoutItem>
-#include <QStyleOption>
-#include <QPainterPath>
-#include <QTextStream>
-#include <QtXml/QDomDocument>
-
-#include "common/swaglog.h"
-#include "system/hardware/hw.h"
-
-QString getVersion() {
-  static QString version =  QString::fromStdString(Params().get("Version"));
-  return version;
-}
-
-QString getBrand() {
-  return QObject::tr("sunnypilot");
-}
-
-QString getUserAgent() {
-  return "openpilot-" + getVersion();
-}
-
-std::optional<QString> getDongleId() {
-  std::string id = Params().get("DongleId");
-
-  if (!id.empty() && (id != "UnregisteredDevice")) {
-    return QString::fromStdString(id);
-  } else {
-    return {};
-  }
-}
-
-QMap<QString, QString> getSupportedLanguages() {
-  QFile f(":/languages.json");
-  f.open(QIODevice::ReadOnly | QIODevice::Text);
-  QString val = f.readAll();
-
-  QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object();
-  QMap<QString, QString> map;
-  for (auto key : obj.keys()) {
-    map[key] = obj[key].toString();
-  }
-  return map;
-}
-
-QString timeAgo(const QDateTime &date) {
-  int diff = date.secsTo(QDateTime::currentDateTimeUtc());
-
-  QString s;
-  if (diff < 60) {
-    s = QObject::tr("now");
-  } else if (diff < 60 * 60) {
-    int minutes = diff / 60;
-    s = QObject::tr("%n minute(s) ago", "", minutes);
-  } else if (diff < 60 * 60 * 24) {
-    int hours = diff / (60 * 60);
-    s = QObject::tr("%n hour(s) ago", "", hours);
-  } else if (diff < 3600 * 24 * 7) {
-    int days = diff / (60 * 60 * 24);
-    s = QObject::tr("%n day(s) ago", "", days);
-  } else {
-    s = date.date().toString();
-  }
-
-  return s;
-}
-
-void setQtSurfaceFormat() {
-  QSurfaceFormat fmt;
-#ifdef __APPLE__
-  fmt.setVersion(3, 2);
-  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
-  fmt.setRenderableType(QSurfaceFormat::OpenGL);
-#else
-  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
-#endif
-  fmt.setSamples(16);
-  fmt.setStencilBufferSize(1);
-  QSurfaceFormat::setDefaultFormat(fmt);
-}
-
-void sigTermHandler(int s) {
-  std::signal(s, SIG_DFL);
-  qApp->quit();
-}
-
-void initApp(int argc, char *argv[], bool disable_hidpi) {
-  Hardware::set_display_power(true);
-  Hardware::set_brightness(65);
-
-  // setup signal handlers to exit gracefully
-  std::signal(SIGINT, sigTermHandler);
-  std::signal(SIGTERM, sigTermHandler);
-
-  QString app_dir;
-#ifdef __APPLE__
-  // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
-  QApplication tmp(argc, argv);
-  app_dir = QCoreApplication::applicationDirPath();
-  if (disable_hidpi) {
-    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
-  }
-#else
-  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
-#endif
-
-  qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
-  // ensure the current dir matches the exectuable's directory
-  QDir::setCurrent(app_dir);
-
-  setQtSurfaceFormat();
-}
-
-void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
-  static std::map<QtMsgType, int> levels = {
-    {QtMsgType::QtDebugMsg, CLOUDLOG_DEBUG},
-    {QtMsgType::QtInfoMsg, CLOUDLOG_INFO},
-    {QtMsgType::QtWarningMsg, CLOUDLOG_WARNING},
-    {QtMsgType::QtCriticalMsg, CLOUDLOG_ERROR},
-    {QtMsgType::QtSystemMsg, CLOUDLOG_ERROR},
-    {QtMsgType::QtFatalMsg, CLOUDLOG_CRITICAL},
-  };
-
-  std::string file, function;
-  if (context.file != nullptr) file = context.file;
-  if (context.function != nullptr) function = context.function;
-
-  auto bts = msg.toUtf8();
-  cloudlog_e(levels[type], file.c_str(), context.line, function.c_str(), "%s", bts.constData());
-}
-
-
-QWidget* topWidget(QWidget* widget) {
-  while (widget->parentWidget() != nullptr) widget=widget->parentWidget();
-  return widget;
-}
-
-QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMode aspectRatioMode) {
-  if (size.isEmpty()) {
-    return QPixmap(fileName);
-  } else {
-    return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation);
-  }
-}
-
-static QHash<QString, QByteArray> load_bootstrap_icons() {
-  QHash<QString, QByteArray> icons;
-
-  QFile f(":/bootstrap-icons.svg");
-  if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
-    QDomDocument xml;
-    xml.setContent(&f);
-    QDomNode n = xml.documentElement().firstChild();
-    while (!n.isNull()) {
-      QDomElement e = n.toElement();
-      if (!e.isNull() && e.hasAttribute("id")) {
-        QString svg_str;
-        QTextStream stream(&svg_str);
-        n.save(stream, 0);
-        svg_str.replace("<symbol", "<svg");
-        svg_str.replace("</symbol>", "</svg>");
-        icons[e.attribute("id")] = svg_str.toUtf8();
-      }
-      n = n.nextSibling();
-    }
-  }
-  return icons;
-}
-
-QPixmap bootstrapPixmap(const QString &id) {
-  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
-
-  QPixmap pixmap;
-  if (auto it = icons.find(id); it != icons.end()) {
-    pixmap.loadFromData(it.value(), "svg");
-  }
-  return pixmap;
-}
-
-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.getAlphaLongitudinalAvailable()
-             ? Params().getBool("AlphaLongitudinalEnabled")
-             : car_params.getOpenpilotLongitudinalControl();
-}
-
-// ParamWatcher
-
-ParamWatcher::ParamWatcher(QObject *parent) : QObject(parent) {
-  watcher = new QFileSystemWatcher(this);
-  QObject::connect(watcher, &QFileSystemWatcher::fileChanged, this, &ParamWatcher::fileChanged);
-}
-
-void ParamWatcher::fileChanged(const QString &path) {
-  auto param_name = QFileInfo(path).fileName();
-  auto param_value = QString::fromStdString(params.get(param_name.toStdString()));
-
-  auto it = params_hash.find(param_name);
-  bool content_changed = (it == params_hash.end()) || (it.value() != param_value);
-  params_hash[param_name] = param_value;
-  // emit signal when the content changes.
-  if (content_changed) {
-    emit paramChanged(param_name, param_value);
-  }
-}
-
-void ParamWatcher::addParam(const QString &param_name) {
-  watcher->addPath(QString::fromStdString(params.getParamPath(param_name.toStdString())));
-}
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
deleted file mode 100644
index 2bf1a70a62..0000000000
--- a/selfdrive/ui/qt/util.h
+++ /dev/null
@@ -1,54 +0,0 @@
-#pragma once
-
-#include <optional>
-#include <vector>
-
-#include <QDateTime>
-#include <QFileSystemWatcher>
-#include <QPainter>
-#include <QPixmap>
-#include <QSurfaceFormat>
-#include <QWidget>
-
-#include "cereal/gen/cpp/car.capnp.h"
-#include "common/params.h"
-
-QString getVersion();
-QString getBrand();
-QString getUserAgent();
-std::optional<QString> getDongleId();
-QMap<QString, QString> getSupportedLanguages();
-void setQtSurfaceFormat();
-void sigTermHandler(int s);
-QString timeAgo(const QDateTime &date);
-void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
-void initApp(int argc, char *argv[], bool disable_hidpi = true);
-QWidget* topWidget(QWidget* widget);
-QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
-QPixmap bootstrapPixmap(const QString &id);
-bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
-
-struct InterFont : public QFont {
-  InterFont(int pixel_size, QFont::Weight weight = QFont::Normal) : QFont("Inter") {
-    setPixelSize(pixel_size);
-    setWeight(weight);
-  }
-};
-
-class ParamWatcher : public QObject {
-  Q_OBJECT
-
-public:
-  ParamWatcher(QObject *parent);
-  void addParam(const QString &param_name);
-
-signals:
-  void paramChanged(const QString &param_name, const QString &param_value);
-
-private:
-  void fileChanged(const QString &path);
-
-  QFileSystemWatcher *watcher;
-  QHash<QString, QString> params_hash;
-  Params params;
-};
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
deleted file mode 100644
index df6e6932c7..0000000000
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ /dev/null
@@ -1,145 +0,0 @@
-#include "selfdrive/ui/qt/widgets/controls.h"
-
-#include <QPainter>
-#include <QStyleOption>
-
-#include "selfdrive/ui/qt/util.h"
-
-AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
-#ifndef SUNNYPILOT
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(0);
-
-  hlayout = new QHBoxLayout;
-  hlayout->setMargin(0);
-  hlayout->setSpacing(20);
-
-  // left icon
-  icon_label = new QLabel(this);
-  hlayout->addWidget(icon_label);
-  if (!icon.isEmpty()) {
-    icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
-    icon_label->setPixmap(icon_pixmap);
-    icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-  }
-  icon_label->setVisible(!icon.isEmpty());
-
-  // title
-  title_label = new QPushButton(title);
-  title_label->setFixedHeight(120);
-  title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; border: none;");
-  hlayout->addWidget(title_label, 1);
-
-  // value next to control button
-  value = new ElidedLabel();
-  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-  value->setStyleSheet("color: #aaaaaa");
-  hlayout->addWidget(value);
-
-  main_layout->addLayout(hlayout);
-
-  // description
-  description = new QLabel(desc);
-  description->setContentsMargins(40, 20, 40, 20);
-  description->setStyleSheet("font-size: 40px; color: grey");
-  description->setWordWrap(true);
-  description->setVisible(false);
-  main_layout->addWidget(description);
-
-  connect(title_label, &QPushButton::clicked, [=]() {
-    if (!description->isVisible()) {
-      emit showDescriptionEvent();
-    }
-
-    if (!description->text().isEmpty()) {
-      description->setVisible(!description->isVisible());
-    }
-  });
-
-  main_layout->addStretch();
-#endif
-}
-
-void AbstractControl::hideEvent(QHideEvent *e) {
-  if (description != nullptr) {
-    description->hide();
-  }
-}
-
-// controls
-
-ButtonControl::ButtonControl(const QString &title, const QString &text, const QString &desc, QWidget *parent) : AbstractControl(title, desc, "", parent) {
-  btn.setText(text);
-  btn.setStyleSheet(R"(
-    QPushButton {
-      padding: 0;
-      border-radius: 50px;
-      font-size: 35px;
-      font-weight: 500;
-      color: #E4E4E4;
-      background-color: #393939;
-    }
-    QPushButton:pressed {
-      background-color: #4a4a4a;
-    }
-    QPushButton:disabled {
-      color: #33E4E4E4;
-    }
-  )");
-  btn.setFixedSize(250, 100);
-  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControl::clicked);
-  hlayout->addWidget(&btn);
-}
-
-// ElidedLabel
-
-ElidedLabel::ElidedLabel(QWidget *parent) : ElidedLabel({}, parent) {}
-
-ElidedLabel::ElidedLabel(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-  setMinimumWidth(1);
-}
-
-void ElidedLabel::resizeEvent(QResizeEvent* event) {
-  QLabel::resizeEvent(event);
-  lastText_ = elidedText_ = "";
-}
-
-void ElidedLabel::paintEvent(QPaintEvent *event) {
-  const QString curText = text();
-  if (curText != lastText_) {
-    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
-    lastText_ = curText;
-  }
-
-  QPainter painter(this);
-  drawFrame(&painter);
-  QStyleOption opt;
-  opt.initFrom(this);
-  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
-}
-
-// ParamControl
-
-ParamControl::ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ToggleControl(title, desc, icon, false, parent) {
-  key = param.toStdString();
-  QObject::connect(this, &ParamControl::toggleFlipped, this, &ParamControl::toggleClicked);
-}
-
-void ParamControl::toggleClicked(bool state) {
-  auto do_confirm = [this]() {
-    QString content("<body><h2 style=\"text-align: center;\">" + title_label->text() + "</h2><br>"
-                    "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + getDescription() + "</p></body>");
-    return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec();
-  };
-
-  bool confirmed = store_confirm && params.getBool(key + "Confirmed");
-  if (!confirm || confirmed || !state || do_confirm()) {
-    if (store_confirm && state) params.putBool(key + "Confirmed", true);
-    params.putBool(key, state);
-    setIcon(state);
-  } else {
-    toggle.togglePosition();
-  }
-}
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
deleted file mode 100644
index 9562c4ad22..0000000000
--- a/selfdrive/ui/qt/widgets/controls.h
+++ /dev/null
@@ -1,296 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include <QButtonGroup>
-#include <QFrame>
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPainter>
-#include <QPushButton>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/qt/widgets/toggle.h"
-
-class ElidedLabel : public QLabel {
-  Q_OBJECT
-
-public:
-  explicit ElidedLabel(QWidget *parent = 0);
-  explicit ElidedLabel(const QString &text, QWidget *parent = 0);
-
-signals:
-  void clicked();
-
-protected:
-  void paintEvent(QPaintEvent *event) override;
-  void resizeEvent(QResizeEvent* event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (rect().contains(event->pos())) {
-      emit clicked();
-    }
-  }
-  QString lastText_, elidedText_;
-};
-
-
-class AbstractControl : public QFrame {
-  Q_OBJECT
-
-public:
-  virtual void setDescription(const QString &desc) {
-    if (description) description->setText(desc);
-  }
-
-  void setTitle(const QString &title) {
-    title_label->setText(title);
-  }
-
-  void setValue(const QString &val) {
-    value->setText(val);
-  }
-
-  virtual const QString getDescription() {
-    return description->text();
-  }
-
-  QLabel *icon_label;
-  QPixmap icon_pixmap;
-
-public slots:
-  virtual void showDescription() {
-    description->setVisible(true);
-  }
-
-signals:
-  void showDescriptionEvent();
-
-protected:
-  AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
-  void hideEvent(QHideEvent *e) override;
-
-  QHBoxLayout *hlayout;
-  QPushButton *title_label;
-
-private:
-  ElidedLabel *value;
-  QLabel *description = nullptr;
-};
-
-// widget to display a value
-class LabelControl : public AbstractControl {
-  Q_OBJECT
-
-public:
-  LabelControl(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControl(title, desc, "", parent) {
-    label.setText(text);
-    label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-    hlayout->addWidget(&label);
-  }
-  void setText(const QString &text) { label.setText(text); }
-
-private:
-  ElidedLabel label;
-};
-
-// widget for a button with a label
-class ButtonControl : public AbstractControl {
-  Q_OBJECT
-
-public:
-  ButtonControl(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
-  inline void setText(const QString &text) { btn.setText(text); }
-  inline QString text() const { return btn.text(); }
-
-signals:
-  void clicked();
-
-public slots:
-  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
-
-private:
-  QPushButton btn;
-};
-
-class ToggleControl : public AbstractControl {
-  Q_OBJECT
-
-public:
-  ToggleControl(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControl(title, desc, icon, parent) {
-    toggle.setFixedSize(150, 100);
-    if (state) {
-      toggle.togglePosition();
-    }
-    hlayout->addWidget(&toggle);
-    QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped);
-  }
-
-  void setEnabled(bool enabled) {
-    toggle.setEnabled(enabled);
-    toggle.update();
-  }
-
-signals:
-  void toggleFlipped(bool state);
-
-protected:
-  Toggle toggle;
-};
-
-// widget to toggle params
-class ParamControl : public ToggleControl {
-  Q_OBJECT
-
-public:
-  ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
-  void setConfirmation(bool _confirm, bool _store_confirm) {
-    confirm = _confirm;
-    store_confirm = _store_confirm;
-  }
-
-  void setActiveIcon(const QString &icon) {
-    active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
-  }
-
-  void refresh() {
-    bool state = params.getBool(key);
-    if (state != toggle.on) {
-      toggle.togglePosition();
-      setIcon(state);
-    }
-  }
-
-  void showEvent(QShowEvent *event) override {
-    refresh();
-  }
-
-private:
-  void toggleClicked(bool state);
-  void setIcon(bool state) {
-    if (state && !active_icon_pixmap.isNull()) {
-      icon_label->setPixmap(active_icon_pixmap);
-    } else if (!icon_pixmap.isNull()) {
-      icon_label->setPixmap(icon_pixmap);
-    }
-  }
-
-  std::string key;
-  Params params;
-  QPixmap active_icon_pixmap;
-  bool confirm = false;
-  bool store_confirm = false;
-};
-
-class ButtonParamControl : public AbstractControl {
-  Q_OBJECT
-public:
-  ButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                     const std::vector<QString> &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) {
-    const QString style = R"(
-      QPushButton {
-        border-radius: 50px;
-        font-size: 40px;
-        font-weight: 500;
-        height:100px;
-        padding: 0 25 0 25;
-        color: #E4E4E4;
-        background-color: #393939;
-      }
-      QPushButton:pressed {
-        background-color: #4a4a4a;
-      }
-      QPushButton:checked:enabled {
-        background-color: #33Ab4C;
-      }
-      QPushButton:disabled {
-        color: #33E4E4E4;
-      }
-    )";
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
-
-    button_group = new QButtonGroup(this);
-    button_group->setExclusive(true);
-    for (int i = 0; i < button_texts.size(); i++) {
-      QPushButton *button = new QPushButton(button_texts[i], this);
-      button->setCheckable(true);
-      button->setChecked(i == value);
-      button->setStyleSheet(style);
-      button->setMinimumWidth(minimum_button_width);
-      hlayout->addWidget(button);
-      button_group->addButton(button, i);
-    }
-
-    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
-      params.put(key, std::to_string(id));
-    });
-  }
-
-  void setEnabled(bool enable) {
-    for (auto btn : button_group->buttons()) {
-      btn->setEnabled(enable);
-    }
-  }
-
-  void setCheckedButton(int id) {
-    button_group->button(id)->setChecked(true);
-  }
-
-  void refresh() {
-    int value = atoi(params.get(key).c_str());
-    button_group->button(value)->setChecked(true);
-  }
-
-  void showEvent(QShowEvent *event) override {
-    refresh();
-  }
-
-private:
-  std::string key;
-  Params params;
-  QButtonGroup *button_group;
-};
-
-class ListWidget : public QWidget {
-  Q_OBJECT
- public:
-  explicit ListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) {
-    outer_layout.setMargin(0);
-    outer_layout.setSpacing(0);
-    outer_layout.addLayout(&inner_layout);
-    inner_layout.setMargin(0);
-    inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch(1);
-  }
-  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
-  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
-  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
-
-private:
-  void paintEvent(QPaintEvent *) override {
-    QPainter p(this);
-    p.setPen(Qt::gray);
-    for (int i = 0; i < inner_layout.count() - 1; ++i) {
-      QWidget *widget = inner_layout.itemAt(i)->widget();
-      if (widget == nullptr || widget->isVisible()) {
-        QRect r = inner_layout.itemAt(i)->geometry();
-        int bottom = r.bottom() + inner_layout.spacing() / 2;
-        p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom);
-      }
-    }
-  }
-  QVBoxLayout outer_layout;
-  QVBoxLayout inner_layout;
-};
-
-// convenience class for wrapping layouts
-class LayoutWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
-    setLayout(l);
-  }
-};
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
deleted file mode 100644
index b0b6b4c23b..0000000000
--- a/selfdrive/ui/qt/widgets/input.cc
+++ /dev/null
@@ -1,336 +0,0 @@
-#include "selfdrive/ui/qt/widgets/input.h"
-
-#include <QPushButton>
-#include <QButtonGroup>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-
-DialogBase::DialogBase(QWidget *parent) : QDialog(parent) {
-  Q_ASSERT(parent != nullptr);
-  parent->installEventFilter(this);
-
-  setStyleSheet(R"(
-    * {
-      outline: none;
-      color: white;
-      font-family: Inter;
-    }
-    DialogBase {
-      background-color: black;
-    }
-    QPushButton {
-      height: 160;
-      font-size: 55px;
-      font-weight: 400;
-      border-radius: 10px;
-      color: white;
-      background-color: #333333;
-    }
-    QPushButton:pressed {
-      background-color: #444444;
-    }
-  )");
-}
-
-bool DialogBase::eventFilter(QObject *o, QEvent *e) {
-  if (o == parent() && e->type() == QEvent::Hide) {
-    reject();
-  }
-  return QDialog::eventFilter(o, e);
-}
-
-int DialogBase::exec() {
-  setMainWindow(this);
-  return QDialog::exec();
-}
-
-InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : DialogBase(parent) {
-  main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 55, 50, 50);
-  main_layout->setSpacing(0);
-
-  // build header
-  QHBoxLayout *header_layout = new QHBoxLayout();
-
-  QVBoxLayout *vlayout = new QVBoxLayout;
-  header_layout->addLayout(vlayout);
-  label = new QLabel(title, this);
-  label->setStyleSheet("font-size: 90px; font-weight: bold;");
-  vlayout->addWidget(label, 1, Qt::AlignTop | Qt::AlignLeft);
-
-  if (!subtitle.isEmpty()) {
-    sublabel = new QLabel(subtitle, this);
-    sublabel->setStyleSheet("font-size: 55px; font-weight: light; color: #BDBDBD;");
-    vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft);
-  }
-
-  QPushButton* cancel_btn = new QPushButton(tr("Cancel"));
-  cancel_btn->setFixedSize(386, 125);
-  cancel_btn->setStyleSheet(R"(
-    QPushButton {
-      font-size: 48px;
-      border-radius: 10px;
-      color: #E4E4E4;
-      background-color: #333333;
-    }
-    QPushButton:pressed {
-      background-color: #444444;
-    }
-  )");
-  header_layout->addWidget(cancel_btn, 0, Qt::AlignRight);
-  QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject);
-  QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::cancel);
-
-  main_layout->addLayout(header_layout);
-
-  // text box
-  main_layout->addStretch(2);
-
-  QWidget *textbox_widget = new QWidget;
-  textbox_widget->setObjectName("textbox");
-  QHBoxLayout *textbox_layout = new QHBoxLayout(textbox_widget);
-  textbox_layout->setContentsMargins(50, 0, 50, 0);
-
-  textbox_widget->setStyleSheet(R"(
-    #textbox {
-      margin-left: 50px;
-      margin-right: 50px;
-      border-radius: 0;
-      border-bottom: 3px solid #BDBDBD;
-    }
-    * {
-      border: none;
-      font-size: 80px;
-      font-weight: light;
-      background-color: transparent;
-    }
-  )");
-
-  line = new QLineEdit();
-  line->setStyleSheet("lineedit-password-character: 8226; lineedit-password-mask-delay: 1500;");
-  textbox_layout->addWidget(line, 1);
-
-  if (secret) {
-    eye_btn = new QPushButton();
-    eye_btn->setCheckable(true);
-    eye_btn->setFixedSize(150, 120);
-    QObject::connect(eye_btn, &QPushButton::toggled, [=](bool checked) {
-      if (checked) {
-        eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_closed.svg"));
-        eye_btn->setIconSize(QSize(81, 54));
-        line->setEchoMode(QLineEdit::Password);
-      } else {
-        eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_open.svg"));
-        eye_btn->setIconSize(QSize(81, 44));
-        line->setEchoMode(QLineEdit::Normal);
-      }
-    });
-    eye_btn->toggle();
-    eye_btn->setChecked(false);
-    textbox_layout->addWidget(eye_btn);
-  }
-
-  main_layout->addWidget(textbox_widget, 0, Qt::AlignBottom);
-  main_layout->addSpacing(25);
-
-  k = new Keyboard(this);
-  QObject::connect(k, &Keyboard::emitEnter, this, &InputDialog::handleEnter);
-  QObject::connect(k, &Keyboard::emitBackspace, this, [=]() {
-    line->backspace();
-  });
-  QObject::connect(k, &Keyboard::emitKey, this, [=](const QString &key) {
-    line->insert(key.left(1));
-  });
-
-  main_layout->addWidget(k, 2, Qt::AlignBottom);
-}
-
-QString InputDialog::getText(const QString &prompt, QWidget *parent, const QString &subtitle,
-                             bool secret, int minLength, const QString &defaultText) {
-  InputDialog d(prompt, parent, subtitle, secret);
-  d.line->setText(defaultText);
-  d.setMinLength(minLength);
-  const int ret = d.exec();
-  return ret ? d.text() : QString();
-}
-
-QString InputDialog::text() {
-  return line->text();
-}
-
-void InputDialog::show() {
-  setMainWindow(this);
-}
-
-void InputDialog::handleEnter() {
-  if (line->text().length() >= minLength) {
-    done(QDialog::Accepted);
-    emitText(line->text());
-  } else {
-    setMessage(tr("Need at least %n character(s)!", "", minLength), false);
-  }
-}
-
-void InputDialog::setMessage(const QString &message, bool clearInputField) {
-  label->setText(message);
-  if (clearInputField) {
-    line->setText("");
-  }
-}
-
-void InputDialog::setMinLength(int length) {
-  minLength = length;
-}
-
-// ConfirmationDialog
-
-ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text,
-                                       const bool rich, QWidget *parent) : DialogBase(parent) {
-  QFrame *container = new QFrame(this);
-  container->setStyleSheet(R"(
-    QFrame { background-color: #1B1B1B; color: #C9C9C9; }
-    #confirm_btn { background-color: #465BEA; }
-    #confirm_btn:pressed { background-color: #3049F4; }
-  )");
-  QVBoxLayout *main_layout = new QVBoxLayout(container);
-  main_layout->setContentsMargins(32, rich ? 32 : 120, 32, 32);
-
-  QLabel *prompt = new QLabel(prompt_text, this);
-  prompt->setWordWrap(true);
-  prompt->setAlignment(rich ? Qt::AlignLeft : Qt::AlignHCenter);
-  prompt->setStyleSheet((rich ? "font-size: 42px; font-weight: light;" : "font-size: 70px; font-weight: bold;") + QString(" margin: 45px;"));
-  main_layout->addWidget(rich ? (QWidget*)new ScrollView(prompt, this) : (QWidget*)prompt, 1, Qt::AlignTop);
-
-  // cancel + confirm buttons
-  QHBoxLayout *btn_layout = new QHBoxLayout();
-  btn_layout->setSpacing(30);
-  main_layout->addLayout(btn_layout);
-
-  if (cancel_text.length()) {
-    QPushButton* cancel_btn = new QPushButton(cancel_text);
-    btn_layout->addWidget(cancel_btn);
-    QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
-  }
-
-  if (confirm_text.length()) {
-    QPushButton* confirm_btn = new QPushButton(confirm_text);
-    confirm_btn->setObjectName("confirm_btn");
-    btn_layout->addWidget(confirm_btn);
-    QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
-  }
-
-  QVBoxLayout *outer_layout = new QVBoxLayout(this);
-  int margin = rich ? 100 : 200;
-  outer_layout->setContentsMargins(margin, margin, margin, margin);
-  outer_layout->addWidget(container);
-}
-
-bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d(prompt_text, tr("Ok"), "", false, parent);
-  return d.exec();
-}
-
-bool ConfirmationDialog::confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
-  ConfirmationDialog d(prompt_text, confirm_text, tr("Cancel"), false, parent);
-  return d.exec();
-}
-
-bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d(prompt_text, tr("Ok"), "", true, parent);
-  return d.exec();
-}
-
-// MultiOptionDialog
-
-MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) : DialogBase(parent) {
-  QFrame *container = new QFrame(this);
-  container->setStyleSheet(R"(
-    QFrame { background-color: #1B1B1B; }
-    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
-    #confirm_btn:enabled { background-color: #465BEA; }
-    #confirm_btn:enabled:pressed { background-color: #3049F4; }
-  )");
-
-  QVBoxLayout *main_layout = new QVBoxLayout(container);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-
-  QLabel *title = new QLabel(prompt_text, this);
-  title->setStyleSheet("font-size: 70px; font-weight: 500;");
-  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
-  main_layout->addSpacing(25);
-
-  QWidget *listWidget = new QWidget(this);
-  QVBoxLayout *listLayout = new QVBoxLayout(listWidget);
-  listLayout->setSpacing(20);
-  listWidget->setStyleSheet(R"(
-    QPushButton {
-      height: 135;
-      padding: 0px 50px;
-      text-align: left;
-      font-size: 55px;
-      font-weight: 300;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-    QPushButton:checked { background-color: #465BEA; }
-  )");
-
-  QButtonGroup *group = new QButtonGroup(listWidget);
-  group->setExclusive(true);
-
-  QPushButton *confirm_btn = new QPushButton(tr("Select"));
-  confirm_btn->setObjectName("confirm_btn");
-  confirm_btn->setEnabled(false);
-
-  for (const QString &s : l) {
-    QPushButton *selectionLabel = new QPushButton(s);
-    selectionLabel->setCheckable(true);
-    selectionLabel->setChecked(s == current);
-    QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) {
-      if (checked) selection = s;
-      if (selection != current) {
-        confirm_btn->setEnabled(true);
-      } else {
-        confirm_btn->setEnabled(false);
-      }
-    });
-
-    group->addButton(selectionLabel);
-    listLayout->addWidget(selectionLabel);
-  }
-  // add stretch to keep buttons spaced correctly
-  listLayout->addStretch(1);
-
-  ScrollView *scroll_view = new ScrollView(listWidget, this);
-  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-
-  main_layout->addWidget(scroll_view);
-  main_layout->addSpacing(35);
-
-  // cancel + confirm buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
-  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
-  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
-  blayout->addWidget(cancel_btn);
-  blayout->addWidget(confirm_btn);
-
-  QVBoxLayout *outer_layout = new QVBoxLayout(this);
-  outer_layout->setContentsMargins(50, 50, 50, 50);
-  outer_layout->addWidget(container);
-}
-
-QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) {
-  MultiOptionDialog d(prompt_text, l, current, parent);
-  if (d.exec()) {
-    return d.selection;
-  }
-  return "";
-}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
deleted file mode 100644
index 089e54e4a0..0000000000
--- a/selfdrive/ui/qt/widgets/input.h
+++ /dev/null
@@ -1,71 +0,0 @@
-#pragma once
-
-#include <QDialog>
-#include <QLabel>
-#include <QLineEdit>
-#include <QString>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/widgets/keyboard.h"
-
-
-class DialogBase : public QDialog {
-  Q_OBJECT
-
-protected:
-  DialogBase(QWidget *parent);
-  bool eventFilter(QObject *o, QEvent *e) override;
-
-public slots:
-  int exec() override;
-};
-
-class InputDialog : public DialogBase {
-  Q_OBJECT
-
-public:
-  explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false);
-  static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "",
-                         bool secret = false, int minLength = -1, const QString &defaultText = "");
-  QString text();
-  void setMessage(const QString &message, bool clearInputField = true);
-  void setMinLength(int length);
-  void show();
-
-private:
-  int minLength;
-  QLineEdit *line;
-  Keyboard *k;
-  QLabel *label;
-  QLabel *sublabel;
-  QVBoxLayout *main_layout;
-  QPushButton *eye_btn;
-
-private slots:
-  void handleEnter();
-
-signals:
-  void cancel();
-  void emitText(const QString &text);
-};
-
-class ConfirmationDialog : public DialogBase {
-  Q_OBJECT
-
-public:
-  explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
-                              const QString &cancel_text, const bool rich, QWidget* parent);
-  static bool alert(const QString &prompt_text, QWidget *parent);
-  static bool confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
-  static bool rich(const QString &prompt_text, QWidget *parent);
-};
-
-class MultiOptionDialog : public DialogBase {
-  Q_OBJECT
-
-public:
-  explicit MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
-  static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
-  QString selection;
-};
diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc
deleted file mode 100644
index 9ead27b8d5..0000000000
--- a/selfdrive/ui/qt/widgets/keyboard.cc
+++ /dev/null
@@ -1,182 +0,0 @@
-#include "selfdrive/ui/qt/widgets/keyboard.h"
-
-#include <vector>
-
-#include <QButtonGroup>
-#include <QHBoxLayout>
-#include <QMap>
-#include <QTouchEvent>
-#include <QVBoxLayout>
-
-const QString BACKSPACE_KEY = "⌫";
-const QString ENTER_KEY = "→";
-const QString SHIFT_KEY = "⇧";
-const QString CAPS_LOCK_KEY = "⇪";
-
-const QMap<QString, int> KEY_STRETCH = {{"  ", 3}, {ENTER_KEY, 2}};
-
-const QStringList CONTROL_BUTTONS = {SHIFT_KEY, CAPS_LOCK_KEY, "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY};
-
-const float key_spacing_vertical = 20;
-const float key_spacing_horizontal = 15;
-
-KeyButton::KeyButton(const QString &text, QWidget *parent) : QPushButton(text, parent) {
-  setAttribute(Qt::WA_AcceptTouchEvents);
-  setFocusPolicy(Qt::NoFocus);
-}
-
-bool KeyButton::event(QEvent *event) {
-  if (event->type() == QEvent::TouchBegin || event->type() == QEvent::TouchEnd) {
-    QTouchEvent *touchEvent = static_cast<QTouchEvent *>(event);
-    if (!touchEvent->touchPoints().empty()) {
-      const QEvent::Type mouseType = event->type() == QEvent::TouchBegin ? QEvent::MouseButtonPress : QEvent::MouseButtonRelease;
-      QMouseEvent mouseEvent(mouseType, touchEvent->touchPoints().front().pos(), Qt::LeftButton, Qt::LeftButton, Qt::NoModifier);
-      QPushButton::event(&mouseEvent);
-      event->accept();
-      parentWidget()->update();
-      return true;
-    }
-  }
-  return QPushButton::event(event);
-}
-
-KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vector<QVector<QString>>& layout) : QWidget(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(0);
-  main_layout->setSpacing(0);
-
-  QButtonGroup* btn_group = new QButtonGroup(this);
-  QObject::connect(btn_group, SIGNAL(buttonClicked(QAbstractButton*)), parent, SLOT(handleButton(QAbstractButton*)));
-
-  for (const auto &s : layout) {
-    QHBoxLayout *hlayout = new QHBoxLayout;
-    hlayout->setSpacing(0);
-
-    if (main_layout->count() == 1) {
-      hlayout->addSpacing(90);
-    }
-
-    for (const QString &p : s) {
-      KeyButton* btn = new KeyButton(p);
-      if (p == BACKSPACE_KEY) {
-        btn->setAutoRepeat(true);
-      } else if (p == ENTER_KEY) {
-        btn->setStyleSheet(R"(
-          QPushButton {
-            background-color: #465BEA;
-          }
-          QPushButton:pressed {
-            background-color: #444444;
-          }
-        )");
-      }
-      btn->setFixedHeight(135 + key_spacing_vertical);
-      btn_group->addButton(btn);
-      hlayout->addWidget(btn, KEY_STRETCH.value(p, 1));
-    }
-
-    if (main_layout->count() == 1) {
-      hlayout->addSpacing(90);
-    }
-
-    main_layout->addLayout(hlayout);
-  }
-
-  setStyleSheet(QString(R"(
-    QPushButton {
-      font-size: 75px;
-      margin-left: %1px;
-      margin-right: %1px;
-      margin-top: %2px;
-      margin-bottom: %2px;
-      padding: 0px;
-      border-radius: 10px;
-      color: #dddddd;
-      background-color: #444444;
-    }
-    QPushButton:pressed {
-      background-color: #333333;
-    }
-  )").arg(key_spacing_vertical / 2).arg(key_spacing_horizontal / 2));
-}
-
-Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
-  main_layout->setMargin(0);
-
-  // lowercase
-  std::vector<QVector<QString>> lowercase = {
-    {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"},
-    {"a", "s", "d", "f", "g", "h", "j", "k", "l"},
-    {SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY},
-    {"123", "/", "-", "  ", ".", ENTER_KEY},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, lowercase));
-
-  // uppercase
-  std::vector<QVector<QString>> uppercase = {
-    {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"},
-    {"A", "S", "D", "F", "G", "H", "J", "K", "L"},
-    {SHIFT_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY},
-    {"123", "/", "-", "  ", ".", ENTER_KEY},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, uppercase));
-
-  // numbers + specials
-  std::vector<QVector<QString>> numbers = {
-    {"1", "2", "3", "4", "5", "6", "7", "8", "9", "0"},
-    {"-", "/", ":", ";", "(", ")", "$", "&&", "@", "\""},
-    {"#+=", ".", ",", "?", "!", "`", BACKSPACE_KEY},
-    {"ABC", "  ", ".", ENTER_KEY},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, numbers));
-
-  // extra specials
-  std::vector<QVector<QString>> specials = {
-    {"[", "]", "{", "}", "#", "%", "^", "*", "+", "="},
-    {"_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"},
-    {"123", ".", ",", "?", "!", "'", BACKSPACE_KEY},
-    {"ABC", "  ", ".", ENTER_KEY},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, specials));
-
-  main_layout->setCurrentIndex(0);
-}
-
-void Keyboard::handleCapsPress() {
-  shift_state = (shift_state + 1) % 3;
-  bool is_uppercase = shift_state > 0;
-  main_layout->setCurrentIndex(is_uppercase);
-
-  for (KeyButton* btn : main_layout->currentWidget()->findChildren<KeyButton*>()) {
-    if (btn->text() == SHIFT_KEY || btn->text() == CAPS_LOCK_KEY) {
-      btn->setText(shift_state == 2 ? CAPS_LOCK_KEY : SHIFT_KEY);
-      btn->setStyleSheet(is_uppercase ? "background-color: #465BEA;" : "");
-    }
-  }
-}
-
-void Keyboard::handleButton(QAbstractButton* btn) {
-  const QString &key = btn->text();
-  if (CONTROL_BUTTONS.contains(key)) {
-    if (key == "ABC" || key == "123" || key == "#+=") {
-      int index = (key == "ABC") ? 0 : (key == "123" ? 2 : 3);
-      main_layout->setCurrentIndex(index);
-      shift_state = 0;
-    } else if (key == SHIFT_KEY || key == CAPS_LOCK_KEY) {
-      handleCapsPress();
-    } else if (key == ENTER_KEY) {
-      main_layout->setCurrentIndex(0);
-      shift_state = 0;
-      emit emitEnter();
-    } else if (key == BACKSPACE_KEY) {
-      emit emitBackspace();
-    }
-  } else {
-    if (shift_state == 1 && "A" <= key && key <= "Z") {
-      main_layout->setCurrentIndex(0);
-      shift_state = 0;
-    }
-    emit emitKey(key);
-  }
-}
diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h
deleted file mode 100644
index e61617283a..0000000000
--- a/selfdrive/ui/qt/widgets/keyboard.h
+++ /dev/null
@@ -1,42 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include <QFrame>
-#include <QPushButton>
-#include <QStackedLayout>
-
-class KeyButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  KeyButton(const QString &text, QWidget *parent = 0);
-  bool event(QEvent *event) override;
-};
-
-class KeyboardLayout : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit KeyboardLayout(QWidget* parent, const std::vector<QVector<QString>>& layout);
-};
-
-class Keyboard : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit Keyboard(QWidget *parent = 0);
-
-private:
-  QStackedLayout* main_layout;
-  int shift_state = 0;
-
-private slots:
-  void handleButton(QAbstractButton* m_button);
-  void handleCapsPress();
-
-signals:
-  void emitKey(const QString &s);
-  void emitBackspace();
-  void emitEnter();
-};
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
deleted file mode 100644
index f630875978..0000000000
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ /dev/null
@@ -1,127 +0,0 @@
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-
-#include <algorithm>
-#include <string>
-#include <vector>
-#include <utility>
-
-#include <QHBoxLayout>
-#include <QJsonDocument>
-#include <QJsonObject>
-
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(50);
-  main_layout->setSpacing(30);
-
-  QWidget *widget = new QWidget;
-  scrollable_layout = new QVBoxLayout(widget);
-  widget->setStyleSheet("background-color: transparent;");
-  main_layout->addWidget(new ScrollView(widget));
-
-  // bottom footer, dismiss + reboot buttons
-  QHBoxLayout *footer_layout = new QHBoxLayout();
-  main_layout->addLayout(footer_layout);
-
-  QPushButton *dismiss_btn = new QPushButton(tr("Close"));
-  dismiss_btn->setFixedSize(400, 125);
-  footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
-  QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
-
-  snooze_btn = new QPushButton(tr("Snooze Update"));
-  snooze_btn->setVisible(false);
-  snooze_btn->setFixedSize(550, 125);
-  footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight);
-  QObject::connect(snooze_btn, &QPushButton::clicked, [=]() {
-    params.putBool("SnoozeUpdate", true);
-  });
-  QObject::connect(snooze_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
-  snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)");
-
-  if (hasRebootBtn) {
-    QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update"));
-    rebootBtn->setFixedSize(600, 125);
-    footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight);
-    QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); });
-  }
-
-  setStyleSheet(R"(
-    * {
-      font-size: 48px;
-      color: white;
-    }
-    QFrame {
-      border-radius: 30px;
-      background-color: #393939;
-    }
-    QPushButton {
-      color: black;
-      font-weight: 500;
-      border-radius: 30px;
-      background-color: white;
-    }
-  )");
-}
-
-int OffroadAlert::refresh() {
-  // build widgets for each offroad alert on first refresh
-  if (alerts.empty()) {
-    QString json = util::read_file("../selfdrived/alerts_offroad.json").c_str();
-    QJsonObject obj = QJsonDocument::fromJson(json.toUtf8()).object();
-
-    // descending sort labels by severity
-    std::vector<std::pair<std::string, int>> sorted;
-    for (auto it = obj.constBegin(); it != obj.constEnd(); ++it) {
-      sorted.push_back({it.key().toStdString(), it.value()["severity"].toInt()});
-    }
-    std::sort(sorted.begin(), sorted.end(), [=](auto &l, auto &r) { return l.second > r.second; });
-
-    for (auto &[key, severity] : sorted) {
-      QLabel *l = new QLabel(this);
-      alerts[key] = l;
-      l->setMargin(60);
-      l->setWordWrap(true);
-      l->setStyleSheet(QString("background-color: %1").arg(severity ? "#E22C2C" : "#292929"));
-      scrollable_layout->addWidget(l);
-    }
-    scrollable_layout->addStretch(1);
-  }
-
-  int alertCount = 0;
-  for (const auto &[key, label] : alerts) {
-    QString text;
-    std::string bytes = params.get(key);
-    if (bytes.size()) {
-      auto doc_par = QJsonDocument::fromJson(bytes.c_str());
-      text = tr(doc_par["text"].toString().toUtf8().data());
-      auto extra = doc_par["extra"].toString();
-      if (!extra.isEmpty()) {
-        text = text.arg(extra);
-      }
-    }
-    label->setText(text);
-    label->setVisible(!text.isEmpty());
-    alertCount += !text.isEmpty();
-  }
-  snooze_btn->setVisible(!alerts["Offroad_ConnectivityNeeded"]->text().isEmpty());
-  return alertCount;
-}
-
-UpdateAlert::UpdateAlert(QWidget *parent) : AbstractAlert(true, parent) {
-  releaseNotes = new QLabel(this);
-  releaseNotes->setWordWrap(true);
-  releaseNotes->setAlignment(Qt::AlignTop);
-  scrollable_layout->addWidget(releaseNotes);
-}
-
-bool UpdateAlert::refresh() {
-  bool updateAvailable = params.getBool("UpdateAvailable");
-  if (updateAvailable) {
-    releaseNotes->setText(params.get("UpdaterNewReleaseNotes").c_str());
-  }
-  return updateAvailable;
-}
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h
deleted file mode 100644
index ace2e75456..0000000000
--- a/selfdrive/ui/qt/widgets/offroad_alerts.h
+++ /dev/null
@@ -1,46 +0,0 @@
-#pragma once
-
-#include <map>
-#include <string>
-
-#include <QLabel>
-#include <QPushButton>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-
-class AbstractAlert : public QFrame {
-  Q_OBJECT
-
-protected:
-  AbstractAlert(bool hasRebootBtn, QWidget *parent = nullptr);
-
-  QPushButton *snooze_btn;
-  QVBoxLayout *scrollable_layout;
-  Params params;
-
-signals:
-  void dismiss();
-};
-
-class UpdateAlert : public AbstractAlert {
-  Q_OBJECT
-
-public:
-  UpdateAlert(QWidget *parent = 0);
-  bool refresh();
-
-private:
-  QLabel *releaseNotes = nullptr;
-};
-
-class OffroadAlert : public AbstractAlert {
-  Q_OBJECT
-
-public:
-  explicit OffroadAlert(QWidget *parent = 0) : AbstractAlert(false, parent) {}
-  int refresh();
-
-private:
-  std::map<std::string, QLabel*> alerts;
-};
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
deleted file mode 100644
index a69580ea50..0000000000
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ /dev/null
@@ -1,265 +0,0 @@
-#include "selfdrive/ui/qt/widgets/prime.h"
-
-#include <QDebug>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QLabel>
-#include <QPushButton>
-#include <QStackedWidget>
-#include <QTimer>
-#include <QVBoxLayout>
-
-#include <QrCode.hpp>
-
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/wifi.h"
-
-using qrcodegen::QrCode;
-
-PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) {
-  timer = new QTimer(this);
-  connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh);
-}
-
-void PairingQRWidget::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(5 * 60 * 1000);
-  device()->setOffroadBrightness(100);
-}
-
-void PairingQRWidget::hideEvent(QHideEvent *event) {
-  timer->stop();
-  device()->setOffroadBrightness(BACKLIGHT_OFFROAD);
-}
-
-void PairingQRWidget::refresh() {
-  QString pairToken = CommaApi::create_jwt({{"pair", true}});
-  QString qrString = "https://connect.comma.ai/?pair=" + pairToken;
-  this->updateQrCode(qrString);
-  update();
-}
-
-void PairingQRWidget::updateQrCode(const QString &text) {
-  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
-  qint32 sz = qr.getSize();
-  QImage im(sz, sz, QImage::Format_RGB32);
-
-  QRgb black = qRgb(0, 0, 0);
-  QRgb white = qRgb(255, 255, 255);
-  for (int y = 0; y < sz; y++) {
-    for (int x = 0; x < sz; x++) {
-      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
-    }
-  }
-
-  // Integer division to prevent anti-aliasing
-  int final_sz = ((width() / sz) - 1) * sz;
-  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
-}
-
-void PairingQRWidget::paintEvent(QPaintEvent *e) {
-  QPainter p(this);
-  p.fillRect(rect(), Qt::white);
-
-  QSize s = (size() - img.size()) / 2;
-  p.drawPixmap(s.width(), s.height(), img);
-}
-
-
-PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) {
-  QHBoxLayout *hlayout = new QHBoxLayout(this);
-  hlayout->setContentsMargins(0, 0, 0, 0);
-  hlayout->setSpacing(0);
-
-  setStyleSheet("PairingPopup { background-color: #E0E0E0; }");
-
-  // text
-  QVBoxLayout *vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(85, 70, 50, 70);
-  vlayout->setSpacing(50);
-  hlayout->addLayout(vlayout, 1);
-  {
-    QPushButton *close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
-    close->setIconSize(QSize(80, 80));
-    close->setStyleSheet("border: none;");
-    vlayout->addWidget(close, 0, Qt::AlignLeft);
-    QObject::connect(close, &QPushButton::clicked, this, &QDialog::reject);
-
-    vlayout->addSpacing(30);
-
-    QLabel *title = new QLabel(tr("Pair your device to your comma account"), this);
-    title->setStyleSheet("font-size: 75px; color: black;");
-    title->setWordWrap(true);
-    vlayout->addWidget(title);
-
-    QLabel *instructions = new QLabel(QString(R"(
-      <ol type='1' style='margin-left: 15px;'>
-        <li style='margin-bottom: 50px;'>%1</li>
-        <li style='margin-bottom: 50px;'>%2</li>
-        <li style='margin-bottom: 50px;'>%3</li>
-      </ol>
-    )").arg(tr("Go to https://connect.comma.ai on your phone"))
-    .arg(tr("Click \"add new device\" and scan the QR code on the right"))
-    .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this);
-
-    instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
-    instructions->setWordWrap(true);
-    vlayout->addWidget(instructions);
-
-    vlayout->addStretch();
-  }
-
-  // QR code
-  PairingQRWidget *qr = new PairingQRWidget(this);
-  hlayout->addWidget(qr, 1);
-}
-
-int PairingPopup::exec() {
-  if (!util::system_time_valid()) {
-    ConfirmationDialog::alert(tr("Please connect to Wi-Fi to complete initial pairing"), parentWidget());
-    return QDialog::Rejected;
-  }
-  return DialogBase::exec();
-}
-
-
-PrimeUserWidget::PrimeUserWidget(QWidget *parent) : QFrame(parent) {
-  setObjectName("primeWidget");
-  QVBoxLayout *mainLayout = new QVBoxLayout(this);
-  mainLayout->setContentsMargins(56, 40, 56, 40);
-  mainLayout->setSpacing(20);
-
-  QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED"));
-  subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;");
-  mainLayout->addWidget(subscribed);
-
-  QLabel *commaPrime = new QLabel(tr("comma prime"));
-  commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;");
-  mainLayout->addWidget(commaPrime);
-}
-
-
-PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(80, 90, 80, 60);
-  main_layout->setSpacing(0);
-
-  QLabel *upgrade = new QLabel(tr("Upgrade Now"));
-  upgrade->setStyleSheet("font-size: 75px; font-weight: bold;");
-  main_layout->addWidget(upgrade, 0, Qt::AlignTop);
-  main_layout->addSpacing(50);
-
-  QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai"));
-  description->setStyleSheet("font-size: 56px; font-weight: light; color: white;");
-  description->setWordWrap(true);
-  main_layout->addWidget(description, 0, Qt::AlignTop);
-
-  main_layout->addStretch();
-
-  QLabel *features = new QLabel(tr("PRIME FEATURES:"));
-  features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;");
-  main_layout->addWidget(features, 0, Qt::AlignBottom);
-  main_layout->addSpacing(30);
-
-  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Remote snapshots")};
-  for (auto &b : bullets) {
-    const QString check = "<b><font color='#465BEA'>✓</font></b> ";
-    QLabel *l = new QLabel(check + b);
-    l->setAlignment(Qt::AlignLeft);
-    l->setStyleSheet("font-size: 50px; margin-bottom: 15px;");
-    main_layout->addWidget(l, 0, Qt::AlignBottom);
-  }
-
-  setStyleSheet(R"(
-    PrimeAdWidget {
-      border-radius: 10px;
-      background-color: #333333;
-    }
-  )");
-}
-
-
-SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
-  mainLayout = new QStackedWidget;
-
-  // Unpaired, registration prompt layout
-
-  QFrame* finishRegistration = new QFrame;
-  finishRegistration->setObjectName("primeWidget");
-  QVBoxLayout* finishRegistrationLayout = new QVBoxLayout(finishRegistration);
-  finishRegistrationLayout->setSpacing(38);
-  finishRegistrationLayout->setContentsMargins(64, 48, 64, 48);
-
-  QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
-  registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
-  finishRegistrationLayout->addWidget(registrationTitle);
-
-  QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
-  registrationDescription->setWordWrap(true);
-  registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
-  finishRegistrationLayout->addWidget(registrationDescription);
-
-  finishRegistrationLayout->addStretch();
-
-  QPushButton* pair = new QPushButton(tr("Pair device"));
-  pair->setStyleSheet(R"(
-    QPushButton {
-      font-size: 55px;
-      font-weight: 500;
-      border-radius: 10px;
-      background-color: #465BEA;
-      padding: 64px;
-    }
-    QPushButton:pressed {
-      background-color: #3049F4;
-    }
-  )");
-  finishRegistrationLayout->addWidget(pair);
-
-  popup = new PairingPopup(this);
-  QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec);
-
-  mainLayout->addWidget(finishRegistration);
-
-  // build stacked layout
-  QVBoxLayout *outer_layout = new QVBoxLayout(this);
-  outer_layout->setContentsMargins(0, 0, 0, 0);
-  outer_layout->addWidget(mainLayout);
-
-  QWidget *content = new QWidget;
-  content_layout = new QVBoxLayout(content);
-  content_layout->setContentsMargins(0, 0, 0, 0);
-  content_layout->setSpacing(30);
-
-  WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget;
-  QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings);
-  content_layout->addWidget(wifi_prompt);
-  content_layout->addStretch();
-
-  mainLayout->addWidget(content);
-
-  mainLayout->setCurrentIndex(1);
-
-  setStyleSheet(R"(
-    #primeWidget {
-      border-radius: 10px;
-      background-color: #333333;
-    }
-  )");
-
-  // Retain size while hidden
-  QSizePolicy sp_retain = sizePolicy();
-  sp_retain.setRetainSizeWhenHidden(true);
-  setSizePolicy(sp_retain);
-
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, [this](PrimeState::Type type) {
-    if (type == PrimeState::PRIME_TYPE_UNPAIRED) {
-      mainLayout->setCurrentIndex(0);  // Display "Pair your device" widget
-    } else {
-      popup->reject();
-      mainLayout->setCurrentIndex(1);  // Display Wi-Fi prompt widget
-    }
-  });
-}
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
deleted file mode 100644
index 53d743398d..0000000000
--- a/selfdrive/ui/qt/widgets/prime.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QStackedWidget>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/widgets/input.h"
-
-// pairing QR code
-class PairingQRWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit PairingQRWidget(QWidget* parent = 0);
-  void paintEvent(QPaintEvent*) override;
-
-private:
-  QPixmap img;
-  QTimer *timer;
-  void updateQrCode(const QString &text);
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-
-private slots:
-  void refresh();
-};
-
-
-// pairing popup widget
-class PairingPopup : public DialogBase {
-  Q_OBJECT
-
-public:
-  explicit PairingPopup(QWidget* parent);
-  int exec() override;
-};
-
-
-// widget for paired users with prime
-class PrimeUserWidget : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit PrimeUserWidget(QWidget* parent = 0);
-};
-
-
-// widget for paired users without prime
-class PrimeAdWidget : public QFrame {
-  Q_OBJECT
-public:
-  explicit PrimeAdWidget(QWidget* parent = 0);
-};
-
-
-// container widget
-class SetupWidget : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit SetupWidget(QWidget* parent = 0);
-
-signals:
-  void openSettings(int index = 0, const QString &param = "");
-
-protected:
-  QVBoxLayout *content_layout;
-
-private:
-  PairingPopup *popup;
-  QStackedWidget *mainLayout;
-};
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
deleted file mode 100644
index 978bf83a63..0000000000
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ /dev/null
@@ -1,49 +0,0 @@
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-#include <QScrollBar>
-#include <QScroller>
-
-// TODO: disable horizontal scrolling and resize
-
-ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
-  setWidget(w);
-  setWidgetResizable(true);
-  setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setStyleSheet("background-color: transparent; border:none");
-
-  QString style = R"(
-    QScrollBar:vertical {
-      border: none;
-      background: transparent;
-      width: 10px;
-      margin: 0;
-    }
-    QScrollBar::handle:vertical {
-      min-height: 0px;
-      border-radius: 5px;
-      background-color: white;
-    }
-    QScrollBar::add-line:vertical, QScrollBar::sub-line:vertical {
-      height: 0px;
-    }
-    QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
-      background: none;
-    }
-  )";
-  verticalScrollBar()->setStyleSheet(style);
-  horizontalScrollBar()->setStyleSheet(style);
-
-  QScroller *scroller = QScroller::scroller(this->viewport());
-  QScrollerProperties sp = scroller->scrollerProperties();
-
-  sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
-  sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
-  sp.setScrollMetric(QScrollerProperties::MousePressEventDelay, 0.01);
-  scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture);
-  scroller->setScrollerProperties(sp);
-}
-
-void ScrollView::hideEvent(QHideEvent *e) {
-  verticalScrollBar()->setValue(0);
-}
diff --git a/selfdrive/ui/qt/widgets/scrollview.h b/selfdrive/ui/qt/widgets/scrollview.h
deleted file mode 100644
index 024331aa39..0000000000
--- a/selfdrive/ui/qt/widgets/scrollview.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#pragma once
-
-#include <QScrollArea>
-
-class ScrollView : public QScrollArea {
-  Q_OBJECT
-
-public:
-  explicit ScrollView(QWidget *w = nullptr, QWidget *parent = nullptr);
-protected:
-  void hideEvent(QHideEvent *e) override;
-};
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
deleted file mode 100644
index 26743952de..0000000000
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "selfdrive/ui/qt/widgets/ssh_keys.h"
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-
-SshControl::SshControl() :
-  ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username "
-                                       "other than your own. A comma employee will NEVER ask you to add their GitHub username.")) {
-
-  QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == tr("ADD")) {
-      QString username = InputDialog::getText(tr("Enter your GitHub username"), this);
-      if (username.length() > 0) {
-        setText(tr("LOADING"));
-        setEnabled(false);
-        getUserKeys(username);
-      }
-    } else {
-      params.remove("GithubUsername");
-      params.remove("GithubSshKeys");
-      refresh();
-    }
-  });
-
-  refresh();
-}
-
-void SshControl::refresh() {
-  QString param = QString::fromStdString(params.get("GithubSshKeys"));
-  if (param.length()) {
-    setValue(QString::fromStdString(params.get("GithubUsername")));
-    setText(tr("REMOVE"));
-  } else {
-    setValue("");
-    setText(tr("ADD"));
-  }
-  setEnabled(true);
-}
-
-void SshControl::getUserKeys(const QString &username) {
-  HttpRequest *request = new HttpRequest(this, false);
-  QObject::connect(request, &HttpRequest::requestDone, [=](const QString &resp, bool success) {
-    if (success) {
-      if (!resp.isEmpty()) {
-        params.put("GithubUsername", username.toStdString());
-        params.put("GithubSshKeys", resp.toStdString());
-      } else {
-        ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this);
-      }
-    } else {
-      if (request->timeout()) {
-        ConfirmationDialog::alert(tr("Request timed out"), this);
-      } else {
-        ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this);
-      }
-    }
-
-    refresh();
-    request->deleteLater();
-  });
-
-  request->sendRequest("https://github.com/" + username + ".keys");
-}
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
deleted file mode 100644
index ef40346c83..0000000000
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ /dev/null
@@ -1,39 +0,0 @@
-#pragma once
-
-#include <QPushButton>
-
-#include "system/hardware/hw.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#define ButtonControl ButtonControlSP
-#define ToggleControl ToggleControlSP
-#else
-#include "selfdrive/ui/qt/widgets/controls.h"
-#endif
-
-// SSH enable toggle
-class SshToggle : public ToggleControl {
-  Q_OBJECT
-
-public:
-  SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) {
-    QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) {
-      Hardware::set_ssh_enabled(state);
-    });
-  }
-};
-
-// SSH key management widget
-class SshControl : public ButtonControl {
-  Q_OBJECT
-
-public:
-  SshControl();
-
-private:
-  Params params;
-
-  void refresh();
-  void getUserKeys(const QString &username);
-};
diff --git a/selfdrive/ui/qt/widgets/toggle.cc b/selfdrive/ui/qt/widgets/toggle.cc
deleted file mode 100644
index 82302ad5bc..0000000000
--- a/selfdrive/ui/qt/widgets/toggle.cc
+++ /dev/null
@@ -1,83 +0,0 @@
-#include "selfdrive/ui/qt/widgets/toggle.h"
-
-#include <QPainter>
-
-Toggle::Toggle(QWidget *parent) : QAbstractButton(parent),
-_height(80),
-_height_rect(60),
-on(false),
-_anim(new QPropertyAnimation(this, "offset_circle", this))
-{
-  _radius = _height / 2;
-  _x_circle = _radius;
-  _y_circle = _radius;
-  _y_rect = (_height - _height_rect)/2;
-  circleColor = QColor(0xffffff); // placeholder
-  green = QColor(0xffffff); // placeholder
-  setEnabled(true);
-}
-
-void Toggle::paintEvent(QPaintEvent *e) {
-  this->setFixedHeight(_height);
-  QPainter p(this);
-  p.setPen(Qt::NoPen);
-  p.setRenderHint(QPainter::Antialiasing, true);
-
-  // Draw toggle background left
-  p.setBrush(green);
-  p.drawRoundedRect(QRect(0, _y_rect, _x_circle + _radius, _height_rect), _height_rect/2, _height_rect/2);
-
-  // Draw toggle background right
-  p.setBrush(QColor(0x393939));
-  p.drawRoundedRect(QRect(_x_circle - _radius, _y_rect, width() - (_x_circle - _radius), _height_rect), _height_rect/2, _height_rect/2);
-
-  // Draw toggle circle
-  p.setBrush(circleColor);
-  p.drawEllipse(QRectF(_x_circle - _radius, _y_circle - _radius, 2 * _radius, 2 * _radius));
-}
-
-void Toggle::mouseReleaseEvent(QMouseEvent *e) {
-  if (!enabled) {
-    return;
-  }
-  const int left = _radius;
-  const int right = width() - _radius;
-  if ((_x_circle != left && _x_circle != right) || !this->rect().contains(e->localPos().toPoint())) {
-    // If mouse release isn't in rect or animation is running, don't parse touch events
-    return;
-  }
-  if (e->button() & Qt::LeftButton) {
-    togglePosition();
-    emit stateChanged(on);
-  }
-}
-
-void Toggle::togglePosition() {
-  on = !on;
-  const int left = _radius;
-  const int right = width() - _radius;
-  _anim->setStartValue(on ? left + immediateOffset : right - immediateOffset);
-  _anim->setEndValue(on ? right : left);
-  _anim->setDuration(animation_duration);
-  _anim->start();
-  repaint();
-}
-
-void Toggle::enterEvent(QEvent *e) {
-  QAbstractButton::enterEvent(e);
-}
-
-bool Toggle::getEnabled() {
-  return enabled;
-}
-
-void Toggle::setEnabled(bool value) {
-  enabled = value;
-  if (value) {
-    circleColor.setRgb(0xfafafa);
-    green.setRgb(0x33ab4c);
-  } else {
-    circleColor.setRgb(0x888888);
-    green.setRgb(0x227722);
-  }
-}
diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h
deleted file mode 100644
index a0fa434a4c..0000000000
--- a/selfdrive/ui/qt/widgets/toggle.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include <QAbstractButton>
-#include <QMouseEvent>
-#include <QPropertyAnimation>
-
-class Toggle : public QAbstractButton {
-  Q_OBJECT
-  Q_PROPERTY(int offset_circle READ offset_circle WRITE set_offset_circle CONSTANT)
-
-public:
-  Toggle(QWidget* parent = nullptr);
-  void togglePosition();
-  bool on;
-  int animation_duration = 150;
-  int immediateOffset = 0;
-  int offset_circle() const {
-    return _x_circle;
-  }
-
-  void set_offset_circle(int o) {
-    _x_circle = o;
-    update();
-  }
-  bool getEnabled();
-  virtual void setEnabled(bool value);
-
-protected:
-  void paintEvent(QPaintEvent*) override;
-  void mouseReleaseEvent(QMouseEvent*) override;
-  void enterEvent(QEvent*) override;
-
-  QColor circleColor;
-  QColor green;
-  bool enabled = true;
-  int _x_circle, _y_circle;
-  int _height, _radius;
-  int _height_rect, _y_rect;
-  QPropertyAnimation *_anim = nullptr;
-
-signals:
-  void stateChanged(bool new_state);
-};
diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
deleted file mode 100644
index d7eb8beeb3..0000000000
--- a/selfdrive/ui/qt/widgets/wifi.cc
+++ /dev/null
@@ -1,45 +0,0 @@
-#include "selfdrive/ui/qt/widgets/wifi.h"
-
-#include <QHBoxLayout>
-#include <QLabel>
-#include <QPixmap>
-#include <QPushButton>
-
-WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
-  // Setup Firehose Mode
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(56, 40, 56, 40);
-  main_layout->setSpacing(42);  
-  
-  QLabel *title = new QLabel(tr("<span style='font-family: \"Noto Color Emoji\";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span>"));
-  title->setStyleSheet("font-size: 64px; font-weight: 500;");
-  main_layout->addWidget(title);
-
-  QLabel *desc = new QLabel(tr("Maximize your training data uploads to improve openpilot's driving models."));
-  desc->setStyleSheet("font-size: 40px; font-weight: 400;");
-  desc->setWordWrap(true);
-  main_layout->addWidget(desc);
-
-  QPushButton *settings_btn = new QPushButton(tr("Open"));
-  connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1, "FirehosePanel"); });
-  settings_btn->setStyleSheet(R"(
-    QPushButton {
-      font-size: 48px;
-      font-weight: 500;
-      border-radius: 10px;
-      background-color: #465BEA;
-      padding: 32px;
-    }
-    QPushButton:pressed {
-      background-color: #3049F4;
-    }
-  )");
-  main_layout->addWidget(settings_btn);
-
-  setStyleSheet(R"(
-    WiFiPromptWidget {
-      background-color: #333333;
-      border-radius: 10px;
-    }
-  )");
-}
\ No newline at end of file
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
deleted file mode 100644
index 3e68a15b7b..0000000000
--- a/selfdrive/ui/qt/widgets/wifi.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include <QFrame>
-#include <QWidget>
-
-class WiFiPromptWidget : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit WiFiPromptWidget(QWidget* parent = 0);
-
-signals:
-  void openSettings(int index = 0, const QString &param = "");
-};
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
deleted file mode 100644
index 36f12c266b..0000000000
--- a/selfdrive/ui/qt/window.cc
+++ /dev/null
@@ -1,101 +0,0 @@
-#include "selfdrive/ui/qt/window.h"
-
-#include <QFontDatabase>
-
-#include "system/hardware/hw.h"
-
-// We have this constructor so that we can provide custom implementations of the windows. By default (stock_ui) would receive them as nullptr, so they'll be instantiated with stock. Otherwise they'd be SP instances
-MainWindow::MainWindow(QWidget *parent, HomeWindow *hw, SettingsWindow *sw) :
-    QWidget(parent),
-    homeWindow(hw ? hw : new HomeWindow(this)),
-    settingsWindow(sw ? sw : new SettingsWindow(this)) {
-
-  main_layout = new QStackedLayout(this);
-  main_layout->setMargin(0);
-
-  main_layout->addWidget(homeWindow);
-  QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
-  QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
-
-  main_layout->addWidget(settingsWindow);
-  QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
-  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
-    onboardingWindow->showTrainingGuide();
-    main_layout->setCurrentWidget(onboardingWindow);
-  });
-  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
-    homeWindow->showDriverView(true);
-  });
-
-  onboardingWindow = new OnboardingWindow(this);
-  main_layout->addWidget(onboardingWindow);
-  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
-    main_layout->setCurrentWidget(homeWindow);
-  });
-  if (!onboardingWindow->completed()) {
-    main_layout->setCurrentWidget(onboardingWindow);
-  }
-
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    if (!offroad) {
-      closeSettings();
-    }
-  });
-  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-    if (main_layout->currentWidget() == settingsWindow) {
-      closeSettings();
-    }
-  });
-
-  // load fonts
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraLight.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Medium.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf");
-  QFontDatabase::addApplicationFont("../assets/fonts/JetBrainsMono-Medium.ttf");
-
-  // no outline to prevent the focus rectangle
-  setStyleSheet(R"(
-    * {
-      font-family: Inter;
-      outline: none;
-    }
-  )");
-  setAttribute(Qt::WA_NoSystemBackground);
-}
-
-void MainWindow::openSettings(int index, const QString &param) {
-  main_layout->setCurrentWidget(settingsWindow);
-  settingsWindow->setCurrentPanel(index, param);
-}
-
-void MainWindow::closeSettings() {
-  main_layout->setCurrentWidget(homeWindow);
-
-  if (uiState()->scene.started) {
-    homeWindow->showSidebar(false);
-  }
-}
-
-bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
-  bool ignore = false;
-  switch (event->type()) {
-    case QEvent::TouchBegin:
-    case QEvent::TouchUpdate:
-    case QEvent::TouchEnd:
-    case QEvent::MouseButtonPress:
-    case QEvent::MouseMove: {
-      // ignore events when device is awakened by resetInteractiveTimeout
-      ignore = !device()->isAwake();
-      device()->resetInteractiveTimeout();
-      break;
-    }
-    default:
-      break;
-  }
-  return ignore;
-}
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
deleted file mode 100644
index 8a118b0bb6..0000000000
--- a/selfdrive/ui/qt/window.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#include <QStackedLayout>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/home.h"
-#include "selfdrive/ui/qt/offroad/onboarding.h"
-#include "selfdrive/ui/qt/offroad/settings.h"
-
-class MainWindow : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit MainWindow(QWidget *parent = 0) : MainWindow(parent, nullptr, nullptr) {}
-
-protected:
-  explicit MainWindow(QWidget *parent, HomeWindow *hw = nullptr, SettingsWindow *sw = nullptr);
-  HomeWindow *homeWindow;
-  SettingsWindow *settingsWindow;
-  virtual void closeSettings();
-
-private:
-  bool eventFilter(QObject *obj, QEvent *event) override;
-  void openSettings(int index = 0, const QString &param = "");
-
-  QStackedLayout *main_layout;
-  OnboardingWindow *onboardingWindow;
-};
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index facb398339..cea22655b1 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -4,16 +4,17 @@ import time
 import wave
 
 
-from cereal import car, messaging
+from cereal import car, messaging, custom
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper
-from openpilot.common.retry import retry
+from openpilot.common.utils import retry
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.system import micd
+from openpilot.system.hardware import HARDWARE
 
-from openpilot.selfdrive.ui.sunnypilot.quiet_mode import QuietMode
+from openpilot.sunnypilot.selfdrive.ui.quiet_mode import QuietMode
 
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
@@ -22,11 +23,23 @@ MIN_VOLUME = 0.1
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 30 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
-AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+VOLUME_BASE = 20
+if HARDWARE.get_device_type() == "tizi":
+  AMBIENT_DB = 30
+  VOLUME_BASE = 10
 
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
+
+
+sound_list_sp: dict[int, tuple[str, int | None, float]] = {
+  # AudibleAlertSP, file name, play count (none for infinite)
+  AudibleAlertSP.promptSingleLow: ("prompt_single_low.wav", 1, MAX_VOLUME),
+  AudibleAlertSP.promptSingleHigh: ("prompt_single_high.wav", 1, MAX_VOLUME),
+}
 
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
@@ -40,13 +53,20 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  **sound_list_sp,
 }
+if HARDWARE.get_device_type() == "tizi":
+  sound_list.update({
+    AudibleAlert.engage: ("engage_tizi.wav", 1, MAX_VOLUME),
+    AudibleAlert.disengage: ("disengage_tizi.wav", 1, MAX_VOLUME),
+  })
 
 def check_selfdrive_timeout_alert(sm):
   ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
 
   if ss_missing > SELFDRIVE_STATE_TIMEOUT:
-    if sm['selfdriveState'].enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
+    if (sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled) and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < 10:
       return True
 
   return False
@@ -126,9 +146,9 @@ class Soundd(QuietMode):
 
   def calculate_volume(self, weighted_db):
     volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
-    return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
+    return math.pow(VOLUME_BASE, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
 
-  @retry(attempts=7, delay=3)
+  @retry(attempts=10, delay=3)
   def get_stream(self, sd):
     # reload sounddevice to reinitialize portaudio
     sd._terminate()
@@ -139,7 +159,7 @@ class Soundd(QuietMode):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['selfdriveState', 'microphone'])
+    sm = messaging.SubMaster(['selfdriveState', 'selfdriveStateSP', 'soundPressure'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
@@ -150,8 +170,8 @@ class Soundd(QuietMode):
 
         self.load_param()
 
-        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+        if sm.updated['soundPressure'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+          self.spl_filter_weighted.update(sm["soundPressure"].soundPressureWeightedDb)
           self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         self.get_audible_alert(sm)
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
deleted file mode 100644
index 379adfcede..0000000000
--- a/selfdrive/ui/sunnypilot/SConscript
+++ /dev/null
@@ -1,77 +0,0 @@
-widgets_src = [
-  "sunnypilot/qt/request_repeater.cc",
-  "sunnypilot/qt/widgets/toggle.cc",
-  "sunnypilot/qt/widgets/controls.cc",
-  "sunnypilot/qt/widgets/drive_stats.cc",
-  "sunnypilot/qt/widgets/prime.cc",
-  "sunnypilot/qt/widgets/scrollview.cc",
-  "sunnypilot/qt/network/networking.cc",
-]
-
-qt_util = [
-  "sunnypilot/qt/util.cc",
-]
-
-qt_src = [
-  "sunnypilot/ui.cc",
-  "sunnypilot/qt/api.cc",
-  "sunnypilot/qt/sidebar.cc",
-  "sunnypilot/qt/window.cc",
-  "sunnypilot/qt/home.cc",
-  "sunnypilot/qt/offroad/offroad_home.cc",
-  "sunnypilot/qt/offroad/settings/device_panel.cc",
-  "sunnypilot/qt/offroad/settings/lateral_panel.cc",
-  "sunnypilot/qt/offroad/settings/longitudinal_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",
-  "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
-  "sunnypilot/qt/offroad/settings/trips_panel.cc",
-  "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
-  "sunnypilot/qt/onroad/annotated_camera.cc",
-  "sunnypilot/qt/onroad/buttons.cc",
-  "sunnypilot/qt/onroad/hud.cc",
-  "sunnypilot/qt/onroad/model.cc",
-  "sunnypilot/qt/onroad/onroad_home.cc",
-]
-
-lateral_panel_qt_src = [
-  "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
-  "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
-  "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
-]
-
-network_src = [
-  "sunnypilot/qt/network/sunnylink/sunnylink_client.cc",
-  "sunnypilot/qt/network/sunnylink/services/base_device_service.cc",
-  "sunnypilot/qt/network/sunnylink/services/role_service.cc",
-  "sunnypilot/qt/network/sunnylink/services/user_service.cc",
-]
-
-vehicle_panel_qt_src = [
-  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
-]
-
-brand_settings_qt_src = [
-  "sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc",
-  "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
-]
-
-sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src
-sp_qt_util = qt_util
-
-Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/sunnypilot/modeld/models/__init__.py b/selfdrive/ui/sunnypilot/__init__.py
similarity index 100%
rename from sunnypilot/modeld/models/__init__.py
rename to selfdrive/ui/sunnypilot/__init__.py
diff --git a/sunnypilot/modeld/thneed/__init__.py b/selfdrive/ui/sunnypilot/layouts/__init__.py
similarity index 100%
rename from sunnypilot/modeld/thneed/__init__.py
rename to selfdrive/ui/sunnypilot/layouts/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/onboarding.py b/selfdrive/ui/sunnypilot/layouts/onboarding.py
new file mode 100644
index 0000000000..eed3cfd6b3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/onboarding.py
@@ -0,0 +1,114 @@
+"""
+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.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+
+
+class SunnylinkConsentPage(Widget):
+  def __init__(self, done_callback=None):
+    super().__init__()
+    self._done_callback = done_callback
+    self._step = 0
+
+    self._title = Label(tr("sunnylink"), font_size=90, font_weight=FontWeight.BOLD, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+
+    self._content = [
+      {
+        "text": tr("sunnylink enables secured remote access to your comma device from anywhere, " +
+                   "including settings management, remote monitoring, real-time dashboard, etc."),
+        "primary_btn": tr("Enable"),
+        "secondary_btn": tr("Disable"),
+        "highlight_primary": True
+      },
+      {
+        "text": tr("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
+                   "If sunnylink is disabled, features such as settings management, remote monitoring, " +
+                   "real-time dashboards will be unavailable."),
+        "secondary_btn": tr("Back"),
+        "danger_btn": tr("Disable"),
+        "highlight_primary": True
+      }
+    ]
+
+    self._primary_btn = Button("", button_style=ButtonStyle.PRIMARY, click_callback=lambda: self._handle_choice("enable"))
+    self._secondary_btn = Button("", button_style=ButtonStyle.NORMAL, click_callback=lambda: self._handle_choice("secondary"))
+    self._danger_btn = Button("", button_style=ButtonStyle.DANGER, click_callback=lambda: self._handle_choice("disable"))
+
+  def _handle_choice(self, choice):
+    if choice == "enable":
+      ui_state.params.put_bool("SunnylinkEnabled", True)
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+      if self._done_callback:
+        self._done_callback()
+    elif choice == "secondary":
+      if self._step == 0:
+        self._step = 1
+      elif self._step == 1:
+        self._step = 0
+    elif choice == "disable":
+      ui_state.params.put_bool("SunnylinkEnabled", False)
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+      if self._done_callback:
+        self._done_callback()
+
+  def _render(self, _):
+    step_data = self._content[self._step]
+
+    welcome_x = self._rect.x + 95
+    welcome_y = self._rect.y + 165
+    welcome_rect = rl.Rectangle(welcome_x, welcome_y, self._rect.width - welcome_x, 90)
+    self._title.render(welcome_rect)
+
+    desc_x = welcome_x
+    desc_y = welcome_y + 120
+    desc_rect = rl.Rectangle(desc_x, desc_y, self._rect.width - desc_x, self._rect.height - desc_y - 250)
+
+    desc_label = Label(step_data["text"], font_size=90, font_weight=FontWeight.MEDIUM, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT)
+    desc_label.render(desc_rect)
+
+    btn_y = self._rect.y + self._rect.height - 160 - 45
+
+    if "danger_btn" in step_data:
+      btn_width = (self._rect.width - 45 * 3) / 2
+
+      self._secondary_btn.set_text(step_data["secondary_btn"])
+      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+
+      self._danger_btn.set_text(step_data["danger_btn"])
+      self._danger_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+    else:
+      btn_width = (self._rect.width - 45 * 3) / 2
+
+      self._secondary_btn.set_text(step_data["secondary_btn"])
+      self._secondary_btn.render(rl.Rectangle(self._rect.x + 45, btn_y, btn_width, 160))
+
+      self._primary_btn.set_text(step_data["primary_btn"])
+      self._primary_btn.render(rl.Rectangle(self._rect.x + 45 * 2 + btn_width, btn_y, btn_width, 160))
+
+
+class SunnylinkOnboarding:
+  def __init__(self):
+    self.consent_page = SunnylinkConsentPage(done_callback=self._on_done)
+    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
+
+  @property
+  def completed(self) -> bool:
+    return self.consent_done
+
+  def _on_done(self):
+    self.consent_done = True
+
+  def render(self, rect):
+    if not self.consent_done:
+      self.consent_page.render(rect)
diff --git a/system/camerad/snapshot/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/__init__.py
similarity index 100%
rename from system/camerad/snapshot/__init__.py
rename to selfdrive/ui/sunnypilot/layouts/settings/__init__.py
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
new file mode 100644
index 0000000000..671174ac7a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise.py
@@ -0,0 +1,193 @@
+"""
+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.
+"""
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+
+class PanelType(IntEnum):
+  CRUISE = 0
+  SLA = 1
+
+
+ICBM_DESC = tr_noop("When enabled, sunnypilot will attempt to manage the built-in cruise control buttons " +
+                    "by emulating button presses for limited longitudinal control.")
+ICMB_UNAVAILABLE = tr_noop("Intelligent Cruise Button Management is currently unavailable on this platform.")
+ICMB_UNAVAILABLE_LONG_AVAILABLE = tr_noop("Disable the sunnypilot Longitudinal Control (alpha) toggle to allow Intelligent Cruise Button Management.")
+ICMB_UNAVAILABLE_LONG_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control is the default longitudinal control for this platform.")
+
+ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments for cruise speed increase/decrease.")
+ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
+ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
+ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+
+
+class CruiseLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._current_panel = PanelType.CRUISE
+    self._speed_limit_layout = SpeedLimitSettingsLayout(lambda: self._set_current_panel(PanelType.CRUISE))
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+
+    self.icbm_toggle = toggle_item_sp(
+      title=tr("Intelligent Cruise Button Management (ICBM) (Alpha)"),
+      description="",
+      param="IntelligentCruiseButtonManagement")
+
+    self.scc_v_toggle = toggle_item_sp(
+      title=tr("Smart Cruise Control - Vision"),
+      description=tr("Use vision path predictions to estimate the appropriate speed to drive through turns ahead."),
+      param="SmartCruiseControlVision")
+
+    self.scc_m_toggle = toggle_item_sp(
+      title=tr("Smart Cruise Control - Map"),
+      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      param="SmartCruiseControlMap")
+
+    self.custom_acc_toggle = toggle_item_sp(
+      title=tr("Custom ACC Speed Increments"),
+      description="",
+      param="CustomAccIncrementsEnabled",
+      callback=self._on_custom_acc_toggle)
+
+    self.custom_acc_short_increment = option_item_sp(
+      title=tr("Short Press Increment"),
+      param="CustomAccShortPressIncrement",
+      min_value=1, max_value=10, value_change_step=1,
+      inline=True)
+
+    self.custom_acc_long_increment = option_item_sp(
+      title=tr("Long Press Increment"),
+      param="CustomAccLongPressIncrement",
+      value_map={1: 1, 2: 5, 3: 10},
+      min_value=1, max_value=3, value_change_step=1,
+      inline=True)
+
+    self.sla_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Speed Limit"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.SLA)
+    )
+
+    self.dec_toggle = toggle_item_sp(
+      title=tr("Enable Dynamic Experimental Control"),
+      description=tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
+      param="DynamicExperimentalControl")
+
+    items = [
+      self.icbm_toggle,
+      self.dec_toggle,
+      self.scc_v_toggle,
+      self.scc_m_toggle,
+      self.custom_acc_toggle,
+      self.custom_acc_short_increment,
+      self.custom_acc_long_increment,
+      self.sla_settings_button,
+    ]
+    return items
+
+  def _render(self, rect):
+    if self._current_panel == PanelType.SLA:
+      self._speed_limit_layout.render(rect)
+    else:
+      self._scroller.render(rect)
+
+  def show_event(self):
+    self._set_current_panel(PanelType.CRUISE)
+    self._scroller.show_event()
+    self.icbm_toggle.show_description(True)
+    self.custom_acc_toggle.show_description(True)
+
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+    if panel == PanelType.SLA:
+      self._speed_limit_layout.show_event()
+
+  def _update_state(self):
+    super()._update_state()
+
+    if ui_state.CP is not None and ui_state.CP_SP is not None:
+      has_icbm = ui_state.has_icbm
+      has_long = ui_state.has_longitudinal_control
+
+      if ui_state.CP_SP.intelligentCruiseButtonManagementAvailable and not has_long:
+        self.icbm_toggle.action_item.set_enabled(ui_state.is_offroad())
+        self.icbm_toggle.set_description(tr(ICBM_DESC))
+      else:
+        ui_state.params.remove("IntelligentCruiseButtonManagement")
+        self.icbm_toggle.action_item.set_enabled(False)
+
+        long_desc = ICMB_UNAVAILABLE
+        if has_long:
+          if ui_state.CP.alphaLongitudinalAvailable:
+            long_desc += " " + ICMB_UNAVAILABLE_LONG_AVAILABLE
+          else:
+            long_desc += " " + ICMB_UNAVAILABLE_LONG_UNAVAILABLE
+
+        new_desc = "<b>" + tr(long_desc) + "</b>\n\n" + tr(ICBM_DESC)
+        if self.icbm_toggle.description != new_desc:
+          self.icbm_toggle.set_description(new_desc)
+          self.icbm_toggle.show_description(True)
+
+      if has_long or has_icbm:
+        self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
+        self.dec_toggle.action_item.set_enabled(has_long)
+        self.scc_v_toggle.action_item.set_enabled(True)
+        self.scc_m_toggle.action_item.set_enabled(True)
+      else:
+        ui_state.params.remove("CustomAccIncrementsEnabled")
+        ui_state.params.remove("DynamicExperimentalControl")
+        ui_state.params.remove("SmartCruiseControlVision")
+        ui_state.params.remove("SmartCruiseControlMap")
+        self.custom_acc_toggle.action_item.set_enabled(False)
+        self.dec_toggle.action_item.set_enabled(False)
+        self.scc_v_toggle.action_item.set_enabled(False)
+        self.scc_m_toggle.action_item.set_enabled(False)
+
+    else:
+      has_icbm = has_long = False
+      self.icbm_toggle.action_item.set_enabled(False)
+      self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
+
+    show_custom_acc_desc = False
+
+    if ui_state.is_offroad():
+      new_custom_acc_desc = tr(ONROAD_ONLY_DESCRIPTION)
+      show_custom_acc_desc = True
+    else:
+      if has_long or has_icbm:
+        if has_long and ui_state.CP.pcmCruise:
+          new_custom_acc_desc = tr(ACC_PCMCRUISE_DISABLED_DESCRIPTION)
+          show_custom_acc_desc = True
+        else:
+          new_custom_acc_desc = tr(ACC_ENABLED_DESCRIPTION)
+      else:
+        new_custom_acc_desc = tr(ACC_NOLONG_DESCRIPTION)
+        show_custom_acc_desc = True
+        self.custom_acc_toggle.action_item.set_state(False)
+
+    if self.custom_acc_toggle.description != new_custom_acc_desc:
+      self.custom_acc_toggle.set_description(new_custom_acc_desc)
+      if show_custom_acc_desc:
+        self.custom_acc_toggle.show_description(True)
+
+    self._on_custom_acc_toggle(self.custom_acc_toggle.action_item.get_state())
+
+  def _on_custom_acc_toggle(self, state):
+    self.custom_acc_short_increment.set_visible(state)
+    self.custom_acc_long_increment.set_visible(state)
+    self.custom_acc_short_increment.action_item.set_enabled(self.custom_acc_toggle.action_item.enabled)
+    self.custom_acc_long_increment.action_item.set_enabled(self.custom_acc_toggle.action_item.enabled)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
new file mode 100644
index 0000000000..e6846744a2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py
@@ -0,0 +1,65 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.sunnypilot.widgets import get_highlighted_description
+
+SPEED_LIMIT_POLICY_BUTTONS = [tr("Car Only"), tr("Map Only"), tr("Car First"), tr("Map First"), tr("Combined")]
+
+SPEED_LIMIT_POLICY_DESCRIPTIONS = [
+  tr("Car Only: Use Speed Limit data only from Car"),
+  tr("Map Only: Use Speed Limit data only from OpenStreetMaps"),
+  tr("Car First: Use Speed Limit data from Car if available, else use from OpenStreetMaps"),
+  tr("Map First: Use Speed Limit data from OpenStreetMaps if available, else use from Car"),
+  tr("Combined: Use combined Speed Limit data from Car & OpenStreetMaps")
+]
+
+
+class SpeedLimitPolicyLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._speed_limit_policy = multiple_button_item_sp(
+      title=lambda: tr("Speed Limit Source"),
+      description=self._get_policy_description,
+      buttons=SPEED_LIMIT_POLICY_BUTTONS,
+      param="SpeedLimitPolicy",
+      button_width=250,
+    )
+
+    items = [
+      self._speed_limit_policy
+    ]
+    return items
+
+  @staticmethod
+  def _get_policy_description():
+    return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+    self._speed_limit_policy.show_description(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
new file mode 100644
index 0000000000..c14330d9ac
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
@@ -0,0 +1,178 @@
+"""
+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.
+"""
+from collections.abc import Callable
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_policy import SpeedLimitPolicyLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import OffsetType as SpeedLimitOffsetType
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets import get_highlighted_description
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, option_item_sp, simple_button_item_sp, LineSeparatorSP
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+SPEED_LIMIT_MODE_BUTTONS = [tr("Off"), tr("Info"), tr("Warning"), tr("Assist")]
+SPEED_LIMIT_OFFSET_TYPE_BUTTONS = [tr("None"), tr("Fixed"), tr("%")]
+
+SPEED_LIMIT_MODE_DESCRIPTIONS = [
+  tr("Off: Disables the Speed Limit functions."),
+  tr("Information: Displays the current road's speed limit."),
+  tr("Warning: Provides a warning when exceeding the current road's speed limit."),
+  tr("Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons."),
+]
+
+SPEED_LIMIT_OFFSET_DESCRIPTIONS = [
+  tr("None: No Offset"),
+  tr("Fixed: Adds a fixed offset [Speed Limit + Offset]"),
+  tr("Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]"),
+]
+
+
+class PanelType(IntEnum):
+  SETTINGS = 0
+  POLICY = 1
+
+
+class SpeedLimitSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._current_panel = PanelType.SETTINGS
+
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    self._policy_layout = SpeedLimitPolicyLayout(lambda: self._set_current_panel(PanelType.SETTINGS))
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._speed_limit_mode = multiple_button_item_sp(
+      title=lambda: tr("Speed Limit"),
+      description=self._get_mode_description,
+      buttons=SPEED_LIMIT_MODE_BUTTONS,
+      param="SpeedLimitMode",
+      button_width=380,
+    )
+
+    self._source_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Source"),
+      button_width=720,
+      callback=lambda: self._set_current_panel(PanelType.POLICY)
+    )
+
+    self._speed_limit_offset_type = multiple_button_item_sp(
+      title=lambda: tr("Speed Limit Offset"),
+      description="",
+      buttons=SPEED_LIMIT_OFFSET_TYPE_BUTTONS,
+      param="SpeedLimitOffsetType",
+      button_width=450,
+    )
+
+    self._speed_limit_value_offset = option_item_sp(
+      title="",
+      param="SpeedLimitValueOffset",
+      min_value=-30,
+      max_value=30,
+      description=self._get_offset_description,
+      label_callback=self._get_offset_label,
+    )
+
+    items = [
+      self._speed_limit_mode,
+      LineSeparatorSP(40),
+      self._source_button,
+      LineSeparatorSP(40),
+      self._speed_limit_offset_type,
+      self._speed_limit_value_offset
+    ]
+    return items
+
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+    if panel == PanelType.POLICY:
+      self._policy_layout.show_event()
+
+  @staticmethod
+  def _get_mode_description():
+    return get_highlighted_description(ui_state.params, "SpeedLimitMode", SPEED_LIMIT_MODE_DESCRIPTIONS)
+
+  @staticmethod
+  def _get_offset_description():
+    return get_highlighted_description(ui_state.params, "SpeedLimitOffsetType", SPEED_LIMIT_OFFSET_DESCRIPTIONS)
+
+  @staticmethod
+  def _get_offset_label(value):
+    offset_type = int(ui_state.params.get("SpeedLimitOffsetType", return_default=True))
+    unit = tr("km/h") if ui_state.is_metric else tr("mph")
+
+    if offset_type == int(SpeedLimitOffsetType.percentage):
+      return f"{value}%"
+    elif offset_type == int(SpeedLimitOffsetType.fixed):
+      return f"{value} {unit}"
+    return str(value)
+
+  def _update_state(self):
+    super()._update_state()
+
+    speed_limit_mode_param = ui_state.params.get("SpeedLimitMode", return_default=True)
+    if ui_state.CP is not None and ui_state.CP_SP is not None:
+      brand = ui_state.CP.brand
+      has_long = ui_state.has_longitudinal_control
+      has_icbm = ui_state.has_icbm
+
+      """
+          Speed Limit Assist is available when:
+          - has_long or has_icbm, and
+          - is not a release branch or not a disallowed brand, and
+          - is not always disallwed
+      """
+      sla_disallow_in_release = brand == "tesla" and ui_state.is_sp_release
+      sla_always_disallow = brand == "rivian"
+      sla_available = (has_long or has_icbm) and not sla_disallow_in_release and not sla_always_disallow
+
+      if not sla_available and speed_limit_mode_param == int(SpeedLimitMode.assist):
+        ui_state.params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+    else:
+      sla_available = False
+
+    if not sla_available:
+      self._speed_limit_mode.action_item.set_enabled_buttons({
+        int(SpeedLimitMode.off),
+        int(SpeedLimitMode.information),
+        int(SpeedLimitMode.warning),
+      })
+    else:
+      self._speed_limit_mode.action_item.set_enabled_buttons(None)
+
+    offset_type = ui_state.params.get("SpeedLimitOffsetType", return_default=True)
+    self._speed_limit_value_offset.set_visible(offset_type != int(SpeedLimitOffsetType.off))
+
+  def _render(self, rect):
+    if self._current_panel == PanelType.POLICY:
+      self._policy_layout.render(rect)
+      return
+
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._current_panel = PanelType.SETTINGS
+    self._scroller.show_event()
+    self._speed_limit_mode.show_description(True)
+
+  def hide_event(self):
+    self._current_panel = PanelType.SETTINGS
+    self._scroller.hide_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/developer.py b/selfdrive/ui/sunnypilot/layouts/settings/developer.py
new file mode 100644
index 0000000000..4cac66e316
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/developer.py
@@ -0,0 +1,106 @@
+"""
+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.
+"""
+import datetime
+import os
+from pathlib import Path
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import button_item
+
+from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
+
+
+class DeveloperLayoutSP(DeveloperLayout):
+  def __init__(self):
+    super().__init__()
+    self.error_log_path = os.path.join(Paths.crash_log_root(), "error.log")
+    self._is_release_branch: bool = self._is_release or ui_state.params.get_bool("IsReleaseSpBranch")
+    self._is_development_branch: bool = ui_state.params.get_bool("IsTestedBranch") or ui_state.params.get_bool("IsDevelopmentBranch")
+    self._initialize_items()
+
+    for item in self.items:
+      self._scroller.add_widget(item)
+
+  def _initialize_items(self):
+    self.show_advanced_controls = toggle_item_sp(tr("Show Advanced Controls"),
+                                                 tr("Toggle visibility of advanced sunnypilot controls.<br>This only changes the visibility of the toggles; " +
+                                                    "it does not change the actual enabled/disabled state."), param="ShowAdvancedControls")
+
+    self.enable_github_runner_toggle = toggle_item_sp(tr("GitHub Runner Service"), tr("Enables or disables the GitHub runner service."),
+                                                      param="EnableGithubRunner")
+
+    self.enable_copyparty_toggle = toggle_item_sp(tr("copyparty Service"),
+                                                  tr("copyparty is a very capable file server, you can use it to download your routes, view your logs " +
+                                                     "and even make some edits on some files from your browser. " +
+                                                     "Requires you to connect to your comma locally via its IP address."), param="EnableCopyparty")
+
+    self.prebuilt_toggle = toggle_item_sp(tr("Quickboot Mode"), "", param="QuickBootToggle", callback=self._on_prebuilt_toggled)
+
+    self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
+
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
+
+  @staticmethod
+  def _on_prebuilt_toggled(state):
+    if state:
+      Path(PREBUILT_PATH).touch(exist_ok=True)
+    else:
+      os.remove(PREBUILT_PATH)
+    ui_state.params.put_bool("QuickBootToggle", state)
+
+  def _on_delete_confirm(self, result):
+    if result == DialogResult.CONFIRM:
+      if os.path.exists(self.error_log_path):
+        os.remove(self.error_log_path)
+
+  def _on_error_log_closed(self, result, log_exists):
+    if result == DialogResult.CONFIRM and log_exists:
+      dialog2 = ConfirmDialog(tr("Would you like to delete this log?"), tr("Yes"), tr("No"), rich=False, callback=self._on_delete_confirm)
+      gui_app.push_widget(dialog2)
+
+  def _on_error_log_clicked(self):
+    text = ""
+    if os.path.exists(self.error_log_path):
+      text = f"<b>{datetime.datetime.fromtimestamp(os.path.getmtime(self.error_log_path)).strftime('%d-%b-%Y %H:%M:%S').upper()}</b><br><br>"
+      try:
+        with open(self.error_log_path) as file:
+          text += file.read()
+      except Exception:
+        pass
+    dialog = HtmlModalSP(text=text, callback=lambda result: self._on_error_log_closed(result, os.path.exists(self.error_log_path)))
+    gui_app.push_widget(dialog)
+
+  def _update_state(self):
+    disable_updates = ui_state.params.get_bool("DisableUpdates")
+    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
+
+    if (prebuilt_file := os.path.exists(PREBUILT_PATH)) != ui_state.params.get_bool("QuickBootToggle"):
+      ui_state.params.put_bool("QuickBootToggle", prebuilt_file)
+      self.prebuilt_toggle.action_item.set_state(prebuilt_file)
+
+    self.prebuilt_toggle.set_visible(show_advanced and not (self._is_release_branch or self._is_development_branch))
+    self.prebuilt_toggle.action_item.set_enabled(disable_updates)
+
+    if disable_updates:
+      self.prebuilt_toggle.set_description(tr("When toggled on, this creates a prebuilt file to allow accelerated boot times. When toggled off, it " +
+                                              "removes the prebuilt file so compilation of locally edited cpp files can be made."))
+    else:
+      self.prebuilt_toggle.set_description(tr("Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' in the Software panel first."))
+
+    self.enable_copyparty_toggle.set_visible(show_advanced)
+    self.enable_github_runner_toggle.set_visible(show_advanced and not self._is_release_branch)
+    self.error_log_btn.set_visible(not self._is_release_branch)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/device.py b/selfdrive/ui/sunnypilot/layouts/settings/device.py
new file mode 100644
index 0000000000..1fb9314739
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/device.py
@@ -0,0 +1,221 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.onroad.driver_camera_dialog import DriverCameraDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, multiple_button_item_sp, button_item_sp, \
+  dual_button_item_sp, Spacer
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
+from openpilot.system.ui.widgets.scroller_tici import LineSeparator
+
+offroad_time_options = {
+  0: 0,
+  1: 5,
+  2: 10,
+  3: 15,
+  4: 30,
+  5: 60,
+  6: 120,
+  7: 180,
+  8: 300,
+  9: 600,
+  10: 1440,
+  11: 1800,
+}
+
+
+class DeviceLayoutSP(DeviceLayout):
+  def __init__(self):
+    DeviceLayout.__init__(self)
+    self._scroller._line_separator = None
+
+  def _initialize_items(self):
+    DeviceLayout._initialize_items(self)
+
+    # Using dual button with no right button for better alignment
+    self._always_offroad_btn = dual_button_item_sp(
+      left_text=lambda: tr("Enable Always Offroad"),
+      left_callback=self._handle_always_offroad,
+      right_text="",
+      right_callback=None,
+    )
+    self._always_offroad_btn.action_item.right_button.set_visible(False)
+
+    self._max_time_offroad = option_item_sp(
+      title=lambda: tr("Max Time Offroad"),
+      description=lambda: tr("Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)"),
+      param="MaxTimeOffroad",
+      min_value=0,
+      max_value=11,
+      value_change_step=1,
+      on_value_changed=None,
+      enabled=True,
+      icon="",
+      value_map=offroad_time_options,
+      label_width=360,
+      use_float_scaling=False,
+      inline=True,
+      label_callback=self._update_max_time_offroad_label
+    )
+
+    self._device_wake_mode = multiple_button_item_sp(
+      title=lambda: tr("Wake Up Behavior"),
+      description=self.wake_mode_description,
+      param="DeviceBootMode",
+      buttons=[lambda: tr("Default"), lambda: tr("Offroad")],
+      button_width=364,
+      callback=None,
+      inline=True,
+    )
+
+    self._quiet_mode_and_dcam = dual_button_item_sp(
+      left_text=lambda: tr("Quiet Mode"),
+      right_text=lambda: tr("Driver Camera Preview"),
+      left_callback=lambda: ui_state.params.put_bool("QuietMode", not ui_state.params.get_bool("QuietMode")),
+      right_callback=lambda: gui_app.push_widget(DriverCameraDialog())
+    )
+    self._quiet_mode_and_dcam.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
+
+    self._reg_and_training = dual_button_item_sp(
+      left_text=lambda: tr("Regulatory"),
+      left_callback=self._on_regulatory,
+      right_text=lambda: tr("Training Guide"),
+      right_callback=self._on_review_training_guide
+    )
+    self._reg_and_training.action_item.right_button.set_button_style(ButtonStyle.NORMAL)
+
+    self._onroad_uploads_and_reset_settings = dual_button_item_sp(
+      left_text=lambda: tr("Onroad Uploads"),
+      left_callback=lambda: ui_state.params.put_bool("OnroadUploads", not ui_state.params.get_bool("OnroadUploads")),
+      right_text=lambda: tr("Reset Settings"),
+      right_callback=self._reset_settings
+    )
+
+    self._power_buttons = dual_button_item_sp(
+      left_text=lambda: tr("Reboot"),
+      right_text=lambda: tr("Power Off"),
+      left_callback=self._reboot_prompt,
+      right_callback=self._power_off_prompt
+    )
+
+    items = [
+      text_item(lambda: tr("Dongle ID"), self._params.get("DongleId") or (lambda: tr("N/A"))),
+      LineSeparator(),
+      text_item(lambda: tr("Serial"), self._params.get("HardwareSerial") or (lambda: tr("N/A"))),
+      LineSeparator(),
+      self._pair_device_btn,
+      LineSeparator(),
+      self._reset_calib_btn,
+      LineSeparator(),
+      button_item_sp(lambda: tr("Change Language"), lambda: tr("CHANGE"), callback=self._show_language_dialog),
+      LineSeparator(),
+      self._device_wake_mode,
+      LineSeparator(),
+      self._max_time_offroad,
+      LineSeparator(height=10),
+      self._quiet_mode_and_dcam,
+      self._reg_and_training,
+      self._onroad_uploads_and_reset_settings,
+      Spacer(10),
+      LineSeparator(height=10),
+      self._power_buttons,
+    ]
+
+    return items
+
+  def _offroad_transition(self):
+    self._power_buttons.action_item.right_button.set_visible(ui_state.is_offroad())
+
+  @staticmethod
+  def wake_mode_description() -> str:
+    def_str = tr("Default: Device will boot/wake-up normally & will be ready to engage.")
+    offrd_str = tr("Offroad: Device will be in Always Offroad mode after boot/wake-up.")
+    header = tr("Controls state of the device after boot/sleep.")
+
+    return f"{header}\n\n{def_str}\n{offrd_str}"
+
+  @staticmethod
+  def _reset_settings():
+    def _do_reset(result: int):
+      if result == DialogResult.CONFIRM:
+        for _key in ui_state.params.all_keys():
+          ui_state.params.remove(_key)
+        HARDWARE.reboot()
+
+    def _second_confirm(result: int):
+      if result == DialogResult.CONFIRM:
+        gui_app.push_widget(ConfirmDialog(
+          text=tr("The reset cannot be undone. You have been warned."),
+          confirm_text=tr("Confirm"), callback=_do_reset
+        ))
+
+    gui_app.push_widget(ConfirmDialog(
+      text=tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."),
+      confirm_text=tr("Reset"), callback=_second_confirm
+    ))
+
+  @staticmethod
+  def _handle_always_offroad():
+    if ui_state.engaged:
+      gui_app.push_widget(alert_dialog(tr("Disengage to Enter Always Offroad Mode")))
+      return
+
+    _offroad_mode_state = ui_state.params.get_bool("OffroadMode")
+    _offroad_mode_str = tr("Are you sure you want to exit Always Offroad mode?") if _offroad_mode_state else \
+                        tr("Are you sure you want to enter Always Offroad mode?")
+
+    def _set_always_offroad(result: int):
+      if result == DialogResult.CONFIRM and not ui_state.engaged:
+        ui_state.params.put_bool("OffroadMode", not _offroad_mode_state)
+
+    gui_app.push_widget(ConfirmDialog(_offroad_mode_str, tr("Confirm"), callback=lambda result: _set_always_offroad(result)))
+
+  @staticmethod
+  def _update_max_time_offroad_label(value: int) -> str:
+    label = tr("Always On") if value == 0 else f"{value}" + tr("m") if value < 60 else f"{value // 60}" + tr("h")
+    label += tr(" (Default)") if value == 1800 else ""
+    return label
+
+  def _update_state(self):
+    super()._update_state()
+
+    # Handle Always Offroad button
+    always_offroad = ui_state.params.get_bool("OffroadMode")
+
+    # Text & Color
+    offroad_mode_btn_text = tr("Exit Always Offroad") if always_offroad else tr("Enable Always Offroad")
+    offroad_mode_btn_style = ButtonStyle.PRIMARY if always_offroad else ButtonStyle.DANGER
+    self._always_offroad_btn.action_item.left_button.set_text(offroad_mode_btn_text)
+    self._always_offroad_btn.action_item.left_button.set_button_style(offroad_mode_btn_style)
+
+    # Position
+    if self._scroller._items.__contains__(self._always_offroad_btn):
+      self._scroller._items.remove(self._always_offroad_btn)
+    if ui_state.is_offroad() and not always_offroad:
+      self._scroller._items.insert(len(self._scroller._items) - 1, self._always_offroad_btn)
+    else:
+      self._scroller._items.insert(0, self._always_offroad_btn)
+
+    # Quiet Mode button
+    self._quiet_mode_and_dcam.action_item.left_button.set_button_style(ButtonStyle.PRIMARY if ui_state.params.get_bool("QuietMode") else ButtonStyle.NORMAL)
+
+    # Onroad Uploads
+    self._onroad_uploads_and_reset_settings.action_item.left_button.set_button_style(
+      ButtonStyle.PRIMARY if ui_state.params.get_bool("OnroadUploads") else ButtonStyle.NORMAL
+    )
+
+    # Offroad only buttons
+    self._quiet_mode_and_dcam.action_item.right_button.set_enabled(ui_state.is_offroad())
+    self._reg_and_training.action_item.left_button.set_enabled(ui_state.is_offroad())
+    self._reg_and_training.action_item.right_button.set_enabled(ui_state.is_offroad())
+    self._onroad_uploads_and_reset_settings.action_item.right_button.set_enabled(ui_state.is_offroad())
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/display.py b/selfdrive/ui/sunnypilot/layouts/settings/display.py
new file mode 100644
index 0000000000..acd7b52dcc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/display.py
@@ -0,0 +1,107 @@
+"""
+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.
+"""
+from enum import IntEnum
+
+from openpilot.common.params import Params
+from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.list_view import option_item_sp, ToggleActionSP
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
+
+
+class OnroadBrightness(IntEnum):
+  AUTO = 0
+  AUTO_DARK = 1
+  SCREEN_OFF = 2
+
+
+class DisplayLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._onroad_brightness = option_item_sp(
+      param="OnroadScreenOffBrightness",
+      title=lambda: tr("Onroad Brightness"),
+      description="",
+      min_value=0,
+      max_value=22,
+      value_change_step=1,
+      label_callback=lambda value: self.update_onroad_brightness(value),
+      inline=True
+    )
+    self._onroad_brightness_timer = option_item_sp(
+      param="OnroadScreenOffTimer",
+      title=lambda: tr("Onroad Brightness Delay"),
+      description="",
+      min_value=0,
+      max_value=15,
+      value_change_step=1,
+      value_map=ONROAD_BRIGHTNESS_TIMER_VALUES,
+      label_callback=lambda value: f"{value} s" if value < 60 else f"{int(value/60)} m",
+      inline=True
+    )
+    self._interactivity_timeout = option_item_sp(
+      param="InteractivityTimeout",
+      title=lambda: tr("Interactivity Timeout"),
+      description=lambda: tr("Apply a custom timeout for settings UI." +
+                             "<br>This is the time after which settings UI closes automatically " +
+                             "if user is not interacting with the screen."),
+      min_value=0,
+      max_value=120,
+      value_change_step=10,
+      label_callback=lambda value: (tr("Default") if not value or value == 0 else
+                                    f"{value} s" if value < 60 else f"{int(value/60)} m"),
+      inline=True
+    )
+    items = [
+      self._onroad_brightness,
+      self._onroad_brightness_timer,
+      self._interactivity_timeout,
+    ]
+    return items
+
+  @staticmethod
+  def update_onroad_brightness(val):
+    if val == OnroadBrightness.AUTO:
+      return tr("Auto (Default)")
+
+    if val == OnroadBrightness.AUTO_DARK:
+      return tr("Auto (Dark)")
+
+    if val == OnroadBrightness.SCREEN_OFF:
+      return tr("Screen Off")
+
+    return f"{(val - 2) * 5} %"
+
+  def _update_state(self):
+    super()._update_state()
+
+    for _item in self._scroller._items:
+      if isinstance(_item.action_item, ToggleActionSP) and _item.action_item.toggle.param_key is not None:
+        _item.action_item.set_state(self._params.get_bool(_item.action_item.toggle.param_key))
+      elif isinstance(_item.action_item, OptionControlSP) and _item.action_item.param_key is not None:
+        raw_value = self._params.get(_item.action_item.param_key, return_default=True)
+        if _item.action_item.value_map:
+          reverse_map = {v: k for k, v in _item.action_item.value_map.items()}
+          raw_value = reverse_map.get(raw_value, _item.action_item.current_value)
+        _item.action_item.set_value(raw_value)
+
+    brightness_val = self._params.get("OnroadScreenOffBrightness", return_default=True)
+    self._onroad_brightness_timer.action_item.set_enabled(brightness_val not in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK))
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/models.py b/selfdrive/ui/sunnypilot/layouts/settings/models.py
new file mode 100644
index 0000000000..bf6af56941
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -0,0 +1,256 @@
+"""
+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.
+"""
+import os
+import re
+import time
+import pyray as rl
+
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets.toggle import ON_COLOR
+
+from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+
+
+class ModelsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self.model_manager = None
+    self.download_status = None
+    self.prev_download_status = None
+    self.model_dialog = None
+    self.last_cache_calc_time = 0
+
+    self._initialize_items()
+
+    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
+      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
+
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self.current_model_item = ListItemSP(
+      title=tr("Current Model"),
+      description="",
+      action_item=NoElideButtonAction(tr("SELECT")),
+      callback=self._handle_current_model_clicked
+    )
+
+    self.supercombo_label = progress_item(tr("Driving Model"))
+    self.vision_label = progress_item(tr("Vision Model"))
+    self.policy_label = progress_item(tr("Policy Model"))
+
+    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
+                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
+                                             gui_app.push_widget(alert_dialog(tr("Fetching Latest Models")))))
+
+    self.clear_cache_item = ListItemSP(
+      title=tr("Clear Model Cache"),
+      description="",
+      action_item=NoElideButtonAction(tr("CLEAR")),
+      callback=self._clear_cache
+    )
+
+    self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
+
+    self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
+                                                  tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
+                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_ACTION_WIDTH, None, True,
+                                                  lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
+                                                            f" {'km/h' if ui_state.is_metric else 'mph'}")
+
+    self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
+                                                  tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
+                                                     " the car will plan a turn in that direction at the nearest drivable path. " +
+                                                     "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
+                                                  param="LaneTurnDesire")
+
+    self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
+                                        tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
+                                        1, None, True, "", style.BUTTON_ACTION_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
+
+    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
+
+    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
+                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
+                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
+
+  def _update_lagd_description(self, lagd_toggle: bool):
+    desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
+              "Keeping this on provides the stock openpilot experience.")
+    if lagd_toggle:
+      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
+    elif ui_state.CP is not None:
+      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
+      cp = ui_state.CP.steerActuatorDelay
+      desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
+    self.lagd_toggle.set_description(desc)
+
+  def _is_downloading(self):
+    return (self.model_manager and self.model_manager.selectedBundle and
+            self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
+
+  @staticmethod
+  def _calculate_cache_size():
+    cache_size = 0.0
+    if os.path.exists(CUSTOM_MODEL_PATH):
+      cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
+    return cache_size
+
+  def _clear_cache(self):
+    def _callback(response):
+      if response == DialogResult.CONFIRM:
+        ui_state.params.put_bool("ModelManager_ClearCache", True)
+        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+
+    dialog = ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
+                           tr("Clear Cache"), callback=_callback)
+    gui_app.push_widget(dialog)
+
+  def _handle_bundle_download_progress(self):
+    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
+              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
+              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
+    for label in labels.values():
+      label.set_visible(False)
+    self.cancel_download_item.set_visible(False)
+
+    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
+      return
+
+    bundle = self.model_manager.selectedBundle if self._is_downloading() or (
+      self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
+    ) else self.model_manager.activeBundle
+    if not bundle:
+      return
+
+    self.download_status = bundle.status
+    status_changed = self.prev_download_status != self.download_status
+    self.prev_download_status = self.download_status
+
+    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
+
+    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
+      self.last_cache_calc_time = current_time
+      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
+
+    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
+      device._reset_interactive_timeout()
+
+    for model in bundle.models:
+      if label := labels.get(getattr(model.type, 'raw', model.type)):
+        label.set_visible(True)
+        p = model.artifact.downloadProgress
+        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
+        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
+          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
+        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
+          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
+          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
+        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
+          text, color = f"download failed - {bundle.displayName}", rl.RED
+        label.action_item.update(p.progress, text, show, color)
+
+  @staticmethod
+  def _show_reset_params_dialog():
+    def _callback(response):
+      if response == DialogResult.CONFIRM:
+        ui_state.params.remove("CalibrationParams")
+        ui_state.params.remove("LiveTorqueParameters")
+    msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
+    dialog = ConfirmDialog(msg, tr("Reset Calibration"), callback=_callback)
+    gui_app.push_widget(dialog)
+
+  def _on_model_selected(self, result):
+    if result != DialogResult.CONFIRM:
+      return
+    selected_ref = self.model_dialog.selection_ref
+    if selected_ref == "Default":
+      ui_state.params.remove("ModelManager_ActiveBundle")
+      self._show_reset_params_dialog()
+    elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
+      ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
+      if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
+        self._show_reset_params_dialog()
+    self.model_dialog = None
+
+  @staticmethod
+  def _bundle_to_node(bundle):
+    return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
+
+  def _get_folders(self, favorites):
+    bundles = self.model_manager.availableBundles
+    folders = {}
+    for bundle in bundles:
+      folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
+
+    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
+    for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
+      folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
+      name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
+      folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
+
+    if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
+      folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
+    return folders_list
+
+  def _handle_current_model_clicked(self):
+    favs = ui_state.params.get("ModelManager_Favs")
+    favorites = set(favs.split(';')) if favs else set()
+    folders_list = self._get_folders(favorites)
+
+    active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
+    self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
+                                         get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
+    gui_app.push_widget(self.model_dialog)
+
+  def _update_state(self):
+    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
+    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
+    live_delay: bool = ui_state.params.get_bool("LagdToggle")
+
+    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
+    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
+    self.lagd_toggle.action_item.set_state(live_delay)
+    self.delay_control.set_visible(not live_delay and advanced_controls)
+    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
+    if self.lane_turn_value_control.action_item.value_change_step != new_step:
+      self.lane_turn_value_control.action_item.value_change_step = new_step
+
+    self._update_lagd_description(live_delay)
+    self.model_manager = ui_state.sm["modelManagerSP"]
+    self._handle_bundle_download_progress()
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
+    self.current_model_item.action_item.set_value(active_name)
+
+    if not ui_state.is_offroad():
+      self.current_model_item.action_item.set_enabled(False)
+      self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
+    else:
+      self.current_model_item.action_item.set_enabled(True)
+      self.current_model_item.set_description("")
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/navigation.py b/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
new file mode 100644
index 0000000000..1f44775bb3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/navigation.py
@@ -0,0 +1,30 @@
+"""
+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.
+"""
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+
+class NavigationLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    items = [
+
+    ]
+    return items
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/network.py b/selfdrive/ui/sunnypilot/layouts/settings/network.py
new file mode 100644
index 0000000000..14f573c628
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/network.py
@@ -0,0 +1,46 @@
+"""
+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.
+"""
+import threading
+import time
+import pyray as rl
+
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.network import NetworkUI, PanelType
+
+
+class NetworkUISP(NetworkUI):
+  def __init__(self, wifi_manager):
+    super().__init__(wifi_manager)
+
+    self.scan_button = Button(tr("Scan"), self._scan_clicked, button_style=ButtonStyle.NORMAL, font_size=60, border_radius=30)
+    self.scan_button.set_rect(rl.Rectangle(0, 0, 400, 100))
+
+    self._scanning = False
+    self._wifi_manager.add_callbacks(networks_updated=self._on_networks_updated)
+
+  def _scan_clicked(self):
+    self._scanning = True
+    self.scan_button.set_text(tr("Scanning..."))
+    self.scan_button.set_enabled(False)
+
+    threading.Thread(target=self._wifi_manager._update_networks, daemon=True).start()
+    self._wifi_manager._request_scan()
+    self._wifi_manager._last_network_update = time.monotonic()
+
+  def _on_networks_updated(self, networks):
+    if self._scanning:
+      self._scanning = False
+      self.scan_button.set_text(tr("Scan"))
+      self.scan_button.set_enabled(True)
+
+  def _render(self, rect: rl.Rectangle):
+    super()._render(rect)
+
+    if self._current_panel == PanelType.WIFI:
+      self.scan_button.set_position(self._rect.x, self._rect.y + 20)
+      self.scan_button.render()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/osm.py b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
new file mode 100644
index 0000000000..58236961b9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -0,0 +1,232 @@
+"""
+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.
+"""
+import datetime
+import os
+import platform
+import requests
+import shutil
+import threading
+from pathlib import Path
+from time import monotonic
+
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import device, ui_state
+from openpilot.selfdrive.ui.layouts.settings.software import time_ago
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.widgets.list_view import text_item
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeFolder, TreeNode, TreeOptionDialog
+from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
+
+MAP_PATH = Path(Paths.mapd_root()) / "offline"
+
+
+class OSMLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._current_percent = 0
+    self._last_map_size_update = 0
+    self._mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else ui_state.params
+    self._initialize_items()
+    self._update_map_size()
+    self._progress.set_visible(False)
+    self._state_btn.set_visible(False)
+    self._mapd_version.action_item.set_text(ui_state.params.get("MapdVersion") or "Loading...")
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._mapd_version = text_item(tr("Mapd Version"), lambda: ui_state.params.get("MapdVersion") or "Loading...")
+    self._delete_maps_btn = ListItemSP(tr("Downloaded Maps"), action_item=NoElideButtonAction(tr("DELETE"), enabled=True), callback=self._delete_maps)
+    self._progress = progress_item(tr("Downloading Map"))
+    self._update_btn = ListItemSP(tr("Database Update"), action_item=NoElideButtonAction(tr("CHECK"), enabled=True), callback=self._update_db)
+    self._country_btn = ListItemSP(tr("Country"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("Country"))
+    self._state_btn = ListItemSP(tr("State"), action_item=NoElideButtonAction(tr("SELECT"), enabled=True), callback=lambda: self._select_region("State"))
+
+    self.items = [self._mapd_version, self._delete_maps_btn, self._progress, self._update_btn, self._country_btn, self._state_btn]
+
+  def _show_confirm(self, msg, confirm_text, func):
+    gui_app.push_widget(ConfirmDialog(msg, confirm_text, callback=lambda res: func() if res == DialogResult.CONFIRM else None))
+
+  def calculate_size(self):
+    total_size = 0
+    directories_to_scan = [MAP_PATH] if MAP_PATH.exists() else []
+    while directories_to_scan:
+      try:
+        for entry in os.scandir(directories_to_scan.pop()):
+          if entry.is_file():
+            total_size += entry.stat().st_size
+          elif entry.is_dir():
+            directories_to_scan.append(entry.path)
+      except OSError:
+        pass
+    self._delete_maps_btn.action_item.set_value(f"{total_size / 1024 ** 2:.2f} MB" if total_size < 1024 ** 3 else f"{total_size / 1024 ** 3:.2f} GB")
+
+  def _update_map_size(self):
+    threading.Thread(target=self.calculate_size, daemon=True).start()
+
+  def _do_delete_maps(self):
+    if MAP_PATH.exists():
+      shutil.rmtree(MAP_PATH)
+
+    for param in ("OsmDownloadedDate", "OsmLocal", "OsmLocationName", "OsmLocationTitle", "OsmStateName", "OsmStateTitle"):
+      ui_state.params.remove(param)
+
+    self._delete_maps_btn.action_item.set_enabled(True)
+    self._delete_maps_btn.action_item.set_text(tr("DELETE"))
+    self._update_map_size()
+
+  def _on_confirm_delete_maps(self):
+    self._delete_maps_btn.action_item.set_enabled(False)
+    self._delete_maps_btn.action_item.set_text("DELETING...")
+    threading.Thread(target=self._do_delete_maps).start()
+
+  def _delete_maps(self):
+    self._show_confirm(tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all maps?"),
+                       tr("Yes, delete all maps"), self._on_confirm_delete_maps)
+
+  def _update_db(self):
+    self._show_confirm(tr("This will start the download process and it might take a while to complete."), tr("Start Download"),
+                       lambda: ui_state.params.put_bool("OsmDbUpdatesCheck", True))
+
+  def _select_region(self, region_type):
+    is_country = region_type == "Country"
+    btn = self._country_btn if is_country else self._state_btn
+    btn.action_item.set_enabled(False)
+    btn.action_item.set_text(tr("FETCHING..."))
+    threading.Thread(target=self._do_select_region, args=(region_type, btn)).start()
+
+  def _handle_region_selection(self, region_type, locations, key, res, ref):
+    if res != DialogResult.CONFIRM or not ref:
+      if region_type == "State" and res == DialogResult.CANCEL:
+        if ui_state.params.get("OsmLocationName") == "US" and not ui_state.params.get("OsmStateName"):
+          ui_state.params.remove("OsmLocationName")
+          ui_state.params.remove("OsmLocationTitle")
+          ui_state.params.remove("OsmLocal")
+          self._update_labels()
+      return
+
+    if region_type == "Country":
+      ui_state.params.put_bool("OsmLocal", True)
+      ui_state.params.remove("OsmStateName")
+      ui_state.params.remove("OsmStateTitle")
+
+    ui_state.params.put(f"{key}Name", ref)
+    name = next((n.data['display_name'] for n in locations if n.ref == ref), ref)
+    ui_state.params.put(f"{key}Title", name)
+
+    if ref == "US" and region_type == "Country":
+      self._select_region("State")
+    else:
+      self._update_db()
+
+  def _do_select_region(self, region_type, btn):
+    base_url = "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/"
+    url = base_url + ("nation_bounding_boxes.json" if region_type == "Country" else "us_states_bounding_boxes.json")
+    try:
+      data = requests.get(url, timeout=10).json()
+      locations = sorted([TreeNode(ref=k, data={'display_name': v['full_name']}) for k, v in data.items()], key=lambda n: n.data['display_name'])
+    except Exception:
+      locations = []
+
+    if region_type == "State":
+      locations.insert(0, TreeNode(ref="All", data={'display_name': tr("All states (~6.0 GB)")}))
+
+    btn.action_item.set_enabled(True)
+    btn.action_item.set_text(tr("SELECT"))
+
+    key = "OsmLocation" if region_type == "Country" else "OsmState"
+    current = ui_state.params.get(f"{key}Name") or ""
+
+    dialog = TreeOptionDialog(tr(f"Select {region_type}"), [TreeFolder(folder="", nodes=locations)], current_ref=current, search_prompt="Perform a search")
+    dialog.on_exit = lambda res: self._handle_region_selection(region_type, locations, key, res, dialog.selection_ref)
+    gui_app.push_widget(dialog)
+
+  def _update_labels(self):
+    downloading = bool(self._mem_params.get("OSMDownloadLocations"))
+    self._country_btn.set_enabled(not downloading)
+    self._state_btn.set_enabled(not downloading)
+    self._state_btn.set_visible(ui_state.params.get("OsmLocationName") == "US")
+    self._update_btn.set_visible(bool(ui_state.params.get("OsmLocationName")))
+
+    self._country_btn.action_item.set_value(ui_state.params.get("OsmLocationTitle") or "")
+    self._state_btn.action_item.set_value(ui_state.params.get("OsmStateTitle") or "")
+
+    pending = ui_state.params.get_bool("OsmDbUpdatesCheck")
+    if downloading or pending:
+      if downloading:
+        device._reset_interactive_timeout()
+        self._update_map_size()
+      self._progress.set_visible(True)
+      progress = ui_state.params.get("OSMDownloadProgress")
+      total = progress.get('total_files', 0) if progress else 0
+      done = progress.get('downloaded_files', 0) if progress else 0
+      failed = total > 0 and not downloading and done < total
+
+      if total > 0:
+        progress_perc = max(0.0, min(100.0, (done / total) * 100.0))
+      else:
+        progress_perc = 0.0
+
+      if failed:
+        text = "0% - Downloading Maps"
+        btn_text = tr("Error: Invalid download. Retry.")
+        self._current_percent = 0.0
+      elif total > 0 and downloading:
+        self._current_percent = progress_perc
+        perc_int = int(progress_perc)
+        text = f"{perc_int}% - Downloading Maps"
+        btn_text = f"{done}/{total} ({perc_int}%)"
+      else:
+        self._current_percent = 0.0
+        text = "0% - Downloading Maps"
+        btn_text = tr("Downloading Maps...")
+
+      self._progress.action_item.update(self._current_percent, text, show_progress=total > 0 and downloading and not failed)
+      self._update_btn.action_item.set_enabled(not downloading)  # TODO-SP: introduce CANCEL database download with mapd
+      self._update_btn.action_item.set_value(btn_text)
+      self._country_btn.action_item.set_enabled(not downloading)
+      self._state_btn.action_item.set_enabled(not downloading)
+      self._delete_maps_btn.action_item.set_enabled(not downloading)
+    else:
+      self._progress.set_visible(False)
+      self._update_btn.action_item.set_enabled(True)
+      self._country_btn.action_item.set_enabled(True)
+      self._state_btn.action_item.set_enabled(True)
+      self._delete_maps_btn.action_item.set_enabled(True)
+
+      ts = ui_state.params.get("OsmDownloadedDate")
+      dt: datetime.datetime | None = None
+
+      if ts:
+        try:
+          ts_f = float(ts)
+          if ts_f > 0:
+            dt = datetime.datetime.fromtimestamp(ts_f, tz=datetime.UTC)
+        except (ValueError, TypeError):
+          dt = None
+
+      formatted = time_ago(dt)
+      self._update_btn.action_item.set_value(tr("Last checked {}").format(formatted))
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _update_state(self):
+    now = monotonic()
+    if now - self._last_map_size_update >= 1.0:
+      self._last_map_size_update = now
+      self._update_labels()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/settings.py b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
new file mode 100644
index 0000000000..e379a77104
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/settings.py
@@ -0,0 +1,202 @@
+"""
+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.
+"""
+from dataclasses import dataclass
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.selfdrive.ui.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.developer import DeveloperLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.network import NetworkUISP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.multilang import tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+# from openpilot.selfdrive.ui.sunnypilot.layouts.settings.navigation import NavigationLayout
+
+OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
+ICON_SIZE = 70
+
+OP.PanelType = IntEnum(
+  "PanelType",
+  [es.name for es in OP.PanelType] + [
+    "SUNNYLINK",
+    "MODELS",
+    "STEERING",
+    "CRUISE",
+    "VISUALS",
+    "DISPLAY",
+    "OSM",
+    "NAVIGATION",
+    "TRIPS",
+    "VEHICLE",
+  ],
+  start=0,
+)
+
+
+@dataclass
+class PanelInfo(OP.PanelInfo):
+  icon: str = ""
+
+
+class NavButton(Widget):
+  def __init__(self, parent, p_type, p_info):
+    super().__init__()
+    self.parent = parent
+    self.panel_type = p_type
+    self.panel_info = p_info
+
+  def _render(self, rect):
+    is_selected = self.panel_type == self.parent._current_panel
+    text_color = OP.TEXT_SELECTED if is_selected else OP.TEXT_NORMAL
+    content_x = rect.x + 90
+    text_size = measure_text_cached(self.parent._font_medium, self.panel_info.name, 65)
+
+    # Draw background if selected
+    if is_selected:
+      self.container_rect = rl.Rectangle(
+        content_x - 50, rect.y, OP.SIDEBAR_WIDTH - 50, OP.NAV_BTN_HEIGHT
+      )
+      rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
+
+    if self.panel_info.icon:
+      icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
+      rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2),
+                      rl.WHITE)
+      content_x += ICON_SIZE + 20
+
+    # Draw button text (right-aligned)
+    text_pos = rl.Vector2(
+      content_x,
+      rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
+    )
+    rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
+
+    # Store button rect for click detection
+    self.panel_info.button_rect = rect
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+    self._nav_items: list[Widget] = []
+
+    # Create sidebar scroller
+    self._sidebar_scroller = Scroller([], spacing=0, line_separator=False, pad_end=False)
+
+    # Panel configuration
+    wifi_manager = WifiManager()
+    wifi_manager.set_active(False)
+
+    self._panels = {
+      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
+      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
+      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
+      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
+      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
+      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
+      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
+      OP.PanelType.VISUALS: PanelInfo(tr_noop("Visuals"), VisualsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+      OP.PanelType.DISPLAY: PanelInfo(tr_noop("Display"), DisplayLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
+      OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
+      # OP.PanelType.NAVIGATION: PanelInfo(tr_noop("Navigation"), NavigationLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
+      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
+      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
+      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
+      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayoutSP(), icon="icons/shell.png"),
+    }
+
+  def _draw_sidebar(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
+
+    # Close button
+    close_btn_rect = rl.Rectangle(
+      rect.x + style.ITEM_PADDING * 3, rect.y + style.ITEM_PADDING * 2, style.CLOSE_BTN_SIZE, style.CLOSE_BTN_SIZE
+    )
+
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
+    icon_dest = rl.Rectangle(
+      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
+      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
+      self._close_icon.width,
+      self._close_icon.height,
+    )
+    rl.draw_texture_pro(
+      self._close_icon,
+      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
+      icon_dest,
+      rl.Vector2(0, 0),
+      0,
+      icon_color,
+    )
+
+    # Store close button rect for click detection
+    self._close_btn_rect = close_btn_rect
+
+    # Navigation buttons with scroller
+    if not self._nav_items:
+      for panel_type, panel_info in self._panels.items():
+        nav_button = NavButton(self, panel_type, panel_info)
+        nav_button.rect.width = rect.width - 100  # Full width minus padding
+        nav_button.rect.height = OP.NAV_BTN_HEIGHT
+        self._nav_items.append(nav_button)
+        self._sidebar_scroller.add_widget(nav_button)
+
+    # Draw navigation section with scroller
+    nav_rect = rl.Rectangle(
+      rect.x,
+      self._close_btn_rect.height + style.ITEM_PADDING * 4,  # Starting Y position for nav items
+      rect.width,
+      rect.height - 300  # Remaining height after close button
+    )
+
+    if self._nav_items:
+      self._sidebar_scroller.render(nav_rect)
+      return
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
+    # Check close button
+    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
+      if self._close_callback:
+        self._close_callback()
+      return True
+
+    # Check navigation buttons
+    for panel_type, panel_info in self._panels.items():
+      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
+        self.set_current_panel(panel_type)
+        return True
+
+    return False
+
+  def show_event(self):
+    super().show_event()
+    self._panels[self._current_panel].instance.show_event()
+    self._sidebar_scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/software.py b/selfdrive/ui/sunnypilot/layouts/settings/software.py
new file mode 100644
index 0000000000..7765a58b65
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/software.py
@@ -0,0 +1,96 @@
+"""
+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.
+"""
+import os
+
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
+
+
+DESCRIPTIONS = {
+  'disable_updates_offroad': tr_noop(
+    "When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
+  ),
+  'disable_updates_onroad': tr_noop(
+    "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
+  )
+}
+
+
+class SoftwareLayoutSP(SoftwareLayout):
+  def __init__(self):
+    super().__init__()
+    self.disable_updates_toggle = toggle_item_sp(
+      lambda: tr("Disable Updates"),
+      description="",
+      initial_state=ui_state.params.get_bool("DisableUpdates"),
+      callback=self._on_disable_updates_toggled,
+    )
+    self._scroller.add_widget(self.disable_updates_toggle)
+
+  def _handle_reboot(self, result):
+    if result == DialogResult.CONFIRM:
+      ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
+      ui_state.params.put_bool("DoReboot", True)
+    else:
+      self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
+
+  def _on_disable_updates_toggled(self, enabled):
+    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"), callback=self._handle_reboot)
+    gui_app.push_widget(dialog)
+
+  def _on_select_branch(self):
+    current_git_branch = ui_state.params.get("GitBranch") or ""
+    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
+    branches = [b for b in branches_str.split(",") if b]
+    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
+    top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
+
+    if HARDWARE.get_device_type() == "tici":
+      top_level_branches = ["release-tici", "staging-tici"]
+      branches = [b for b in branches if b.endswith("-tici")]
+
+    top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
+    remaining_branches = [b for b in branches if b not in top_level_branches]
+    prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
+    non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
+
+    folders = [
+      TreeFolder("", top_level_nodes),
+      TreeFolder("Prebuilt Branches", prebuilt_nodes),
+      TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
+    ]
+
+    def _on_branch_selected(result):
+      if result == DialogResult.CONFIRM and self._branch_dialog is not None:
+        selection = self._branch_dialog.selection_ref
+        if selection:
+          ui_state.params.put("UpdaterTargetBranch", selection)
+          self._branch_btn.action_item.set_value(selection)
+          os.system("pkill -SIGUSR1 -f system.updated.updated")
+      self._branch_dialog = None
+
+    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
+                                           on_exit=_on_branch_selected)
+
+    gui_app.push_widget(self._branch_dialog)
+
+  def _update_state(self):
+    super()._update_state()
+    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
+    self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self.disable_updates_toggle.set_visible(show_advanced)
+
+    disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
+    self.disable_updates_toggle.set_description(disable_updates_desc)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering.py b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
new file mode 100644
index 0000000000..14d840138e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering.py
@@ -0,0 +1,161 @@
+"""
+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.
+"""
+from cereal import car
+from enum import IntEnum
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, simple_button_item_sp, option_item_sp, LineSeparatorSP
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.lane_change_settings import LaneChangeSettingsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.mads_settings import MadsSettingsLayout
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering_sub_layouts.torque_settings import TorqueSettingsLayout
+
+
+class PanelType(IntEnum):
+  STEERING = 0
+  MADS = 1
+  LANE_CHANGE = 2
+  TORQUE_CONTROL = 3
+
+
+class SteeringLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._current_panel = PanelType.STEERING
+    self._lane_change_settings_layout = LaneChangeSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+    self._mads_settings_layout = MadsSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+    self._torque_control_layout = TorqueSettingsLayout(lambda: self._set_current_panel(PanelType.STEERING))
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._mads_base_desc = tr("Enable the beloved MADS feature. " +
+                              "Disable toggle to revert back to stock sunnypilot engagement/disengagement.")
+    self._mads_limited_desc = tr("This platform supports limited MADS settings.")
+    self._mads_full_desc = tr("This platform supports all MADS settings.")
+    self._mads_check_compat_desc = tr("Start the vehicle to check vehicle compatibility.")
+
+    self._mads_toggle = toggle_item_sp(
+      param="Mads",
+      title=lambda: tr("Modular Assistive Driving System (MADS)"),
+      description=self._mads_base_desc,
+    )
+    self._mads_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize MADS"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.MADS)
+    )
+    self._lane_change_settings_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Lane Change"),
+      button_width=800,
+      callback=lambda: self._set_current_panel(PanelType.LANE_CHANGE)
+    )
+    self._blinker_control_toggle = toggle_item_sp(
+      param="BlinkerPauseLateralControl",
+      description=lambda: tr("Pause lateral control with blinker when traveling below the desired speed selected."),
+      title=lambda: tr("Pause Lateral Control with Blinker"),
+    )
+    self._blinker_control_options = option_item_sp(
+      param="BlinkerMinLateralControlSpeed",
+      title=lambda: tr("Minimum Speed to Pause Lateral Control"),
+      min_value=0,
+      max_value=255,
+      value_change_step=5,
+      description="",
+      label_callback=lambda speed: f'{speed} {"km/h" if ui_state.is_metric else "mph"}',
+    )
+    self._blinker_reengage_delay = option_item_sp(
+      param="BlinkerLateralReengageDelay",
+      title=lambda: tr("Post-Blinker Delay"),
+      min_value=0,
+      max_value=10,
+      value_change_step=1,
+      description=lambda: tr("Delay before lateral control resumes after the turn signal ends."),
+      label_callback=lambda delay: f'{delay} {"s"}'
+    )
+    self._torque_control_toggle = toggle_item_sp(
+      param="EnforceTorqueControl",
+      title=lambda: tr("Enforce Torque Lateral Control"),
+      description=lambda: tr("Enable this to enforce sunnypilot to steer with Torque lateral control."),
+    )
+    self._torque_customization_button = simple_button_item_sp(
+      button_text=lambda: tr("Customize Torque Params"),
+      button_width=850,
+      callback=lambda: self._set_current_panel(PanelType.TORQUE_CONTROL)
+    )
+    self._nnlc_toggle = toggle_item_sp(
+      param="NeuralNetworkLateralControl",
+      title=lambda: tr("Neural Network Lateral Control (NNLC)"),
+      description=""
+    )
+
+    items = [
+      self._mads_toggle,
+      self._mads_settings_button,
+      LineSeparatorSP(40),
+      self._lane_change_settings_button,
+      LineSeparatorSP(40),
+      self._blinker_control_toggle,
+      self._blinker_control_options,
+      self._blinker_reengage_delay,
+      LineSeparatorSP(40),
+      self._torque_control_toggle,
+      self._torque_customization_button,
+      LineSeparatorSP(40),
+      self._nnlc_toggle,
+    ]
+    return items
+
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+
+  def _update_state(self):
+    super()._update_state()
+
+    torque_allowed = True
+    if ui_state.CP is not None:
+      mads_main_desc = self._mads_limited_desc if self._mads_settings_layout._mads_limited_settings() else self._mads_full_desc
+      self._mads_toggle.set_description(f"<b>{mads_main_desc}</b><br><br>{self._mads_base_desc}")
+
+      if ui_state.CP.steerControlType == car.CarParams.SteerControlType.angle:
+        ui_state.params.remove("EnforceTorqueControl")
+        ui_state.params.remove("NeuralNetworkLateralControl")
+        torque_allowed = False
+    else:
+      self._mads_toggle.set_description(f"<b>{self._mads_check_compat_desc}</b><br><br>{self._mads_base_desc}")
+      ui_state.params.remove("EnforceTorqueControl")
+      ui_state.params.remove("NeuralNetworkLateralControl")
+      torque_allowed = False
+
+    self._mads_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self._mads_settings_button.action_item.set_enabled(ui_state.is_offroad() and self._mads_toggle.action_item.get_state())
+    self._blinker_control_options.set_visible(self._blinker_control_toggle.action_item.get_state())
+    self._blinker_reengage_delay.set_visible(self._blinker_control_toggle.action_item.get_state())
+
+    enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
+    nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
+    self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
+    self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())
+
+  def _render(self, rect):
+    if self._current_panel == PanelType.LANE_CHANGE:
+      self._lane_change_settings_layout.render(rect)
+    elif self._current_panel == PanelType.MADS:
+      self._mads_settings_layout.render(rect)
+    elif self._current_panel == PanelType.TORQUE_CONTROL:
+      self._torque_control_layout.render(rect)
+    else:
+      self._scroller.render(rect)
+
+  def show_event(self):
+    self._set_current_panel(PanelType.STEERING)
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
new file mode 100644
index 0000000000..fbb9ce7cf7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
@@ -0,0 +1,81 @@
+"""
+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.
+"""
+from collections.abc import Callable
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, LineSeparatorSP
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+
+class LaneChangeSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._lane_change_timer = option_item_sp(
+      title=lambda: tr("Auto Lane Change by Blinker"),
+      param="AutoLaneChangeTimer",
+      description=lambda: tr("Set a timer to delay the auto lane change operation when the blinker is used. " +
+                             "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.<br>" +
+                             "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
+      min_value=-1,
+      max_value=5,
+      value_change_step=1,
+      label_callback=(lambda x:
+                      tr("Off") if x == -1 else
+                      tr("Nudge") if x == 0 else
+                      tr("Nudgeless") if x == 1 else
+                      f"0.5 {tr('s')}" if x == 2 else
+                      f"1 {tr('s')}" if x == 3 else
+                      f"2 {tr('s')}" if x == 4 else
+                      f"3 {tr('s')}")
+    )
+    self._bsm_delay = toggle_item_sp(
+      param="AutoLaneChangeBsmDelay",
+      title=lambda: tr("Auto Lane Change: Delay with Blind Spot"),
+      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
+                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
+    )
+
+    items = [
+      self._lane_change_timer,
+      LineSeparatorSP(40),
+      self._bsm_delay,
+    ]
+
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+    self._update_toggles()
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _update_toggles(self):
+    enable_bsm = ui_state.CP is not None and ui_state.CP.enableBsm
+    if not enable_bsm and ui_state.params.get_bool("AutoLaneChangeBsmDelay"):
+      ui_state.params.remove("AutoLaneChangeBsmDelay")
+    self._bsm_delay.action_item.set_enabled(enable_bsm and ui_state.params.get("AutoLaneChangeTimer", return_default=True) > AutoLaneChangeMode.NUDGE)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
new file mode 100644
index 0000000000..098fcf8ce8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/mads_settings.py
@@ -0,0 +1,137 @@
+"""
+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.
+"""
+from collections.abc import Callable
+import pyray as rl
+
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp, toggle_item_sp
+
+MADS_STEERING_MODE_OPTIONS = [
+  (tr("Remain Active"), tr_noop("Remain Active: ALC will remain active when the brake pedal is pressed.")),
+  (tr("Pause"), tr_noop("Pause: ALC will pause when the brake pedal is pressed.")),
+  (tr("Disengage"), tr_noop("Disengage: ALC will disengage when the brake pedal is pressed.")),
+]
+
+MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.")
+MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = "{engage}<br><h4>{note}</h4>".format(
+  engage=tr("Engage lateral and longitudinal control with cruise control engagement."),
+  note=tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."),
+)
+
+STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.")
+DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.")
+DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.")
+STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.")
+
+
+class MadsSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+    self._initialize_items()
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._main_cruise_toggle = toggle_item_sp(
+      title=lambda: tr("Toggle with Main Cruise"),
+      description=MADS_MAIN_CRUISE_BASE_DESC,
+      param="MadsMainCruiseAllowed",
+    )
+    self._unified_engagement_toggle = toggle_item_sp(
+      title=lambda: tr("Unified Engagement Mode (UEM)"),
+      description=MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC,
+      param="MadsUnifiedEngagementMode"
+    )
+    self._steering_mode = multiple_button_item_sp(
+      param="MadsSteeringMode",
+      title=lambda: tr("Steering Mode on Brake Pedal"),
+      description="",
+      buttons=[opt[0] for opt in MADS_STEERING_MODE_OPTIONS],
+      inline=False,
+      button_width=350,
+      callback=self._update_steering_mode_description,
+    )
+
+    self.items = [
+      self._main_cruise_toggle,
+      self._unified_engagement_toggle,
+      self._steering_mode,
+    ]
+
+  def _update_state(self):
+    super()._update_state()
+    self._update_toggles()
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  @staticmethod
+  def _mads_limited_settings() -> bool:
+    brand = ""
+    if ui_state.is_offroad():
+      bundle = ui_state.params.get("CarPlatformBundle")
+      if bundle:
+        brand = bundle.get("brand", "")
+    if not brand:
+      brand = ui_state.CP.brand if ui_state.CP is not None else ""
+
+    if brand == "rivian":
+      return True
+    elif brand == "tesla":
+      return not (ui_state.CP_SP is not None and ui_state.CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS)
+    return False
+
+  def _update_steering_mode_description(self, button_index: int):
+    base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.")
+    result = base_desc + "<br><br>"
+    for opt in MADS_STEERING_MODE_OPTIONS:
+      desc = "<b>" + opt[1] + "</b>" if button_index == MADS_STEERING_MODE_OPTIONS.index(opt) else opt[1]
+      result += desc + "<br>"
+    self._steering_mode.set_description(result)
+    self._steering_mode.show_description(True)
+
+  def _update_toggles(self):
+    self._update_steering_mode_description(self._steering_mode.action_item.get_selected_button())
+    if self._mads_limited_settings():
+      ui_state.params.remove("MadsMainCruiseAllowed")
+      ui_state.params.put_bool("MadsUnifiedEngagementMode", True)
+      ui_state.params.put("MadsSteeringMode", MadsSteeringModeOnBrake.DISENGAGE)
+
+      self._main_cruise_toggle.action_item.set_enabled(False)
+      self._main_cruise_toggle.action_item.set_state(False)
+      self._main_cruise_toggle.set_description("<b>" + DEFAULT_TO_OFF + "</b><br>" + MADS_MAIN_CRUISE_BASE_DESC)
+
+      self._unified_engagement_toggle.action_item.set_enabled(False)
+      self._unified_engagement_toggle.action_item.set_state(True)
+      self._unified_engagement_toggle.set_description("<b>" + DEFAULT_TO_ON + "</b><br>" + MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
+
+      self._steering_mode.set_description(STATUS_DISENGAGE_ONLY)
+      self._steering_mode.action_item.set_selected_button(MadsSteeringModeOnBrake.DISENGAGE)
+      self._steering_mode.action_item.set_enabled_buttons({MadsSteeringModeOnBrake.DISENGAGE})
+    else:
+      self._main_cruise_toggle.action_item.set_enabled(True)
+      self._main_cruise_toggle.set_description(MADS_MAIN_CRUISE_BASE_DESC)
+
+      self._unified_engagement_toggle.action_item.set_enabled(True)
+      self._unified_engagement_toggle.set_description(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC)
+
+      self._steering_mode.action_item.set_enabled(True)
+      self._steering_mode.action_item.set_enabled_buttons(None)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
new file mode 100644
index 0000000000..d4976b1295
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/torque_settings.py
@@ -0,0 +1,191 @@
+"""
+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.
+"""
+import json
+import math
+import os
+from collections.abc import Callable
+import pyray as rl
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.lib.utils import NoElideButtonAction
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP, toggle_item_sp, option_item_sp
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeFolder, TreeNode
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.network import NavButton
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+TORQUE_VERSIONS_PATH = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+
+
+class TorqueSettingsLayout(Widget):
+  def __init__(self, back_btn_callback: Callable):
+    super().__init__()
+    self._back_button = NavButton(tr("Back"))
+    self._back_button.set_click_callback(back_btn_callback)
+    self._torque_version_dialog: TreeOptionDialog | None = None
+    self.cached_torque_versions = {}
+    self._load_versions()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _load_versions(self):
+    with open(TORQUE_VERSIONS_PATH) as f:
+      self.cached_torque_versions = json.load(f)
+
+  def _initialize_items(self):
+    self._torque_control_versions = ListItemSP(
+      title=tr("Torque Control Tune Version"),
+      description="Select the version of Torque Control Tune to use.",
+      action_item=NoElideButtonAction(tr("SELECT")),
+      callback=self._show_torque_version_dialog,
+    )
+    self._self_tune_toggle = toggle_item_sp(
+      param="LiveTorqueParamsToggle",
+      title=lambda: tr("Self-Tune"),
+      description=lambda: tr("Enables self-tune for Torque lateral control for platforms that do not use " +
+                             "Torque lateral control by default."),
+    )
+    self._relaxed_tune_toggle = toggle_item_sp(
+      param="LiveTorqueParamsRelaxedToggle",
+      title=lambda: tr("Less Restrict Settings for Self-Tune (Beta)"),
+      description=lambda: tr("Less strict settings when using Self-Tune. This allows torqued to be more " +
+                             "forgiving when learning values."),
+    )
+    self._custom_tune_toggle = toggle_item_sp(
+      param="CustomTorqueParams",
+      title=lambda: tr("Enable Custom Tuning"),
+      description=lambda: tr("Enables custom tuning for Torque lateral control. " +
+                             "Modifying Lateral Acceleration Factor and Friction below will override the offline values " +
+                             "indicated in the YAML files within \"opendbc/car/torque_data\". " +
+                             "The values will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."),
+    )
+    self._torque_prams_override_toggle = toggle_item_sp(
+      param="TorqueParamsOverrideEnabled",
+      title=lambda: tr("Manual Real-Time Tuning"),
+      description=lambda: tr("Enforces the torque lateral controller to use the fixed values instead of the learned " +
+                             "values from Self-Tune. Enabling this toggle overrides Self-Tune values."),
+    )
+    self._torque_lat_accel_factor = option_item_sp(
+      title=lambda: tr("Lateral Acceleration Factor"),
+      param="TorqueParamsOverrideLatAccelFactor",
+      description="",
+      min_value=1,
+      max_value=500,
+      value_change_step=1,
+      label_callback=(lambda x: f"{x/100} m/s^2"),
+      use_float_scaling=True
+    )
+
+    self._torque_friction = option_item_sp(
+      title=lambda: tr("Friction"),
+      param="TorqueParamsOverrideFriction",
+      description="",
+      min_value=1,
+      max_value=100,
+      value_change_step=1,
+      label_callback=(lambda x: f"{x/100}"),
+      use_float_scaling=True
+    )
+
+    items = [
+      self._torque_control_versions,
+      self._self_tune_toggle,
+      self._relaxed_tune_toggle,
+      self._custom_tune_toggle,
+      self._torque_prams_override_toggle,
+      self._torque_lat_accel_factor,
+      self._torque_friction,
+    ]
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+    if not ui_state.params.get_bool("LiveTorqueParamsToggle"):
+      ui_state.params.remove("LiveTorqueParamsRelaxedToggle")
+      self._relaxed_tune_toggle.action_item.set_state(False)
+    self._self_tune_toggle.action_item.set_enabled(ui_state.is_offroad())
+    self._relaxed_tune_toggle.action_item.set_enabled(ui_state.is_offroad() and self._self_tune_toggle.action_item.get_state())
+    self._custom_tune_toggle.action_item.set_enabled(ui_state.is_offroad())
+    custom_tune_enabled = self._custom_tune_toggle.action_item.get_state()
+    self._torque_prams_override_toggle.set_visible(custom_tune_enabled)
+    self._torque_lat_accel_factor.set_visible(custom_tune_enabled)
+    self._torque_friction.set_visible(custom_tune_enabled)
+
+    self._torque_prams_override_toggle.action_item.set_enabled(ui_state.is_offroad())
+    sliders_enabled = self._torque_prams_override_toggle.action_item.get_state() or ui_state.is_offroad()
+    self._torque_lat_accel_factor.action_item.set_enabled(sliders_enabled)
+    self._torque_friction.action_item.set_enabled(sliders_enabled)
+
+    title_text = tr("Real-Time & Offline") if ui_state.params.get("TorqueParamsOverrideEnabled") else tr("Offline Only")
+    self._torque_lat_accel_factor.set_title(lambda: tr("Lateral Acceleration Factor") + " (" + title_text + ")")
+    self._torque_friction.set_title(lambda: tr("Friction") + " (" + title_text + ")")
+    self._torque_control_versions.action_item.set_value(self._get_current_torque_version_label())
+
+  def _render(self, rect):
+    self._back_button.set_position(self._rect.x, self._rect.y + 20)
+    self._back_button.render()
+    # subtract button
+    content_rect = rl.Rectangle(rect.x, rect.y + self._back_button.rect.height + 40, rect.width, rect.height - self._back_button.rect.height - 40)
+    self._scroller.render(content_rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+
+  def _get_current_torque_version_label(self):
+    current_val_bytes = ui_state.params.get("TorqueControlTune")
+    if current_val_bytes is None:
+      return tr("Default")
+
+    try:
+      current_val = float(current_val_bytes)
+      for label, info in self.cached_torque_versions.items():
+        if math.isclose(float(info["version"]), current_val, rel_tol=1e-5):
+          return label
+    except (ValueError, KeyError):
+      pass
+
+    return tr("Default")
+
+  def _show_torque_version_dialog(self):
+    options_map = {}
+    for label, info in self.cached_torque_versions.items():
+      try:
+        options_map[label] = float(info["version"])
+      except (ValueError, KeyError):
+        pass
+
+    # Sort options by label in descending order
+    sorted_labels = sorted(options_map.keys(), key=lambda k: options_map[k], reverse=True)
+
+    nodes = [TreeNode(tr("Default"))]
+    for label in sorted_labels:
+      nodes.append(TreeNode(label))
+
+    folders = [TreeFolder("", nodes)]
+
+    current_label = self._get_current_torque_version_label()
+
+    def handle_selection(result: int):
+      if result == DialogResult.CONFIRM and self._torque_version_dialog:
+        selected_ref = self._torque_version_dialog.selection_ref
+        if selected_ref == tr("Default"):
+          ui_state.params.remove("TorqueControlTune")
+        elif selected_ref in options_map:
+          ui_state.params.put("TorqueControlTune", options_map[selected_ref])
+      self._torque_version_dialog = None
+
+    self._torque_version_dialog = TreeOptionDialog(
+      tr("Select Torque Control Tune Version"),
+      folders,
+      current_ref=current_label,
+      option_font_weight=FontWeight.UNIFONT,
+      on_exit=handle_selection,
+    )
+    gui_app.push_widget(self._torque_version_dialog)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
new file mode 100644
index 0000000000..5edd2e5b89
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/sunnylink.py
@@ -0,0 +1,366 @@
+"""
+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.
+"""
+import pyray as rl
+from cereal import custom
+from openpilot.selfdrive.ui.sunnypilot.layouts.onboarding import SunnylinkConsentPage
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.list_view import dual_button_item
+from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
+from openpilot.system.version import sunnylink_consent_version
+
+
+class SunnylinkHeader(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title = UnifiedLabel(
+      text="🚀 sunnylink 🚀",
+      font_size=90,
+      font_weight=FontWeight.AUDIOWIDE,
+      text_color=rl.WHITE,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=False,
+      elide=False
+    )
+
+    self._description = UnifiedLabel(
+      text=tr("For secure backup, restore, and remote configuration"),
+      font_size=40,
+      font_weight=FontWeight.LIGHT,
+      text_color=rl.Color(0, 255, 0, 255),  # Green
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=True,
+      elide=False
+    )
+
+    self._sponsor_msg = UnifiedLabel(
+      text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
+           tr("Click the Sponsor button for more details"),
+      font_size=35,
+      font_weight=FontWeight.LIGHT,
+      text_color=rl.Color(255, 165, 0, 255),  # Orange
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=True,
+      elide=False
+    )
+
+    self._padding = 20
+    self._spacing = 10
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+
+    content_width = int(parent_rect.width - (self._padding * 2))
+
+    title_height = self._title.get_content_height(content_width)
+    desc_height = self._description.get_content_height(content_width)
+    sponsor_height = self._sponsor_msg.get_content_height(content_width)
+
+    total_height = (self._padding + title_height + self._spacing +
+                    desc_height + self._spacing + sponsor_height + self._padding)
+
+    self._rect.width = parent_rect.width
+    self._rect.height = total_height
+
+  def _render(self, rect: rl.Rectangle):
+    content_width = rect.width - (self._padding * 2)
+    current_y = rect.y + self._padding
+
+    # Render title
+    title_height = self._title.get_content_height(int(content_width))
+    title_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, title_height)
+    self._title.render(title_rect)
+    current_y += title_height + self._spacing
+
+    # Render description
+    desc_height = self._description.get_content_height(int(content_width))
+    desc_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, desc_height)
+    self._description.render(desc_rect)
+    current_y += desc_height + self._spacing
+
+    # Render sponsor message
+    sponsor_height = self._sponsor_msg.get_content_height(int(content_width))
+    sponsor_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, sponsor_height)
+    self._sponsor_msg.render(sponsor_rect)
+
+
+class SunnylinkDescriptionItem(Widget):
+  def __init__(self):
+    super().__init__()
+    self._description = UnifiedLabel(
+      text="",
+      font_size=40,
+      font_weight=FontWeight.LIGHT,
+      text_color=rl.WHITE,
+      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+      wrap_text=True,
+      elide=False,
+    )
+    self._padding = 20
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    desc_height = self._description.get_content_height(int(parent_rect.width)) + self._padding * 2
+
+    self._rect.width = parent_rect.width
+    self._rect.height = desc_height
+
+  def set_text(self, text: str):
+    self._description.set_text(text)
+
+  def set_color(self, color: rl.Color):
+    self._description.set_text_color(color)
+
+  def _render(self, rect: rl.Rectangle):
+    content_width = rect.width - (self._padding * 2)
+
+    desc_height = self._description.get_content_height(int(content_width))
+    desc_rect = rl.Rectangle(rect.x + self._padding, rect.y, content_width, desc_height)
+    self._description.render(desc_rect)
+
+
+class SunnylinkLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._sunnylink_pairing_dialog: SunnylinkPairingDialog | None = None
+    self._restore_in_progress = False
+    self._backup_in_progress = False
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=False, spacing=0)
+
+  def _initialize_items(self):
+    self._sunnylink_toggle = toggle_item_sp(
+      title=tr("Enable sunnylink"),
+      description=tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."),
+      param="SunnylinkEnabled",
+      callback=self._sunnylink_toggle_callback
+    )
+
+    self._sunnylink_description = SunnylinkDescriptionItem()
+    self._sunnylink_description.set_visible(False)
+
+    self._sponsor_btn = button_item_sp(
+      title=tr("Sponsor Status"),
+      button_text=tr("SPONSOR"),
+      description=tr(
+        "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
+      callback=lambda: self._handle_pair_btn(False)
+    )
+    self._pair_btn = button_item_sp(
+      title=tr("Pair GitHub Account"),
+      button_text=tr("Not Paired"),
+      description=tr(
+        "Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink."),
+      callback=lambda: self._handle_pair_btn(True)
+    )
+    self._sunnylink_uploader_toggle = toggle_item_sp(
+      title=tr("Enable sunnylink uploader (infrastructure test)"),
+      description=tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. ") +
+                  tr("(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"),
+      param="EnableSunnylinkUploader"
+    )
+    self._sunnylink_backup_restore_buttons = dual_button_item(
+      description="",
+      left_text=tr("Backup Settings"),
+      right_text=tr("Restore Settings"),
+      left_callback=self._handle_backup_btn,
+      right_callback=self._handle_restore_btn
+    )
+    self._backup_btn: Button = self._sunnylink_backup_restore_buttons.action_item.left_button  # store for easy individual access
+    self._restore_btn: Button = self._sunnylink_backup_restore_buttons.action_item.right_button
+    self._backup_btn.set_button_style(ButtonStyle.NORMAL)
+    self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
+
+    items = [
+      SunnylinkHeader(),
+      LineSeparator(),
+      self._sunnylink_toggle,
+      self._sunnylink_description,
+      LineSeparator(),
+      self._sponsor_btn,
+      LineSeparator(),
+      self._pair_btn,
+      LineSeparator(),
+      self._sunnylink_uploader_toggle,
+      LineSeparator(),
+      self._sunnylink_backup_restore_buttons
+    ]
+    return items
+
+  @staticmethod
+  def _get_sunnylink_dongle_id() -> str:
+    return ui_state.params.get("SunnylinkDongleId") or tr("N/A")
+
+  def _handle_pair_btn(self, sponsor_pairing: bool = False):
+    sunnylink_dongle_id = self._get_sunnylink_dongle_id()
+    if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
+      gui_app.push_widget(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
+                                                     tr("This may be due to weak internet connection or sunnylink registration issue. ") +
+                                                     tr("Please reboot and try again.")))
+    elif not self._sunnylink_pairing_dialog:
+      self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing)
+      gui_app.push_widget(self._sunnylink_pairing_dialog)
+
+  def _handle_backup_btn(self):
+    backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup",
+                                  callback=self._backup_handler)
+    gui_app.push_widget(backup_dialog)
+
+  def _handle_restore_btn(self):
+    self._restore_btn.set_enabled(False)
+    restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"),
+                                   confirm_text="Restore", callback=self._restore_handler)
+    gui_app.push_widget(restore_dialog)
+
+  def _backup_handler(self, dialog_result: int):
+    if dialog_result == DialogResult.CONFIRM:
+      self._backup_in_progress = True
+      self._backup_btn.set_enabled(False)
+      ui_state.params.put_bool("BackupManager_CreateBackup", True)
+
+  def _restore_handler(self, dialog_result: int):
+    if dialog_result == DialogResult.CONFIRM:
+      self._restore_in_progress = True
+      self._restore_btn.set_enabled(False)
+      ui_state.params.put("BackupManager_RestoreVersion", "latest")
+
+  def handle_backup_restore_progress(self):
+    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
+
+    backup_status = sunnylink_backup_manager.backupStatus
+    restore_status = sunnylink_backup_manager.restoreStatus
+    backup_progress = sunnylink_backup_manager.backupProgress
+    restore_progress = sunnylink_backup_manager.restoreProgress
+
+    if self._backup_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if backup_status == custom.BackupManagerSP.Status.inProgress:
+        self._backup_in_progress = True
+        text = tr(f"Backing up {backup_progress}%")
+        self._backup_btn.set_text(text)
+
+      elif backup_status == custom.BackupManagerSP.Status.failed:
+        self._backup_in_progress = False
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+        self._backup_btn.set_text(tr("Backup Failed"))
+
+      elif (backup_status == custom.BackupManagerSP.Status.completed or
+            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
+        self._backup_in_progress = False
+        dialog = alert_dialog(tr("Settings backup completed."))
+        gui_app.push_widget(dialog)
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+
+    elif self._restore_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if restore_status == custom.BackupManagerSP.Status.inProgress:
+        self._restore_in_progress = True
+        text = tr(f"Restoring {restore_progress}%")
+        self._restore_btn.set_text(text)
+
+      elif restore_status == custom.BackupManagerSP.Status.failed:
+        self._restore_in_progress = False
+        self._restore_btn.set_enabled(not ui_state.is_onroad())
+        self._restore_btn.set_text(tr("Restore Failed"))
+        dialog = alert_dialog(tr("Unable to restore the settings, try again later."))
+        gui_app.push_widget(dialog)
+
+      elif (restore_status == custom.BackupManagerSP.Status.completed or
+            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
+        self._restore_in_progress = False
+        dialog = ConfirmDialog(tr("Settings restored. Confirm to restart the interface."), tr("OK"), cancel_text="", callback=lambda _: gui_app.request_close())
+        gui_app.push_widget(dialog)
+
+    else:
+      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
+      self._backup_btn.set_enabled(can_enable)
+      self._backup_btn.set_text(tr("Backup Settings"))
+      self._restore_btn.set_enabled(can_enable)
+      self._restore_btn.set_text(tr("Restore Settings"))
+
+  def _sunnylink_toggle_callback(self, state: bool):
+    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
+    sl_enabled: bool = ui_state.params.get_bool("SunnylinkEnabled")
+
+    if state and not sl_consent and not sl_enabled:
+      def on_consent_done():
+        enabled = ui_state.params.get_bool("SunnylinkEnabled")
+        self._update_description(enabled)
+        gui_app.pop_widget()
+
+      sl_terms_dlg = SunnylinkConsentPage(done_callback=on_consent_done)
+      gui_app.push_widget(sl_terms_dlg)
+    else:
+      ui_state.params.put_bool("SunnylinkEnabled", state)
+      self._update_description(state)
+
+  def _update_description(self, state: bool):
+    if state:
+      description = tr(
+        "Welcome back!! We're excited to see you've enabled sunnylink again!")
+      color = rl.Color(0, 255, 0, 255)  # Green
+    else:
+      description = ("😢 " + tr("Not going to lie, it's sad to see you disabled sunnylink") +
+                     tr(", but we'll be here when you're ready to come back."))
+      color = rl.Color(255, 165, 0, 255)  # Orange
+    self._sunnylink_description.set_text(description)
+    self._sunnylink_description.set_color(color)
+    self._sunnylink_description.set_visible(True)
+    self._sunnylink_toggle.show_description(False)
+
+  def _update_state(self):
+    super()._update_state()
+    self._sunnylink_enabled = ui_state.params.get_bool("SunnylinkEnabled")
+    self._sunnylink_toggle.set_right_value(tr("Dongle ID") + ": " + self._get_sunnylink_dongle_id())
+    self._sunnylink_toggle.action_item.set_enabled(not ui_state.is_onroad())
+    self._sunnylink_toggle.action_item.set_state(self._sunnylink_enabled)
+    self._sunnylink_uploader_toggle.action_item.set_enabled(self._sunnylink_enabled)
+    self.handle_backup_restore_progress()
+
+    sponsor_btn_text = tr("THANKS ♥") if ui_state.sunnylink_state.is_sponsor() else tr("SPONSOR")
+    tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor")
+    self._sponsor_btn.action_item.set_text(sponsor_btn_text)
+    self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color())
+    self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled)
+
+    pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired")
+    self._pair_btn.action_item.set_text(pair_btn_text)
+    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    super().show_event()
+    ui_state.sunnylink_state.set_settings_open(True)
+    self._scroller.show_event()
+    self._sunnylink_description.set_visible(False)
+
+  def hide_event(self):
+    super().hide_event()
+    ui_state.sunnylink_state.set_settings_open(False)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/trips.py b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
new file mode 100644
index 0000000000..da9eb42d29
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/trips.py
@@ -0,0 +1,149 @@
+"""
+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.
+"""
+import requests
+import threading
+import time
+import pyray as rl
+
+from openpilot.common.api import api_get
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class TripsLayout(Widget):
+  PARAM_KEY = "ApiCache_DriveStats"
+  UPDATE_INTERVAL = 30  # seconds
+
+  def __init__(self):
+    super().__init__()
+    self._params = Params()
+    self._session = requests.Session()
+    self._stats = self._get_stats()
+
+    self._icon_distance = gui_app.texture("icons/road.png", 100, 100, keep_aspect_ratio=True)
+    self._icon_drives = gui_app.texture("icons_mici/wheel.png", 80, 80, keep_aspect_ratio=True)
+    self._icon_hours = gui_app.texture("../../sunnypilot/selfdrive/assets/icons/clock.png", 80, 80, keep_aspect_ratio=True)
+
+    self._running = True
+    self._update_thread = threading.Thread(target=self._update_loop, daemon=True)
+    self._update_thread.start()
+
+  def __del__(self):
+    self._running = False
+    try:
+      if self._update_thread and self._update_thread.is_alive():
+        self._update_thread.join(timeout=1.0)
+    except Exception:
+      pass
+
+  def _get_stats(self):
+    stats = self._params.get(self.PARAM_KEY)
+    if not stats:
+      return {}
+    try:
+      return stats
+    except Exception:
+      cloudlog.exception(f"Failed to decode drive stats: {stats}")
+      return {}
+
+  def _fetch_drive_stats(self):
+    try:
+      dongle_id = self._params.get("DongleId")
+      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
+        return
+      identity_token = get_token(dongle_id)
+      response = api_get(f"v1.1/devices/{dongle_id}/stats", access_token=identity_token, session=self._session)
+      if response.status_code == 200:
+        data = response.json()
+        self._stats = data
+        self._params.put(self.PARAM_KEY, data)
+    except Exception as e:
+      cloudlog.error(f"Failed to fetch drive stats: {e}")
+
+  def _update_loop(self):
+    while self._running:
+      if not ui_state.started and device._awake:
+        self._fetch_drive_stats()
+      time.sleep(self.UPDATE_INTERVAL)
+
+  def _render_stat_group(self, x, y, width, height, title, data, is_metric):
+    # Card Background
+    rl.draw_rectangle_rounded(rl.Rectangle(x, y, width, height), 0.05, 10, rl.Color(30, 30, 30, 255))
+
+    # Title
+    title_font = gui_app.font(FontWeight.BOLD)
+    rl.draw_text_ex(title_font, title, rl.Vector2(x + 60, y + 30), 50 * FONT_SCALE, 0, rl.Color(200, 200, 200, 255))
+
+    # Internal content area
+    # Center the content block (Icon + Value + Unit) vertically
+    content_y = y + (height / 2) - (140 * FONT_SCALE)
+    col_width = width / 3
+
+    # Values
+    number_font = gui_app.font(FontWeight.BOLD)
+    unit_font = gui_app.font(FontWeight.LIGHT)
+    number_base_size = 92
+    unit_base_size = 55
+    number_size = number_base_size * FONT_SCALE
+    unit_size = unit_base_size * FONT_SCALE
+    color_unit = rl.Color(160, 160, 160, 255)
+
+    routes = int(data.get("routes", 0))
+    distance = data.get("distance", 0)
+    distance_str = str(int(distance * CV.MPH_TO_KPH)) if is_metric else str(int(distance))
+    hours = int(data.get("minutes", 0) / 60)
+
+    dist_unit = tr("KM") if is_metric else tr("Miles")
+
+    def draw_col(col_idx, icon, value, unit):
+      col_x = x + (col_width * col_idx)
+      center_x = col_x + (col_width / 2)
+
+      # Icon
+      icon_x = int(center_x - (icon.width / 2))
+      icon_y = int(content_y + 60)
+      rl.draw_texture(icon, icon_x, icon_y, rl.WHITE)
+
+      # Value
+      val_size = measure_text_cached(number_font, value, number_base_size)
+      rl.draw_text_ex(number_font, value, rl.Vector2(center_x - val_size.x / 1.65, content_y + 145 * FONT_SCALE), number_size, 0, rl.WHITE)
+
+      # Unit
+      unit_size_vec = measure_text_cached(unit_font, unit, unit_base_size)
+      rl.draw_text_ex(unit_font, unit, rl.Vector2(center_x - unit_size_vec.x / 1.65, content_y + 255 * FONT_SCALE), unit_size, 0, color_unit)
+
+    draw_col(0, self._icon_drives, str(routes), tr("Drives"))
+    draw_col(1, self._icon_distance, distance_str, dist_unit)
+    draw_col(2, self._icon_hours, str(hours), tr("Hours"))
+
+    return y + height
+
+  def _render(self, rect: rl.Rectangle):
+    x = rect.x
+    y = rect.y
+    w = rect.width
+
+    spacing = 30
+    available_h = rect.height - 30
+    card_height = available_h / 2
+
+    is_metric = self._params.get_bool("IsMetric")
+
+    all_time = self._stats.get("all", {})
+    week = self._stats.get("week", {})
+
+    y = self._render_stat_group(x, y, w, card_height, tr("ALL TIME"), all_time, is_metric)
+    y += spacing
+    y = self._render_stat_group(x, y, w, card_height, tr("PAST WEEK"), week, is_metric)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
new file mode 100644
index 0000000000..d8fdd61e72
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/__init__.py
@@ -0,0 +1,67 @@
+"""
+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.
+"""
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.list_view import ButtonAction
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.factory import BrandSettingsFactory
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.platform_selector import PlatformSelector, LegendWidget
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP
+
+
+class VehicleLayout(Widget):
+  def __init__(self):
+    super().__init__()
+    self._brand_settings = None
+    self._brand_items = []
+    self._current_brand = None
+    self._platform_selector = PlatformSelector(self._update_brand_settings)
+
+    self._vehicle_item = ListItemSP(title=self._platform_selector.text, action_item=ButtonAction(text=tr("SELECT")),
+                                    callback=self._platform_selector._on_clicked)
+    self._vehicle_item.title_color = self._platform_selector.color
+    self._legend_widget = LegendWidget(self._platform_selector)
+
+    self.items = [self._vehicle_item, self._legend_widget]
+    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  @staticmethod
+  def get_brand():
+    if bundle := ui_state.params.get("CarPlatformBundle"):
+      return bundle.get("brand", "")
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
+      return ui_state.CP.brand
+    return ""
+
+  def _update_brand_settings(self):
+    self._vehicle_item._title = self._platform_selector.text
+    self._vehicle_item.title_color = self._platform_selector.color
+    vehicle_text = tr("REMOVE") if ui_state.params.get("CarPlatformBundle") else tr("SELECT")
+    self._vehicle_item.action_item.set_text(vehicle_text)
+
+    brand = self.get_brand()
+    if brand != self._current_brand:
+      self._current_brand = brand
+      self._brand_settings = BrandSettingsFactory.create_brand_settings(brand)
+      self._brand_items = self._brand_settings.items if self._brand_settings else []
+
+      self.items = [self._vehicle_item, self._legend_widget] + self._brand_items
+      self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+
+  def _update_state(self):
+    self._update_brand_settings()
+    if self._brand_settings:
+      self._brand_settings.update_settings()
+    self._platform_selector.refresh()
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
new file mode 100644
index 0000000000..8d83fdf916
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/base.py
@@ -0,0 +1,16 @@
+"""
+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.
+"""
+import abc
+
+
+class BrandSettings(abc.ABC):
+  def __init__(self):
+    self.items = []
+
+  @abc.abstractmethod
+  def update_settings(self) -> None:
+    """Update the settings based on the current vehicle brand."""
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
new file mode 100644
index 0000000000..d1c9ea5d64
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/body.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class BodySettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
new file mode 100644
index 0000000000..ad62dba56f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/chrysler.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class ChryslerSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
new file mode 100644
index 0000000000..678732296f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/factory.py
@@ -0,0 +1,45 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.body import BodySettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.chrysler import ChryslerSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.ford import FordSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.gm import GMSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.honda import HondaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.hyundai import HyundaiSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.mazda import MazdaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.nissan import NissanSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.psa import PSASettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.rivian import RivianSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.subaru import SubaruSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.tesla import TeslaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.toyota import ToyotaSettings
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.volkswagen import VolkswagenSettings
+
+
+class BrandSettingsFactory:
+  _BRAND_MAP: dict[str, type[BrandSettings]] = {
+    "body": BodySettings,
+    "chrysler": ChryslerSettings,
+    "ford": FordSettings,
+    "gm": GMSettings,
+    "honda": HondaSettings,
+    "hyundai": HyundaiSettings,
+    "mazda": MazdaSettings,
+    "nissan": NissanSettings,
+    "psa": PSASettings,
+    "rivian": RivianSettings,
+    "subaru": SubaruSettings,
+    "tesla": TeslaSettings,
+    "toyota": ToyotaSettings,
+    "volkswagen": VolkswagenSettings,
+  }
+
+  @staticmethod
+  def create_brand_settings(brand: str) -> BrandSettings | None:
+    cls = BrandSettingsFactory._BRAND_MAP.get(brand)
+    return cls() if cls is not None else None
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
new file mode 100644
index 0000000000..8871087e03
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/ford.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class FordSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
new file mode 100644
index 0000000000..edcd17cdb8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/gm.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class GMSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
new file mode 100644
index 0000000000..fec68795a6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/honda.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class HondaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
new file mode 100644
index 0000000000..351dacbbc2
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py
@@ -0,0 +1,59 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
+from opendbc.car.hyundai.values import CAR, CANFD_UNSUPPORTED_LONGITUDINAL_CAR, UNSUPPORTED_LONGITUDINAL_CAR
+
+
+class HyundaiSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+    self.alpha_long_available = False
+
+    tuning_texts = [tr("Off"), tr("Dynamic"), tr("Predictive")]
+    self.longitudinal_tuning_item = multiple_button_item_sp(tr("Custom Longitudinal Tuning"), "", tuning_texts,
+                                                            button_width=300, callback=self._on_tuning_selected,
+                                                            param="HyundaiLongitudinalTuning", inline=False)
+    self.items = [self.longitudinal_tuning_item]
+
+  @staticmethod
+  def _on_tuning_selected(index):
+    ui_state.params.put("HyundaiLongitudinalTuning", index)
+
+  def update_settings(self):
+    self.alpha_long_available = False
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      platform = bundle.get("platform")
+      self.alpha_long_available = CAR[platform] not in (UNSUPPORTED_LONGITUDINAL_CAR | CANFD_UNSUPPORTED_LONGITUDINAL_CAR)
+    elif ui_state.CP is not None:
+      self.alpha_long_available = ui_state.CP.alphaLongitudinalAvailable
+
+    tuning_param = int(ui_state.params.get("HyundaiLongitudinalTuning") or "0")
+    long_enabled = ui_state.has_longitudinal_control
+
+    long_tuning_descs = [
+      tr("Your vehicle will use the Default longitudinal tuning."),
+      tr("Your vehicle will use the Dynamic longitudinal tuning."),
+      tr("Your vehicle will use the Predictive longitudinal tuning."),
+    ]
+    long_tuning_desc = long_tuning_descs[tuning_param] if tuning_param < len(long_tuning_descs) else long_tuning_descs[0]
+
+    longitudinal_tuning_disabled = not ui_state.is_offroad() or not long_enabled
+    if longitudinal_tuning_disabled:
+      if not ui_state.is_offroad():
+        long_tuning_desc = tr("This feature is unavailable while the car is onroad.")
+      elif not long_enabled:
+        long_tuning_desc = tr("This feature is unavailable because sunnypilot Longitudinal Control (Alpha) is not enabled.")
+
+    self.longitudinal_tuning_item.action_item.set_enabled(not longitudinal_tuning_disabled)
+    self.longitudinal_tuning_item.set_description(long_tuning_desc)
+    self.longitudinal_tuning_item.show_description(True)
+    self.longitudinal_tuning_item.action_item.set_selected_button(tuning_param)
+    self.longitudinal_tuning_item.set_visible(self.alpha_long_available)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
new file mode 100644
index 0000000000..d354f0f34b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/mazda.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class MazdaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
new file mode 100644
index 0000000000..7b3446a1a7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/nissan.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class NissanSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
new file mode 100644
index 0000000000..6b767d332a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/psa.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class PSASettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
new file mode 100644
index 0000000000..876aa2d2ea
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/rivian.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class RivianSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
new file mode 100644
index 0000000000..5ef53a0e43
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/subaru.py
@@ -0,0 +1,54 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from opendbc.car.subaru.values import CAR, SubaruFlags
+
+
+class SubaruSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+    self.has_stop_and_go = False
+
+    self.stop_and_go_toggle = toggle_item_sp(tr("Stop and Go (Beta)"), "", param="SubaruStopAndGo", callback=self._on_toggle_changed)
+
+    self.stop_and_go_manual_parking_brake_toggle = toggle_item_sp(tr("Stop and Go for Manual Parking Brake (Beta)"), "",
+                                                                  param="SubaruStopAndGoManualParkingBrake", callback=self._on_toggle_changed)
+
+    self.items = [self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle]
+
+  def _on_toggle_changed(self, _):
+    self.update_settings()
+
+  def stop_and_go_disabled_msg(self):
+    if not self.has_stop_and_go:
+      return tr("This feature is currently not available on this platform.")
+    elif not ui_state.is_offroad():
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
+    return ""
+
+  def update_settings(self):
+    bundle = ui_state.params.get("CarPlatformBundle")
+    if bundle:
+      platform = bundle.get("platform")
+      config = CAR[platform].config
+      self.has_stop_and_go = not (config.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+    elif ui_state.CP is not None:
+      self.has_stop_and_go = not (ui_state.CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+
+    disabled_msg = self.stop_and_go_disabled_msg()
+    descriptions = [
+      tr("Experimental feature to enable auto-resume during stop-and-go for certain supported Subaru platforms."),
+      tr("Experimental feature to enable stop and go for Subaru Global models with manual handbrake. " +
+         "Models with electric parking brake should keep this disabled. Thanks to martinl for this implementation!")
+    ]
+
+    for toggle, desc in zip([self.stop_and_go_toggle, self.stop_and_go_manual_parking_brake_toggle], descriptions, strict=True):
+      toggle.action_item.set_enabled(self.has_stop_and_go and ui_state.is_offroad())
+      toggle.set_description(f"<b>{disabled_msg}</b><br><br>{desc}" if disabled_msg else desc)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
new file mode 100644
index 0000000000..46d536c651
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/tesla.py
@@ -0,0 +1,43 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+COOP_STEERING_MIN_KMH = 23
+OEM_STEERING_MIN_KMH = 48
+KM_TO_MILE = 0.621371
+
+
+class TeslaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+    self.coop_steering_toggle = toggle_item_sp(tr("Cooperative Steering (Beta)"), "", param="TeslaCoopSteering")
+    self.items = [self.coop_steering_toggle]
+
+  def update_settings(self):
+    is_metric = ui_state.is_metric
+    unit = "km/h" if is_metric else "mph"
+
+    display_value_coop = COOP_STEERING_MIN_KMH if is_metric else round(COOP_STEERING_MIN_KMH * KM_TO_MILE)
+    display_value_oem = OEM_STEERING_MIN_KMH if is_metric else round(OEM_STEERING_MIN_KMH * KM_TO_MILE)
+
+    coop_steering_disabled_msg = tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle.")
+    coop_steering_warning = tr(f"Warning: May experience steering oscillations below {display_value_oem} {unit} during turns, " +
+                               "recommend disabling this feature if you experience these.")
+    coop_steering_desc = (
+      f"<b>{coop_steering_warning}</b><br><br>" +
+      f"{tr('Allows the driver to provide limited steering input while openpilot is engaged.')}<br>" +
+      f"{tr(f'Only works above {display_value_coop} {unit}.')}"
+    )
+
+    if not ui_state.is_offroad():
+      coop_steering_desc = f"<b>{coop_steering_disabled_msg}</b><br><br>{coop_steering_desc}"
+
+    self.coop_steering_toggle.set_description(coop_steering_desc)
+    self.coop_steering_toggle.action_item.set_enabled(ui_state.is_offroad())
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
new file mode 100644
index 0000000000..5a696466b1
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/toyota.py
@@ -0,0 +1,121 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+
+
+ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+SNG_HACK_UNAVAILABLE = tr_noop("sunnypilot Longitudinal Control must be available and enabled for your vehicle to use this feature.")
+
+DESCRIPTIONS = {
+  'enforce_stock_longitudinal': tr_noop(
+    'sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used.'
+  ),
+  'stop_and_go_hack': tr_noop(
+    'sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. ' +
+    'This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk.'
+  )
+}
+
+
+class ToyotaSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+    self.enforce_stock_longitudinal = toggle_item_sp(
+      lambda: tr("Enforce Factory Longitudinal Control"),
+      description=lambda: tr(DESCRIPTIONS["enforce_stock_longitudinal"]),
+      initial_state=ui_state.params.get_bool("ToyotaEnforceStockLongitudinal"),
+      callback=self._on_enable_enforce_stock_longitudinal,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.stop_and_go_hack = toggle_item_sp(
+      lambda: tr("Stop and Go Hack (Alpha)"),
+      description=lambda: tr(DESCRIPTIONS["stop_and_go_hack"]),
+      initial_state=ui_state.params.get_bool("ToyotaStopAndGoHack"),
+      callback=self._on_enable_stop_and_go_hack,
+      enabled=lambda: not ui_state.engaged,
+    )
+
+    self.items = [
+      self.enforce_stock_longitudinal,
+      self.stop_and_go_hack,
+    ]
+
+  def _on_enable_enforce_stock_longitudinal(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", True)
+          if ui_state.params.get_bool("AlphaLongitudinalEnabled"):
+            ui_state.params.put_bool("AlphaLongitudinalEnabled", False)
+          ui_state.params.put_bool("ToyotaStopAndGoHack", False)
+          self.stop_and_go_hack.action_item.set_state(False)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.enforce_stock_longitudinal.action_item.set_state(False)
+
+      content = (f"<h1>{self.enforce_stock_longitudinal.title}</h1><br>" +
+                 f"<p>{self.enforce_stock_longitudinal.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaEnforceStockLongitudinal", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
+  def _on_enable_stop_and_go_hack(self, state: bool):
+    if state:
+      def confirm_callback(result: int):
+        if result == DialogResult.CONFIRM:
+          ui_state.params.put_bool("ToyotaStopAndGoHack", True)
+          ui_state.params.put_bool("OnroadCycleRequested", True)
+        else:
+          self.stop_and_go_hack.action_item.set_state(False)
+
+      content = (f"<h1>{self.stop_and_go_hack.title}</h1><br>" +
+                 f"<p>{self.stop_and_go_hack.description}</p>")
+
+      dlg = ConfirmDialog(content, tr("Enable"), rich=True, callback=confirm_callback)
+      gui_app.push_widget(dlg)
+
+    else:
+      ui_state.params.put_bool("ToyotaStopAndGoHack", False)
+      ui_state.params.put_bool("OnroadCycleRequested", True)
+
+  def update_settings(self):
+    if ui_state.CP is not None:
+      longitudinal = ui_state.CP.openpilotLongitudinalControl
+      enforce_stock = self.enforce_stock_longitudinal.action_item.get_state()
+
+      if longitudinal and not enforce_stock:
+        self.stop_and_go_hack.action_item.set_enabled(not ui_state.engaged)
+        new_desc = tr(DESCRIPTIONS["stop_and_go_hack"])
+        show_desc = False
+      else:
+        self.stop_and_go_hack.action_item.set_enabled(False)
+        self.stop_and_go_hack.action_item.set_state(False)
+        new_desc = "<b>" + tr(SNG_HACK_UNAVAILABLE) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
+        show_desc = True
+
+      if self.stop_and_go_hack.description != new_desc:
+        self.stop_and_go_hack.set_description(new_desc)
+        if show_desc:
+          self.stop_and_go_hack.show_description(True)
+    else:
+      self.stop_and_go_hack.action_item.set_enabled(False)
+      new_desc = "<b>" + tr(ONROAD_ONLY_DESCRIPTION) + "</b>\n\n" + tr(DESCRIPTIONS["stop_and_go_hack"])
+      if self.stop_and_go_hack.description != new_desc:
+        self.stop_and_go_hack.set_description(new_desc)
+        self.stop_and_go_hack.show_description(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
new file mode 100644
index 0000000000..a6d44c5e4d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
@@ -0,0 +1,15 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle.brands.base import BrandSettings
+
+
+class VolkswagenSettings(BrandSettings):
+  def __init__(self):
+    super().__init__()
+
+  def update_settings(self):
+    pass
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
new file mode 100644
index 0000000000..6102e8e9b7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/vehicle/platform_selector.py
@@ -0,0 +1,137 @@
+"""
+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.
+"""
+import json
+import os
+import pyray as rl
+from collections.abc import Callable
+from functools import partial
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
+
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+
+
+class LegendWidget(Widget):
+  def __init__(self, platform_selector):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 0, 350))
+    self._platform_selector = platform_selector
+    self._font = gui_app.font(FontWeight.NORMAL)
+    self._bold_font = gui_app.font(FontWeight.BOLD)
+
+  def _render(self, rect):
+    x = rect.x + 20
+    y = rect.y + 20
+    rl.draw_text_ex(self._font, tr("Select vehicle to force fingerprint manually."), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR)
+    y += 80
+    rl.draw_text_ex(self._font, tr("Colors represent vehicle fingerprint status:"), rl.Vector2(x, y), 40, 0, style.ITEM_DESC_TEXT_COLOR)
+    y += 80
+
+    items = [
+      (style.GREEN, tr("Fingerprinted automatically")),
+      (style.BLUE, tr("Manually selected fingerprint")),
+      (style.YELLOW, tr("Not fingerprinted or manually selected")),
+    ]
+    for color, text in items:
+      p_color = self._platform_selector.color
+      is_active = p_color.r == color.r and p_color.g == color.g and p_color.b == color.b and p_color.a == color.a
+      rl.draw_rectangle(int(x), int(y + 5), 30, 30, color)
+      font = self._bold_font if is_active else self._font
+      text_color = rl.WHITE if is_active else style.ITEM_DESC_TEXT_COLOR
+      rl.draw_text_ex(font, f"- {text}", rl.Vector2(x + 50, y - 7), 40, 0, text_color)
+      y += 50
+
+
+class PlatformSelector(Button):
+  def __init__(self, on_platform_change: Callable[[], None] | None = None):
+    super().__init__(tr("Vehicle"), self._on_clicked, button_style=ButtonStyle.NORMAL)
+    self.set_rect(rl.Rectangle(0, 0, 0, 120))
+
+    with open(CAR_LIST_JSON_OUT) as car_list_json:
+      self._platforms = json.load(car_list_json)
+
+    self._on_platform_change = on_platform_change
+    self.refresh()
+
+  @property
+  def text(self):
+    return self._label._text
+
+  def set_parent_rect(self, parent_rect):
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _on_clicked(self):
+    if ui_state.params.get("CarPlatformBundle"):
+      ui_state.params.remove("CarPlatformBundle")
+      self.refresh()
+      if self._on_platform_change:
+        self._on_platform_change()
+    else:
+      self._show_platform_dialog()
+
+  def _set_platform(self, platform_name):
+    if data := self._platforms.get(platform_name):
+      ui_state.params.put("CarPlatformBundle", {**data, "name": platform_name})
+      self.refresh()
+      if self._on_platform_change:
+        self._on_platform_change()
+
+  def _on_platform_selected(self, dialog, res):
+    if res == DialogResult.CONFIRM and dialog.selection_ref:
+      offroad_msg = tr("This setting will take effect immediately.") if ui_state.is_offroad else \
+                    tr("This setting will take effect once the device enters offroad state.")
+
+      callback = partial(self._confirm_platform, dialog.selection_ref)
+      confirm_dialog = ConfirmDialog(offroad_msg, tr("Confirm"), callback=callback)
+      gui_app.push_widget(confirm_dialog)
+
+  def _confirm_platform(self, platform_name, res):
+    if res == DialogResult.CONFIRM:
+      self._set_platform(platform_name)
+
+  def _show_platform_dialog(self):
+    platforms = sorted(self._platforms.keys())
+    makes = sorted({self._platforms[p].get('make') for p in platforms})
+    folders = [TreeFolder(make, [TreeNode(p, {
+      'display_name': p,
+      'search_tags': f"{p} {self._platforms[p].get('make')} {' '.join(map(str, self._platforms[p].get('year', [])))} {self._platforms[p].get('model', p)}"
+    }) for p in platforms if self._platforms[p].get('make') == make]) for make in makes]
+    dialog = TreeOptionDialog(
+      tr("Select a vehicle"),
+      folders,
+      search_title=tr("Search your vehicle"),
+      search_subtitle=tr("Enter model year (e.g., 2021) and model (Toyota Corolla):"),
+      search_funcs=[lambda node: node.data.get('display_name', ''), lambda node: node.data.get('search_tags', '')]
+    )
+    callback = partial(self._on_platform_selected, dialog)
+    dialog.on_exit = callback
+    gui_app.push_widget(dialog)
+
+  def refresh(self):
+    self.color = style.YELLOW
+    self._platform = tr("Unrecognized Vehicle")
+    self.set_text(tr("No vehicle selected"))
+
+    if bundle := ui_state.params.get("CarPlatformBundle"):
+      self._platform = bundle.get("name", "")
+      self.set_text(self._platform)
+      self.color = style.BLUE
+    elif ui_state.CP is not None and ui_state.CP.carFingerprint != "MOCK":
+      self._platform = ui_state.CP.carFingerprint
+      self.set_text(self._platform)
+      self.color = style.GREEN
+    self.set_enabled(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/settings/visuals.py b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
new file mode 100644
index 0000000000..84be5a26ab
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
@@ -0,0 +1,154 @@
+"""
+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.
+"""
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, multiple_button_item_sp
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget
+
+CHEVRON_INFO_DESCRIPTION = {
+  "enabled": tr_noop("Display useful metrics below the chevron that tracks the lead car " +
+                     "only applicable to cars with sunnypilot longitudinal control."),
+  "disabled": tr_noop("This feature requires sunnypilot longitudinal control to be available.")
+}
+
+
+class VisualsLayout(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+  def _initialize_items(self):
+    self._toggle_defs = {
+      "BlindSpot": (
+        lambda: tr("Show Blind Spot Warnings"),
+        tr("Enabling this will display warnings when a vehicle is detected in your " +
+           "blind spot as long as your car has BSM supported."),
+        None,
+      ),
+      "TorqueBar": (
+        lambda: tr("Steering Arc"),
+        tr("Display steering arc on the driving screen when lateral control is enabled."),
+        None,
+      ),
+      "RainbowMode": (
+        lambda: tr("Enable Tesla Rainbow Mode"),
+        tr("A beautiful rainbow effect on the path the model wants to take. " +
+           "It does not affect driving in any way."),
+        None,
+      ),
+      "StandstillTimer": (
+        lambda: tr("Enable Standstill Timer"),
+        tr("Show a timer on the HUD when the car is at a standstill."),
+        None,
+      ),
+      "RoadNameToggle": (
+        lambda: tr("Display Road Name"),
+        tr("Displays the name of the road the car is traveling on." +
+           "<br>The OpenStreetMap database of the location must be downloaded from " +
+           "the OSM panel to fetch the road name."),
+        None,
+      ),
+      "GreenLightAlert": (
+        lambda: tr("Green Traffic Light Alert (Beta)"),
+        tr("A chime and on-screen alert will play when the traffic light you are waiting for " +
+           "turns green and you have no vehicle in front of you." +
+           "<br>Note: This chime is only designed as a notification. " +
+           "It is the driver's responsibility to observe their environment and make decisions accordingly."),
+        None,
+      ),
+      "LeadDepartAlert": (
+        lambda: tr("Lead Departure Alert (Beta)"),
+        tr("A chime and on-screen alert will play when you are stopped, and the vehicle in front of you start moving." +
+           "<br>Note: This chime is only designed as a notification. " +
+           "It is the driver's responsibility to observe their environment and make decisions accordingly."),
+        None,
+      ),
+      "TrueVEgoUI": (
+        lambda: tr("Speedometer: Always Display True Speed"),
+        tr("For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."),
+        None,
+      ),
+      "HideVEgoUI": (
+        lambda: tr("Speedometer: Hide from Onroad Screen"),
+        tr("When enabled, the speedometer on the onroad screen is not displayed."),
+        None,
+      ),
+      "ShowTurnSignals": (
+        lambda: tr("Display Turn Signals"),
+        tr("When enabled, visual turn indicators are drawn on the HUD."),
+        None,
+      ),
+      "RocketFuel": (
+        lambda: tr("Real-time Acceleration Bar"),
+        tr("Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. " +
+           "This displays what the car is currently doing, not what the planner is requesting."),
+        None,
+      ),
+    }
+    self._toggles = {}
+    for param, (title, desc, callback) in self._toggle_defs.items():
+      toggle = toggle_item_sp(
+        title=title,
+        description=desc,
+        param=param,
+        initial_state=ui_state.params.get_bool(param),
+        callback=callback,
+      )
+      self._toggles[param] = toggle
+
+    self._chevron_info = multiple_button_item_sp(
+      title=lambda: tr("Display Metrics Below Chevron"),
+      description="",
+      buttons=[lambda: tr("Off"), lambda: tr("Distance"), lambda: tr("Speed"), lambda: tr("Time"), lambda: tr("All")],
+      param="ChevronInfo",
+      inline=False
+    )
+    self._dev_ui_info = multiple_button_item_sp(
+      title=lambda: tr("Developer UI"),
+      description=lambda: tr("Display real-time parameters and metrics from various sources."),
+      buttons=[lambda: tr("Off"), lambda: tr("Bottom"), lambda: tr("Right"), lambda: tr("Right & Bottom")],
+      param="DevUIInfo",
+      button_width=350,
+      inline=False
+    )
+
+    items = list(self._toggles.values()) + [
+      self._chevron_info,
+      self._dev_ui_info,
+    ]
+    return items
+
+  def _update_state(self):
+    super()._update_state()
+
+    for param in self._toggle_defs:
+      self._toggles[param].action_item.set_state(self._params.get_bool(param))
+
+    self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True))
+
+    if ui_state.has_longitudinal_control:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"]))
+      self._chevron_info.action_item.set_selected_button(ui_state.params.get("ChevronInfo", return_default=True))
+      self._chevron_info.action_item.set_enabled(True)
+    else:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"]))
+      self._chevron_info.action_item.set_enabled(False)
+      ui_state.params.put("ChevronInfo", 0)
+
+  def _render(self, rect):
+    self._scroller.render(rect)
+
+  def show_event(self):
+    self._scroller.show_event()
+    if not ui_state.has_longitudinal_control:
+      self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["disabled"]))
+      self._chevron_info.show_description(True)
diff --git a/selfdrive/ui/sunnypilot/layouts/sidebar.py b/selfdrive/ui/sunnypilot/layouts/sidebar.py
new file mode 100644
index 0000000000..79bb15dbb8
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/layouts/sidebar.py
@@ -0,0 +1,87 @@
+"""
+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.
+"""
+import pyray as rl
+import time
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.multilang import tr_noop
+
+
+PING_TIMEOUT_NS = 80_000_000_000  # 80 seconds in nanoseconds
+METRIC_HEIGHT = 126
+METRIC_MARGIN = 30
+METRIC_START_Y = 300
+HOME_BTN = rl.Rectangle(60, 860, 180, 180)
+
+
+# Color scheme
+class Colors:
+  WHITE = rl.WHITE
+  WHITE_DIM = rl.Color(255, 255, 255, 85)
+  GRAY = rl.Color(84, 84, 84, 255)
+
+  # Status colors
+  GOOD = rl.WHITE
+  WARNING = rl.Color(218, 202, 37, 255)
+  DANGER = rl.Color(201, 34, 49, 255)
+  PROGRESS = rl.Color(0, 134, 233, 255)
+  DISABLED = rl.Color(128, 128, 128, 255)
+
+  # UI elements
+  METRIC_BORDER = rl.Color(255, 255, 255, 85)
+  BUTTON_NORMAL = rl.WHITE
+  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
+
+
+@dataclass(slots=True)
+class MetricData:
+  label: str
+  value: str
+  color: rl.Color
+
+  def update(self, label: str, value: str, color: rl.Color):
+    self.label = label
+    self.value = value
+    self.color = color
+
+
+class SidebarSP:
+  def __init__(self):
+    self._sunnylink_status = MetricData(tr_noop("SUNNYLINK"), tr_noop("OFFLINE"), Colors.WARNING)
+
+  def _update_sunnylink_status(self):
+    if not ui_state.params.get_bool("SunnylinkEnabled"):
+      self._sunnylink_status.update(tr_noop("SUNNYLINK"), tr_noop("DISABLED"), Colors.DISABLED)
+      return
+
+    last_ping = ui_state.params.get("LastSunnylinkPingTime") or 0
+    dongle_id = ui_state.params.get("SunnylinkDongleId")
+
+    is_online = last_ping and (time.monotonic_ns() - last_ping) < PING_TIMEOUT_NS
+    is_temp_fault = ui_state.params.get_bool("SunnylinkTempFault")
+    is_registering = not is_temp_fault and dongle_id in (None, "", UNREGISTERED_SUNNYLINK_DONGLE_ID)
+
+    # Determine status/color pair based on priority
+    if last_ping:
+      status, color = (tr_noop("ONLINE"), Colors.GOOD) if is_online else (tr_noop("ERROR"), Colors.DANGER)
+    elif is_temp_fault:
+      status, color = (tr_noop("FAULT"), Colors.WARNING)
+    elif is_registering:
+      status, color = (tr_noop("REGIST..."), Colors.PROGRESS)
+    else:
+      status, color = (tr_noop("OFFLINE"), Colors.DANGER)
+
+    self._sunnylink_status.update(tr_noop("SUNNYLINK"), status, color)
+
+  def _draw_metrics_w_sunnylink(self, rect: rl.Rectangle, _temp, _panda, _connect):
+    metrics = [_temp, _panda, _connect, self._sunnylink_status]
+    start_y = int(rect.y) + METRIC_START_Y
+    available_height = max(0, int(HOME_BTN.y) - METRIC_MARGIN - METRIC_HEIGHT - start_y)
+    spacing = available_height / max(1, len(metrics) - 1)
+
+    return metrics, start_y, spacing
diff --git a/selfdrive/ui/sunnypilot/mici/__init__.py b/selfdrive/ui/sunnypilot/mici/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/__init__.py b/selfdrive/ui/sunnypilot/mici/layouts/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/models.py b/selfdrive/ui/sunnypilot/mici/layouts/models.py
new file mode 100644
index 0000000000..5d8de4381a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -0,0 +1,114 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+from cereal import custom
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+
+class ModelsLayoutMici(NavScroller):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+    self.original_back_callback = back_callback
+    self.focused_widget = None
+
+    self.current_model_btn = BigButton(tr("current model"), "", "")
+    self.current_model_btn.set_click_callback(self._show_folders)
+
+    self.cancel_download_btn = BigButton(tr("cancel download"), "", "")
+    self.cancel_download_btn.set_click_callback(lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
+
+    self.main_items = [self.current_model_btn, self.cancel_download_btn]
+    self._scroller.add_widgets(self.main_items)
+
+  @property
+  def model_manager(self):
+    return ui_state.sm["modelManagerSP"]
+
+  def _get_grouped_bundles(self):
+    bundles = self.model_manager.availableBundles
+    folders = {}
+    for bundle in bundles:
+      folder = next((override.value for override in bundle.overrides if override.key == "folder"), "")
+      folders.setdefault(folder, []).append(bundle)
+    return folders
+
+  def _show_selection_view(self, items, back_callback: Callable):
+    self._scroller._items = items
+    for item in items:
+      item.set_touch_valid_callback(lambda: self._scroller.scroll_panel.is_touch_valid() and self._scroller.enabled)
+    self._scroller.scroll_panel.set_offset(0)
+    self.set_back_callback(back_callback)
+
+  def _show_folders(self):
+    self.focused_widget = self.current_model_btn
+    folders = self._get_grouped_bundles()
+    folder_buttons = []
+    default_btn = BigButton(tr("default model"), "", "")
+    default_btn.set_click_callback(self._select_default)
+    folder_buttons.append(default_btn)
+
+    for folder in sorted(folders.keys(), key=lambda f: max((bundle.index for bundle in folders[f]), default=-1), reverse=True):
+      if folder.lower() in ["release models", "master models"]:
+        btn = BigButton(folder.lower(), "", "")
+        btn.set_click_callback(lambda f=folder: self._select_folder(f))
+        folder_buttons.append(btn)
+    self._show_selection_view(folder_buttons, self._reset_main_view)
+
+  def _select_model(self, bundle):
+    ui_state.params.put("ModelManager_DownloadIndex", bundle.index)
+    self._reset_main_view()
+
+  def _select_default(self):
+    ui_state.params.remove("ModelManager_ActiveBundle")
+    self._reset_main_view()
+
+  def _select_folder(self, folder_name):
+    folders = self._get_grouped_bundles()
+    bundles = sorted(folders.get(folder_name, []), key=lambda b: b.index, reverse=True)
+
+    btns = []
+    for bundle in bundles:
+      txt = bundle.displayName.lower()
+      btn = BigButton(txt, "", "")
+      btn.set_click_callback(lambda b=bundle: self._select_model(b))
+      btns.append(btn)
+    self._show_selection_view(btns, self._show_folders)
+
+  def _reset_main_view(self):
+    self._scroller._items = self.main_items
+    self.set_back_callback(self.original_back_callback)
+    if self.focused_widget and self.focused_widget in self.main_items:
+      x = self._scroller._pad
+      for item in self.main_items:
+        if not item.is_visible:
+          continue
+        if item == self.focused_widget:
+          break
+        x += item.rect.width + self._scroller._spacing
+      self._scroller.scroll_panel.set_offset(0)
+      self._scroller.scroll_to(x)
+      self.focused_widget = None
+    else:
+      self._scroller.scroll_panel.set_offset(0)
+
+  def _update_state(self):
+    super()._update_state()
+
+    manager = self.model_manager
+    if manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
+      self.current_model_btn.set_value("downloading...")
+      self.cancel_download_btn.set_visible(True)
+    else:
+      self.current_model_btn.set_value(manager.activeBundle.internalName.lower() if manager.activeBundle else tr("default model"))
+      self.cancel_download_btn.set_visible(False)
+    self.current_model_btn.set_enabled(ui_state.is_offroad())
+    self.current_model_btn.set_text(tr("current model"))
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
new file mode 100644
index 0000000000..9fa2df0e8b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/onboarding.py
@@ -0,0 +1,40 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.mici_setup import GreyBigButton
+from openpilot.system.ui.widgets.scroller import NavScroller
+
+
+class SunnylinkConsentPage(NavScroller):
+  def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None):
+    super().__init__()
+
+    def show_accept_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("enable\nsunnylink", "icons_mici/setup/driver_monitoring/dm_check.png",
+                                                  confirm_callback=on_accept))
+
+    def show_decline_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("disable\nsunnylink", "icons_mici/setup/cancel.png",
+                                                  red=True, confirm_callback=on_decline))
+
+    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
+    self._accept_button.set_click_callback(show_accept_dialog)
+
+    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True)
+    self._decline_button.set_click_callback(show_decline_dialog)
+
+    self._scroller.add_widgets([
+      GreyBigButton("sunnylink", "scroll to continue",
+                    gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 64, 64)),
+      GreyBigButton("", "sunnylink enables secured remote access to your comma device from anywhere."),
+      self._accept_button,
+      self._decline_button,
+    ])
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/settings.py b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
new file mode 100644
index 0000000000..43d0bd2cef
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/settings.py
@@ -0,0 +1,34 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.mici.layouts.settings import settings as OP
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.sunnylink import SunnylinkLayoutMici
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.models import ModelsLayoutMici
+from openpilot.system.ui.lib.application import gui_app
+
+ICON_SIZE = 70
+
+
+class SettingsLayoutSP(OP.SettingsLayout):
+  def __init__(self):
+    OP.SettingsLayout.__init__(self)
+
+    sunnylink_panel = SunnylinkLayoutMici(back_callback=gui_app.pop_widget)
+    sunnylink_btn = BigButton("sunnylink", "", "icons_mici/settings/developer/ssh.png")
+    sunnylink_btn.set_click_callback(lambda: gui_app.push_widget(sunnylink_panel))
+
+    models_panel = ModelsLayoutMici(back_callback=gui_app.pop_widget)
+    models_btn = BigButton("models", "", "../../sunnypilot/selfdrive/assets/offroad/icon_models.png")
+    models_btn.set_click_callback(lambda: gui_app.push_widget(models_panel))
+
+    items = self._scroller._items.copy()
+
+    items.insert(1, sunnylink_btn)
+    items.insert(2, models_btn)
+    self._scroller._items.clear()
+    for item in items:
+      self._scroller.add_widget(item)
diff --git a/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
new file mode 100644
index 0000000000..c892db9960
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/layouts/sunnylink.py
@@ -0,0 +1,205 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+from cereal import custom
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
+from openpilot.selfdrive.ui.sunnypilot.mici.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.system.ui.lib.application import gui_app, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+
+
+class SunnylinkLayoutMici(NavScroller):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+    self._restore_in_progress = False
+    self._backup_in_progress = False
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+
+    self._sunnylink_toggle = BigToggle(text=tr("enable sunnylink"),
+                                       initial_state=self._sunnylink_enabled,
+                                       toggle_callback=self._sunnylink_toggle_callback)
+    self._sunnylink_sponsor_button = SunnylinkPairBigButton(sponsor_pairing=False)
+    self._sunnylink_pair_button = SunnylinkPairBigButton(sponsor_pairing=True)
+    self._backup_btn = BigButton(tr("backup settings"), "", "")
+    self._backup_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=False))
+    self._restore_btn = BigButton(tr("restore settings"), "", "")
+    self._restore_btn.set_click_callback(lambda: self._handle_backup_restore_btn(restore=True))
+    self._sunnylink_uploader_toggle = BigToggle(text=tr("sunnylink uploader"), initial_state=False,
+                                                toggle_callback=self._sunnylink_uploader_callback)
+
+    self._scroller.add_widgets([
+      self._sunnylink_toggle,
+      self._sunnylink_sponsor_button,
+      self._sunnylink_pair_button,
+      self._backup_btn,
+      self._restore_btn,
+      self._sunnylink_uploader_toggle
+    ])
+
+  def _update_state(self):
+    super()._update_state()
+    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
+    self._sunnylink_toggle.set_checked(self._sunnylink_enabled)
+    self._sunnylink_pair_button.set_visible(self._sunnylink_enabled)
+    self._sunnylink_sponsor_button.set_visible(self._sunnylink_enabled)
+    self._backup_btn.set_visible(self._sunnylink_enabled)
+    self._restore_btn.set_visible(self._sunnylink_enabled)
+    self._sunnylink_uploader_toggle.set_visible(self._sunnylink_enabled)
+    self.handle_backup_restore_progress()
+
+    if ui_state.sunnylink_state.is_sponsor():
+      self._sunnylink_sponsor_button.set_text(tr("thanks"))
+      self._sunnylink_sponsor_button.set_value(ui_state.sunnylink_state.get_sponsor_tier().name.lower())
+      self._sunnylink_sponsor_button.set_enabled(False)
+    else:
+      self._sunnylink_sponsor_button.set_text(tr("sponsor"))
+      self._sunnylink_sponsor_button.set_value("")
+
+    if ui_state.sunnylink_state.is_paired():
+      self._sunnylink_pair_button.set_text(tr("paired"))
+    else:
+      self._sunnylink_pair_button.set_text(tr("pair"))
+
+  def show_event(self):
+    super().show_event()
+    ui_state.update_params()
+
+  @staticmethod
+  def _sunnylink_toggle_callback(state: bool):
+    sl_consent: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") == sunnylink_consent_version
+    sl_enabled: bool = ui_state.params.get("SunnylinkEnabled")
+
+    def sl_terms_accepted():
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+      ui_state.params.put_bool("SunnylinkEnabled", True)
+      gui_app.pop_widget()
+
+    def sl_terms_declined():
+      ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+      ui_state.params.put_bool("SunnylinkEnabled", False)
+      gui_app.pop_widget()
+
+    if state and not sl_consent and not sl_enabled:
+      sl_terms_dlg = SunnylinkConsentPage(on_accept=sl_terms_accepted, on_decline=sl_terms_declined)
+      gui_app.push_widget(sl_terms_dlg)
+    else:
+      ui_state.params.put_bool("SunnylinkEnabled", state)
+
+    ui_state.update_params()
+
+  @staticmethod
+  def _sunnylink_uploader_callback(state: bool):
+    ui_state.params.put_bool("EnableSunnylinkUploader", state)
+
+  def _handle_backup_restore_btn(self, restore: bool = False):
+    lbl = tr("slide to restore") if restore else tr("slide to backup")
+    icon = "icons_mici/settings/device/update.png"
+    dlg = BigConfirmationDialogV2(lbl, icon, confirm_callback=self._restore_handler if restore else self._backup_handler)
+    gui_app.push_widget(dlg)
+
+  def _backup_handler(self):
+    self._backup_in_progress = True
+    self._backup_btn.set_enabled(False)
+    ui_state.params.put_bool("BackupManager_CreateBackup", True)
+
+  def _restore_handler(self):
+    self._restore_in_progress = True
+    self._restore_btn.set_enabled(False)
+    ui_state.params.put("BackupManager_RestoreVersion", "latest")
+
+  def handle_backup_restore_progress(self):
+    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
+
+    backup_status = sunnylink_backup_manager.backupStatus
+    restore_status = sunnylink_backup_manager.restoreStatus
+    backup_progress = sunnylink_backup_manager.backupProgress
+    restore_progress = sunnylink_backup_manager.restoreProgress
+
+    if self._backup_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if backup_status == custom.BackupManagerSP.Status.inProgress:
+        self._backup_in_progress = True
+        self._backup_btn.set_text(tr("backing up"))
+        text = tr(f"{backup_progress}%")
+        self._backup_btn.set_value(text)
+
+      elif backup_status == custom.BackupManagerSP.Status.failed:
+        self._backup_in_progress = False
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+        self._backup_btn.set_text(tr("backup"))
+        self._backup_btn.set_value(tr("failed"))
+
+      elif (backup_status == custom.BackupManagerSP.Status.completed or
+            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
+        self._backup_in_progress = False
+        gui_app.push_widget(BigDialog(title=tr("settings backed up"), description=""))
+        self._backup_btn.set_enabled(not ui_state.is_onroad())
+
+    elif self._restore_in_progress:
+      self._restore_btn.set_enabled(False)
+      self._backup_btn.set_enabled(False)
+
+      if restore_status == custom.BackupManagerSP.Status.inProgress:
+        self._restore_in_progress = True
+        self._restore_btn.set_text(tr("restoring"))
+        text = tr(f"{restore_progress}%")
+        self._restore_btn.set_value(text)
+
+      elif restore_status == custom.BackupManagerSP.Status.failed:
+        self._restore_in_progress = False
+        self._restore_btn.set_enabled(not ui_state.is_onroad())
+        self._restore_btn.set_text(tr("restore"))
+        self._restore_btn.set_value(tr("failed"))
+        gui_app.push_widget(BigDialog(title=tr("unable to restore"), description="try again later."))
+
+      elif (restore_status == custom.BackupManagerSP.Status.completed or
+            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
+        self._restore_in_progress = False
+        gui_app.push_widget(BigConfirmationDialogV2(
+          title="slide to restart", icon="icons_mici/settings/device/reboot.png",
+          confirm_callback=lambda: gui_app.request_close()))
+
+    else:
+      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
+      self._backup_btn.set_enabled(can_enable)
+      self._backup_btn.set_text(tr("backup settings"))
+      self._backup_btn.set_value("")
+      self._restore_btn.set_enabled(can_enable)
+      self._restore_btn.set_text(tr("restore settings"))
+      self._restore_btn.set_value("")
+
+
+class SunnylinkPairBigButton(BigButton):
+  def __init__(self, sponsor_pairing: bool = False):
+    self.sponsor_pairing = sponsor_pairing
+    super().__init__("", "", "")
+
+  def _update_state(self):
+    super()._update_state()
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+
+    dlg: BigDialog | SunnylinkPairingDialog | None = None
+    if UNREGISTERED_SUNNYLINK_DONGLE_ID == (ui_state.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID):
+      dlg = BigDialog(tr("sunnylink Dongle ID not found. Please reboot & try again."), "")
+    elif self.sponsor_pairing:
+      dlg = SunnylinkPairingDialog(sponsor_pairing=True)
+    elif not self.sponsor_pairing:
+      dlg = SunnylinkPairingDialog(sponsor_pairing=False)
+    if dlg:
+      gui_app.push_widget(dlg)
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/__init__.py b/selfdrive/ui/sunnypilot/mici/onroad/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py b/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
new file mode 100644
index 0000000000..4a1aa92241
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/onroad/confidence_ball.py
@@ -0,0 +1,26 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.onroad.augmented_road_view import BORDER_COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+
+
+class ConfidenceBallSP:
+  @staticmethod
+  def get_animate_status_probs():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return ui_state.sm['modelV2'].meta.disengagePredictions.steerOverrideProbs
+
+    # UIStatus.LONG_ONLY
+    return ui_state.sm['modelV2'].meta.disengagePredictions.brakeDisengageProbs
+
+  @staticmethod
+  def get_lat_long_dot_color():
+    if ui_state.status == UIStatus.LAT_ONLY:
+      return BORDER_COLORS[UIStatus.LAT_ONLY]
+
+    # UIStatus.LONG_ONLY
+    return BORDER_COLORS[UIStatus.LONG_ONLY]
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
new file mode 100644
index 0000000000..9d39d01727
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/onroad/hud_renderer.py
@@ -0,0 +1,28 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.blind_spot_indicators import BlindSpotIndicators
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.blind_spot_indicators = BlindSpotIndicators()
+
+  def _update_state(self) -> None:
+    super()._update_state()
+    self.blind_spot_indicators.update()
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+    self.blind_spot_indicators.render(rect)
+
+  def _has_blind_spot_detected(self) -> bool:
+
+    return self.blind_spot_indicators.detected
diff --git a/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
new file mode 100644
index 0000000000..e3de9401ce
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/onroad/model_renderer.py
@@ -0,0 +1,19 @@
+"""
+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.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import UIStatus
+from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+
+LANE_LINE_COLORS_SP = {
+  UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
+  UIStatus.LONG_ONLY: rl.Color(0, 255, 64, 255),
+}
+
+
+class ModelRendererSP:
+  def __init__(self):
+    self.rainbow_path = RainbowPath()
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/__init__.py b/selfdrive/ui/sunnypilot/mici/widgets/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
new file mode 100644
index 0000000000..eb3c2bddfe
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/mici/widgets/sunnylink_pairing_dialog.py
@@ -0,0 +1,57 @@
+"""
+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.
+"""
+import base64
+
+import pyray as rl
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.label import MiciLabel
+
+
+class SunnylinkPairingDialog(PairingDialog):
+  """Dialog for device pairing with QR code."""
+
+  def __init__(self, sponsor_pairing: bool = False):
+    PairingDialog.__init__(self)
+    self._sponsor_pairing = sponsor_pairing
+    label_text = tr("pair with sunnylink") if sponsor_pairing else tr("become a sunnypilot sponsor")
+    self._pair_label = MiciLabel(label_text, 48, font_weight=FontWeight.BOLD,
+                                 color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
+
+  def _get_pairing_url(self) -> str:
+    qr_string = "https://github.com/sponsors/sunnyhaibin"
+
+    if self._sponsor_pairing:
+      try:
+        sl_dongle_id = self._params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
+        token = SunnylinkApi(sl_dongle_id).get_token()
+        inner_string = f"1|{sl_dongle_id}|{token}"
+        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
+        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
+      except Exception:
+        cloudlog.exception("Failed to get pairing token")
+
+    return qr_string
+
+  def _update_state(self):
+    NavWidget._update_state(self)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
+  try:
+    for _ in gui_app.render():
+      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      if result != -1:
+        break
+  finally:
+    del pairing
diff --git a/selfdrive/ui/sunnypilot/onroad/__init__.py b/selfdrive/ui/sunnypilot/onroad/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/sunnypilot/onroad/alert_renderer.py b/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
new file mode 100644
index 0000000000..9f48287a70
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/alert_renderer.py
@@ -0,0 +1,103 @@
+"""
+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.
+"""
+import pyray as rl
+from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer, AlertSize, ALERT_FONT_MEDIUM, ALERT_FONT_BIG, \
+  ALERT_FONT_SMALL, ALERT_MARGIN, ALERT_HEIGHTS, ALERT_PADDING, Alert
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+
+ALERT_LINE_SPACING = 15
+
+
+class AlertRendererSP(AlertRenderer):
+  def __init__(self):
+    super().__init__()
+
+  def _draw_text(self, rect: rl.Rectangle, alert: Alert) -> None:
+    if alert.size == AlertSize.small:
+      self._draw_multiline_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM)
+
+    elif alert.size == AlertSize.mid:
+      wrap_width = int(rect.width)
+      lines1 = wrap_text(self.font_bold, alert.text1, ALERT_FONT_BIG, wrap_width)
+      lines2 = wrap_text(self.font_regular, alert.text2, ALERT_FONT_SMALL, wrap_width) if alert.text2 else []
+
+      total_text_height = len(lines1) * measure_text_cached(self.font_bold, "A", ALERT_FONT_BIG).y
+      if lines2:
+        total_text_height += ALERT_LINE_SPACING + len(lines2) * measure_text_cached(self.font_regular, "A", ALERT_FONT_SMALL).y
+
+      curr_y = rect.y + (rect.height - total_text_height) / 2
+
+      for line in lines1:
+        line_height = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_BIG).y
+        self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), self.font_bold, ALERT_FONT_BIG)
+        curr_y += line_height
+
+      if lines2:
+        curr_y += ALERT_LINE_SPACING
+        for line in lines2:
+          line_height = measure_text_cached(self.font_regular, alert.text2, ALERT_FONT_SMALL).y
+          self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), self.font_regular, ALERT_FONT_SMALL)
+          curr_y += line_height
+
+    else:
+      super()._draw_text(rect, alert)
+
+  def _draw_multiline_centered(self, text, rect, font, font_size, color=rl.WHITE) -> None:
+    lines = wrap_text(font, text, font_size, rect.width)
+    line_height = measure_text_cached(font, text, font_size).y
+    total_height = len(lines) * line_height
+    curr_y = rect.y + (rect.height - total_height) / 2
+    for line in lines:
+      self._draw_line_centered(line, rl.Rectangle(rect.x, curr_y, rect.width, line_height), font, font_size, color)
+      curr_y += line_height
+
+  def _draw_line_centered(self, text, rect, font, font_size, color=rl.WHITE) -> None:
+    text_size = measure_text_cached(font, text, font_size)
+    x = rect.x + (rect.width - text_size.x) / 2
+    y = rect.y
+    rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color)
+
+  def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
+    if size == AlertSize.full:
+      return rect
+
+    dev_ui_info = ui_state.developer_ui
+    v_adjustment = 40 if dev_ui_info in {2, 3} and size != AlertSize.full else 0
+    h_adjustment = 230 if dev_ui_info in {1, 3} and size != AlertSize.full else 0
+
+    w = int(rect.width - ALERT_MARGIN * 2 - h_adjustment)
+    h = self._calculate_dynamic_height(size, w)
+    return rl.Rectangle(rect.x + ALERT_MARGIN, rect.y + rect.height - h + ALERT_MARGIN - v_adjustment, w,
+                        h - ALERT_MARGIN * 2)
+
+  def _calculate_dynamic_height(self, size: int, width: int) -> int:
+    alert = self.get_alert(ui_state.sm)
+    if not alert:
+      return ALERT_HEIGHTS.get(size, 271)
+
+    height = 2 * ALERT_PADDING
+    wrap_width = width - 2 * ALERT_PADDING
+
+    if size == AlertSize.small:
+      lines = wrap_text(self.font_bold, alert.text1, ALERT_FONT_MEDIUM, wrap_width)
+      line_height = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_MEDIUM).y
+      height += int(len(lines) * line_height)
+    elif size == AlertSize.mid:
+      lines1 = wrap_text(self.font_bold, alert.text1, ALERT_FONT_BIG, wrap_width)
+      line_height1 = measure_text_cached(self.font_bold, alert.text1, ALERT_FONT_BIG).y
+      height += int(len(lines1) * line_height1)
+
+      if alert.text2:
+        lines2 = wrap_text(self.font_regular, alert.text2, ALERT_FONT_SMALL, wrap_width)
+        line_height2 = measure_text_cached(self.font_regular, alert.text2, ALERT_FONT_SMALL).y
+        height += int(ALERT_LINE_SPACING + len(lines2) * line_height2)
+    else:
+      height = ALERT_HEIGHTS.get(size, 271)
+
+    return int(height)
diff --git a/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
new file mode 100644
index 0000000000..c7dedee540
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/augmented_road_view.py
@@ -0,0 +1,31 @@
+"""
+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.
+"""
+import pyray as rl
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.ui_state import UIStatus, ui_state
+from openpilot.system.ui.lib.application import gui_app
+
+BORDER_COLORS_SP = {
+  UIStatus.LAT_ONLY: rl.Color(0x00, 0xC8, 0xC8, 0xFF),  # Cyan for lateral-only state
+  UIStatus.LONG_ONLY: rl.Color(0x96, 0x1C, 0xA8, 0xFF),  # Purple for longitudinal-only state
+}
+
+
+class AugmentedRoadViewSP:
+  def __init__(self):
+    self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
+    self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
+
+  def update_fade_out_bottom_overlay(self, _content_rect):
+    # Fade out bottom of overlays for looks (only when engaged)
+    fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
+    if ui_state.torque_bar and fade_alpha > 1e-2:
+      # Scale the fade texture to the content rect
+      rl.draw_texture_pro(self._fade_texture,
+                          rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),
+                          _content_rect, rl.Vector2(0, 0), 0.0,
+                          rl.Color(255, 255, 255, int(255 * fade_alpha)))
diff --git a/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
new file mode 100644
index 0000000000..4e1d748117
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/blind_spot_indicators.py
@@ -0,0 +1,52 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class BlindSpotIndicators:
+  def __init__(self):
+    self._txt_blind_spot_left: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
+    self._txt_blind_spot_right: rl.Texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128, flip_x=True)
+
+    self._blind_spot_left_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+    self._blind_spot_right_alpha_filter = FirstOrderFilter(0, 0.15, 1 / gui_app.target_fps)
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    CS = sm['carState']
+
+    self._blind_spot_left_alpha_filter.update(1.0 if CS.leftBlindspot else 0.0)
+    self._blind_spot_right_alpha_filter.update(1.0 if CS.rightBlindspot else 0.0)
+
+  @property
+  def detected(self) -> bool:
+    return ui_state.blindspot and (self._blind_spot_left_alpha_filter.x > 0.01 or self._blind_spot_right_alpha_filter.x > 0.01)
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if not ui_state.blindspot:
+      return
+
+    BLIND_SPOT_MARGIN_X = 20  # Distance from edge of screen
+    BLIND_SPOT_Y_OFFSET = 100  # Distance from top of screen
+
+    if self._blind_spot_left_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + BLIND_SPOT_MARGIN_X)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_left_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_left, pos_x, pos_y, color)
+
+    if self._blind_spot_right_alpha_filter.x > 0.01:
+      pos_x = int(rect.x + rect.width - BLIND_SPOT_MARGIN_X - self._txt_blind_spot_right.width)
+      pos_y = int(rect.y + BLIND_SPOT_Y_OFFSET)
+      alpha = int(255 * self._blind_spot_right_alpha_filter.x)
+      color = rl.Color(255, 255, 255, alpha)
+      rl.draw_texture(self._txt_blind_spot_right, pos_x, pos_y, color)
diff --git a/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py b/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
new file mode 100644
index 0000000000..a8a342c129
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/chevron_metrics.py
@@ -0,0 +1,147 @@
+"""
+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.
+"""
+import numpy as np
+
+import pyray as rl
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class ChevronOptions:
+  OFF = 0
+  DISTANCE_ONLY = 1
+  SPEED_ONLY = 2
+  TTC_ONLY = 3
+  ALL = 4
+
+
+class ChevronMetrics:
+  def __init__(self):
+    self._lead_status_alpha: float = 0.0
+    self._font = gui_app.font(FontWeight.SEMI_BOLD)
+
+  def update_alpha(self, has_lead: bool):
+    """Update the alpha value for fade in/out animation"""
+    if not has_lead:
+      self._lead_status_alpha = max(0.0, self._lead_status_alpha - 0.05)
+    else:
+      self._lead_status_alpha = min(1.0, self._lead_status_alpha + 0.1)
+
+  def should_render(self) -> bool:
+    """Check if dev UI should be rendered"""
+    return ui_state.chevron_metrics != ChevronOptions.OFF and self._lead_status_alpha > 0.0
+
+  def _draw_lead(self, lead_data, lead_vehicle, v_ego: float, rect: rl.Rectangle):
+    """Draw lead vehicle status information (distance, speed, TTC)"""
+    if not self.should_render():
+      return
+
+    d_rel = lead_data.dRel
+    v_rel = lead_data.vRel
+
+    if not lead_vehicle.chevron or len(lead_vehicle.chevron) < 2:
+      return
+
+    chevron_x = lead_vehicle.chevron[1][0]
+    chevron_y = lead_vehicle.chevron[1][1]
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
+
+    text_lines = self._build_text_lines(d_rel, v_rel, v_ego)
+    if not text_lines:
+      return
+
+    self._render_text_lines(text_lines, chevron_x, chevron_y, sz, rect)
+
+  @staticmethod
+  def _build_text_lines(d_rel: float, v_rel: float, v_ego: float) -> list[str]:
+    """Build text lines based on chevron info setting"""
+    text_lines = []
+
+    # Distance
+    if ui_state.chevron_metrics == ChevronOptions.DISTANCE_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      val = max(0.0, d_rel)
+      unit = "m" if ui_state.is_metric else "ft"
+      if not ui_state.is_metric:
+        val *= 3.28084
+      text_lines.append(f"{val:.0f} {unit}")
+
+    # Speed
+    if ui_state.chevron_metrics == ChevronOptions.SPEED_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      multiplier = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+      val = max(0.0, (v_rel + v_ego) * multiplier)
+      unit = "km/h" if ui_state.is_metric else "mph"
+      text_lines.append(f"{val:.0f} {unit}")
+
+    # Time to collision
+    if ui_state.chevron_metrics == ChevronOptions.TTC_ONLY or ui_state.chevron_metrics == ChevronOptions.ALL:
+      val = (d_rel / v_ego) if (d_rel > 0 and v_ego > 0) else 0.0
+      ttc_text = f"{val:.1f} s" if (0 < val < 200) else "---"
+      text_lines.append(ttc_text)
+
+    return text_lines
+
+  def _render_text_lines(self, text_lines: list[str], chevron_x: float, chevron_y: float,
+                         sz: float, rect: rl.Rectangle):
+    """Render text lines with proper centering and positioning"""
+    font_size = 40
+    line_height = 50
+    margin = 20
+
+    text_y = chevron_y + sz + 15
+    total_height = len(text_lines) * line_height
+
+    # Adjust Y position if text would go off screen
+    if text_y + total_height > rect.height - margin:
+      y_max = min(chevron_y, rect.height - margin)
+      text_y = y_max - 15 - total_height
+      text_y = max(margin, text_y)
+
+    alpha = int(255 * self._lead_status_alpha)
+    text_color = rl.Color(255, 255, 255, alpha)
+    shadow_color = rl.Color(0, 0, 0, int(200 * self._lead_status_alpha))
+
+    for i, line in enumerate(text_lines):
+      y = int(text_y + (i * line_height))
+      if y + line_height > rect.height - margin:
+        break
+
+      # Measure actual text width for proper centering
+      text_size = measure_text_cached(self._font, line, font_size, 0)
+      text_width = text_size.x
+
+      # Center the text horizontally on the chevron
+      x = int(chevron_x - text_width / 2)
+      x = int(np.clip(x, margin, rect.width - text_width - margin))
+
+      # Draw shadow
+      rl.draw_text_ex(self._font, line, rl.Vector2(x + 2, y + 2), font_size, 0, shadow_color)
+      # Draw text
+      rl.draw_text_ex(self._font, line, rl.Vector2(x, y), font_size, 0, text_color)
+
+  def draw_lead_status(self, sm, radar_state, rect, lead_vehicles):
+    lead_one = radar_state.leadOne
+    lead_two = radar_state.leadTwo
+
+    has_lead_one = lead_one.status if lead_one else False
+    has_lead_two = lead_two.status if lead_two else False
+
+    self.update_alpha(has_lead_one or has_lead_two)
+
+    if not self.should_render():
+      return
+
+    v_ego = sm['carState'].vEgo
+
+    if has_lead_one and lead_vehicles[0].chevron:
+      self._draw_lead(lead_one, lead_vehicles[0], v_ego, rect)
+
+    if has_lead_two and lead_vehicles[1].chevron:
+      d_rel_diff = abs(lead_one.dRel - lead_two.dRel) if has_lead_one else float('inf')
+      if d_rel_diff > 3.0:
+        self._draw_lead(lead_two, lead_vehicles[1], v_ego, rect)
diff --git a/selfdrive/ui/sunnypilot/onroad/circular_alerts.py b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
new file mode 100644
index 0000000000..9c9ab7ac84
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/circular_alerts.py
@@ -0,0 +1,140 @@
+"""
+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.
+"""
+import pyray as rl
+
+from cereal import log
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiState
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class CircularAlertsRenderer:
+  def __init__(self):
+    self._green_light_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/green_light.png", 250, 250)
+    self._lead_depart_alert_img = gui_app.texture("../../sunnypilot/selfdrive/assets/images/lead_depart.png", 250, 250)
+
+    self._e2e_alert_display_timer = 0
+    self._e2e_alert_frame = 0
+    self._green_light_alert = False
+    self._lead_depart_alert = False
+    self._standstill_elapsed_time = 0.0
+    self._is_standstill = False
+    self._alert_text = ""
+    self._alert_img = None
+    self._allow_e2e_alerts = False
+
+  def update(self) -> None:
+    sm = ui_state.sm
+    lp_sp = sm['longitudinalPlanSP']
+    car_state = sm['carState']
+    self._green_light_alert = lp_sp.e2eAlerts.greenLightAlert
+    self._lead_depart_alert = lp_sp.e2eAlerts.leadDepartAlert
+    self._is_standstill = car_state.standstill
+
+    if not ui_state.started:
+      self._standstill_elapsed_time = 0.0
+
+    self._allow_e2e_alerts = sm['selfdriveState'].alertSize == log.SelfdriveState.AlertSize.none and \
+                             sm.recv_frame['driverStateV2'] > ui_state.started_frame
+
+    if self._green_light_alert or self._lead_depart_alert:
+      self._e2e_alert_display_timer = 3 * gui_app.target_fps
+      # reset onroad sleep timer for e2e alerts
+      ui_state.reset_onroad_sleep_timer()
+
+    if self._e2e_alert_display_timer > 0:
+      self._e2e_alert_frame += 1
+      self._e2e_alert_display_timer -= 1
+
+      if self._green_light_alert:
+        self._alert_text = "GREEN\nLIGHT"
+        self._alert_img = self._green_light_alert_img
+      elif self._lead_depart_alert:
+        self._alert_text = "LEAD VEHICLE\nDEPARTING"
+        self._alert_img = self._lead_depart_alert_img
+
+    elif ui_state.standstill_timer and self._is_standstill:
+      self._alert_img = None
+      self._standstill_elapsed_time += 1.0 / gui_app.target_fps
+      minute = int(self._standstill_elapsed_time / 60)
+      second = int(self._standstill_elapsed_time - (minute * 60))
+      self._alert_text = f"{minute:01d}:{second:02d}"
+      self._e2e_alert_frame += 1
+
+    else:
+      self._e2e_alert_frame = 0
+      if not self._is_standstill:
+        self._standstill_elapsed_time = 0.0
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if not self._allow_e2e_alerts or (self._e2e_alert_display_timer <= 0 and not (ui_state.standstill_timer and self._is_standstill)):
+      return
+
+    e2e_alert_size = 250
+    dev_ui_width_adjustment = 180 if ui_state.developer_ui in (DeveloperUiState.RIGHT, DeveloperUiState.BOTH) else 100
+
+    x = rect.x + rect.width - e2e_alert_size - dev_ui_width_adjustment - (UI_BORDER_SIZE * 3)
+    y = rect.y + rect.height / 2 + 20
+
+    alert_rect = rl.Rectangle(x - e2e_alert_size, y - e2e_alert_size, e2e_alert_size * 2, e2e_alert_size * 2)
+    center = rl.Vector2(alert_rect.x + alert_rect.width / 2, alert_rect.y + alert_rect.height / 2)
+
+    # Pulse logic
+    is_pulsing = (self._e2e_alert_frame % gui_app.target_fps) < (gui_app.target_fps / 2.5)
+
+    # Standstill Timer (STOPPED) should be static white
+    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
+      frame_color = rl.Color(255, 255, 255, 75)
+    else:
+      frame_color = rl.Color(255, 255, 255, 75) if is_pulsing else rl.Color(0, 255, 0, 75)
+
+    # Draw Circle
+    rl.draw_circle_v(center, e2e_alert_size, rl.Color(0, 0, 0, 190))
+    # Draw Ring (Border)
+    rl.draw_ring(center, e2e_alert_size - 7.5, e2e_alert_size + 7.5, 0, 360, 0, frame_color)
+
+    # Draw Image
+    if self._alert_img and self._e2e_alert_display_timer > 0:
+      img_x = int(center.x - self._alert_img.width / 2)
+      img_y = int(center.y - self._alert_img.height / 2)
+      rl.draw_texture(self._alert_img, img_x, img_y, rl.WHITE)
+
+    # Draw Text
+    txt_color = rl.Color(255, 255, 255, 255) if is_pulsing else rl.Color(0, 255, 0, 190)
+    font = gui_app.font(FontWeight.BOLD)
+    text_size = 48
+    spacing = 0
+
+    lines = self._alert_text.split('\n')
+
+    # Position text at bottom of alert circle
+    bottom_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 7)
+
+    # Draw lines upwards from bottom
+    current_y = bottom_y - (len(lines) * text_size * FONT_SCALE)
+
+    if self._e2e_alert_display_timer == 0 and ui_state.standstill_timer and self._is_standstill:
+      # Standstill Timer Text
+      alert_alt_text = "STOPPED"
+      top_text_size = 80
+      measure_top = measure_text_cached(font, alert_alt_text, top_text_size, spacing)
+      top_y = alert_rect.y + alert_rect.height / 3.5
+      rl.draw_text_ex(font, alert_alt_text, rl.Vector2(center.x - measure_top.x / 2, top_y), top_text_size, spacing, rl.Color(255, 175, 3, 240))
+
+      # Timer
+      timer_text_size = 100
+      measure_timer = measure_text_cached(font, self._alert_text, timer_text_size, spacing)
+      timer_y = (alert_rect.y + alert_rect.height) - (alert_rect.height / 5) - measure_timer.y
+      rl.draw_text_ex(font, self._alert_text, rl.Vector2(center.x - measure_timer.x / 2, timer_y), timer_text_size, spacing, rl.WHITE)
+    else:
+      for line in lines:
+        measure = measure_text_cached(font, line, text_size, spacing)
+        line_x = center.x - measure.x / 2
+        rl.draw_text_ex(font, line, rl.Vector2(line_x, current_y), text_size, spacing, txt_color)
+        current_y += text_size * FONT_SCALE
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
new file mode 100644
index 0000000000..8204253d32
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/__init__.py
@@ -0,0 +1,191 @@
+"""
+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.
+"""
+from enum import IntEnum
+
+import pyray as rl
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui.elements import (
+  UiElement, RelDistElement, RelSpeedElement, SteeringAngleElement,
+  DesiredLateralAccelElement, ActualLateralAccelElement, DesiredSteeringAngleElement,
+  AEgoElement, LeadSpeedElement, FrictionCoefficientElement, LatAccelFactorElement,
+  SteeringTorqueEpsElement, BearingDegElement, AltitudeElement, DesiredSteeringPIDElement
+)
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+def get_bottom_dev_ui_offset():
+  if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+    return 60
+  return 0
+
+
+class DeveloperUiState(IntEnum):
+  OFF = 0
+  BOTTOM = 1
+  RIGHT = 2
+  BOTH = 3
+
+
+class DeveloperUiRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self.dev_ui_mode = DeveloperUiState.OFF
+
+    self.rel_dist_elem = RelDistElement()
+    self.rel_speed_elem = RelSpeedElement()
+    self.steering_angle_elem = SteeringAngleElement()
+    self.desired_lat_accel_elem = DesiredLateralAccelElement()
+    self.actual_lat_accel_elem = ActualLateralAccelElement()
+    self.desired_steer_elem = DesiredSteeringAngleElement()
+    self.desired_pid_steer_elem = DesiredSteeringPIDElement()
+    self.a_ego_elem = AEgoElement()
+    self.lead_speed_elem = LeadSpeedElement()
+    self.friction_elem = FrictionCoefficientElement()
+    self.lat_accel_factor_elem = LatAccelFactorElement()
+    self.steering_torque_elem = SteeringTorqueEpsElement()
+    self.bearing_elem = BearingDegElement()
+    self.altitude_elem = AltitudeElement()
+
+  def _update_state(self) -> None:
+    self.dev_ui_mode = ui_state.developer_ui
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    if self.dev_ui_mode == DeveloperUiState.OFF:
+      return
+
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if self.dev_ui_mode == DeveloperUiState.BOTTOM:
+      self._draw_bottom_dev_ui(rect)
+    elif self.dev_ui_mode == DeveloperUiState.RIGHT:
+      self._draw_right_dev_ui(rect)
+    elif self.dev_ui_mode == DeveloperUiState.BOTH:
+      self._draw_right_dev_ui(rect)
+      self._draw_bottom_dev_ui(rect)
+
+  def _draw_right_dev_ui(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    controls_state = sm['controlsState']
+
+    UI_BORDER_SIZE = 20
+    container_width = 184
+    x = int(rect.x + rect.width - container_width - UI_BORDER_SIZE * 2)
+    y = int(rect.y + UI_BORDER_SIZE * 1.5)
+
+    elements = [
+      self.rel_dist_elem.update(sm, ui_state.is_metric),
+      self.rel_speed_elem.update(sm, ui_state.is_metric),
+      self.steering_angle_elem.update(sm, ui_state.is_metric),
+    ]
+    if controls_state.lateralControlState.which() == 'torqueState':
+      elements.append(self.desired_lat_accel_elem.update(sm, ui_state.is_metric))
+    elif controls_state.lateralControlState.which() == 'angleState':
+      elements.append(self.desired_steer_elem.update(sm, ui_state.is_metric))
+    elif controls_state.lateralControlState.which() == 'pidState':
+      elements.append(self.desired_pid_steer_elem.update(sm, ui_state.is_metric))
+
+    elements.append(self.actual_lat_accel_elem.update(sm, ui_state.is_metric))
+
+    current_y = y
+    for element in elements:
+      current_y += self._draw_right_dev_ui_element(x, current_y, element)
+
+  def _draw_right_dev_ui_element(self, x: int, y: int, element: UiElement) -> int:
+    x += 0
+    y += 230
+    container_width = 184
+    label_size = 28
+    value_size = 60
+    unit_size = 28
+    label_width = measure_text_cached(self._font_bold, element.label, label_size, 0).x
+    centered_label_x = x + (container_width - label_width) / 2
+    rl.draw_text_ex(self._font_bold, element.label, rl.Vector2(centered_label_x, y), label_size, 0, rl.WHITE)
+
+    y += 45
+    value_width = measure_text_cached(self._font_bold, element.value, value_size, 0).x
+    centered_value_x = x + (container_width - value_width) / 2
+    rl.draw_text_ex(self._font_bold, element.value, rl.Vector2(centered_value_x, y), value_size, 0, element.color)
+
+    if element.unit:
+      units_height = measure_text_cached(self._font_bold, element.unit, unit_size, 0).x
+
+      units_x = x + container_width
+      units_y = y + (value_size / 2) + (units_height / 2)
+
+      rl.draw_text_pro(self._font_bold, element.unit, rl.Vector2(units_x, units_y), rl.Vector2(0, 0), -90.0, unit_size, 0, rl.WHITE)
+
+    return 130
+
+  def _draw_bottom_dev_ui(self, rect: rl.Rectangle) -> None:
+    sm = ui_state.sm
+    bar_height = 61
+    y = int(rect.y + rect.height - bar_height)
+
+    rl.draw_rectangle(int(rect.x), y, int(rect.width), bar_height,
+                      rl.Color(0, 0, 0, 100))
+
+    elements = [
+      self.a_ego_elem.update(sm, ui_state.is_metric),
+      self.lead_speed_elem.update(sm, ui_state.is_metric),
+    ]
+
+    # Add torque-specific elements if using torque control
+    if sm['controlsState'].lateralControlState.which() == 'torqueState':
+      if sm.valid['liveTorqueParameters']:
+        elements.extend([
+          self.friction_elem.update(sm, ui_state.is_metric),
+          self.lat_accel_factor_elem.update(sm, ui_state.is_metric),
+        ])
+    else:
+      # Non-torque: show steering torque and GPS data
+      elements.append(self.steering_torque_elem.update(sm, ui_state.is_metric))
+
+      if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
+        elements.append(self.bearing_elem.update(sm, ui_state.is_metric))
+
+    # Add altitude if GPS available
+    if sm.valid['gpsLocationExternal'] or sm.valid['gpsLocation']:
+      elements.append(self.altitude_elem.update(sm, ui_state.is_metric))
+
+    if not elements:
+      return
+
+    font_size = 38
+    element_widths = []
+    for element in elements:
+      element.measure(self._font_bold, font_size)
+      element_widths.append(element.total_width)
+
+    total_element_width = sum(element_widths)
+    num_gaps = len(elements) + 1
+    available_width = rect.width
+    gap_width = (available_width - total_element_width) / num_gaps
+
+    center_y = y + bar_height // 2
+    current_x = rect.x + gap_width
+
+    for i, element in enumerate(elements):
+      element_center_x = int(current_x + element_widths[i] / 2)
+      self._draw_bottom_dev_ui_element(element_center_x, center_y, element)
+      current_x += element_widths[i] + gap_width
+
+  def _draw_bottom_dev_ui_element(self, center_x: int, y: int, element: UiElement) -> None:
+    font_size = 38
+    start_x = center_x - element.total_width / 2
+
+    rl.draw_text_ex(self._font_bold, element.label_text, rl.Vector2(start_x, y - font_size // 2), font_size, 0, rl.WHITE)
+    rl.draw_text_ex(self._font_bold, element.val_text, rl.Vector2(start_x + element.label_width, y - font_size // 2), font_size, 0, element.color)
+
+    if element.unit:
+      rl.draw_text_ex(self._font_bold, element.unit_text, rl.Vector2(start_x + element.label_width + element.val_width, y - font_size // 2),
+                      font_size, 0, rl.WHITE)
diff --git a/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
new file mode 100644
index 0000000000..94e3af42eb
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/developer_ui/elements.py
@@ -0,0 +1,349 @@
+"""
+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.
+"""
+import pyray as rl
+from dataclasses import dataclass
+
+from openpilot.common.constants import CV
+
+
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+@dataclass
+class UiElement:
+  value: str
+  label: str
+  unit: str
+  color: rl.Color
+  val_text: str = ""
+  label_text: str = ""
+  unit_text: str = ""
+  val_width: float = 0.0
+  label_width: float = 0.0
+  unit_width: float = 0.0
+  total_width: float = 0.0
+
+  def measure(self, font, font_size: int):
+    self.label_text = f"{self.label} "
+    self.val_text = self.value
+    self.unit_text = f" {self.unit}" if self.unit else ""
+
+    self.label_width = measure_text_cached(font, self.label_text, font_size, 0).x
+    self.val_width = measure_text_cached(font, self.val_text, font_size, 0).x
+    self.unit_width = measure_text_cached(font, self.unit_text, font_size, 0).x if self.unit else 0
+
+    self.total_width = self.label_width + self.val_width + self.unit_width
+
+
+class LeadInfoElement:
+  @staticmethod
+  def get_lead_status(sm):
+    lead_one = sm['radarState'].leadOne
+    return lead_one.status, lead_one.dRel, lead_one.vRel
+
+  @staticmethod
+  def get_lead_color(lead_d_rel: float, lead_v_rel: float = 0.0, use_v_rel: bool = False) -> rl.Color:
+    if use_v_rel:
+      if lead_v_rel < -4.4704:
+        return rl.RED
+      elif lead_v_rel < 0:
+        return rl.Color(255, 188, 0, 255)  # Orange
+    else:
+      if lead_d_rel < 5:
+        return rl.RED
+      elif lead_d_rel < 15:
+        return rl.Color(255, 188, 0, 255)  # Orange
+    return rl.WHITE
+
+
+class LateralControlElement:
+  @staticmethod
+  def get_lat_color(lat_active: bool, steer_override: bool, angle_steers: float = 0.0,
+                    check_angle: bool = False) -> rl.Color:
+    color = rl.WHITE
+    if lat_active:
+      color = rl.Color(145, 155, 149, 255) if steer_override else rl.Color(0, 255, 0, 255)
+
+    if check_angle and lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        # Keep green/grey from above
+        pass
+    elif check_angle and not lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+
+    return color
+
+
+class RelDistElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "m"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, lead_d_rel, _ = self.get_lead_status(sm)
+    value = f"{lead_d_rel:.0f}" if lead_status else "-"
+    color = self.get_lead_color(lead_d_rel) if lead_status else rl.WHITE
+    return UiElement(value, "REL DIST", self.unit, color)
+
+
+class RelSpeedElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "km/h"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, _, lead_v_rel = self.get_lead_status(sm)
+
+    self.unit = "km/h" if is_metric else "mph"
+
+    conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+    value = f"{lead_v_rel * conversion:.0f}" if lead_status else "-"
+    color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
+
+    return UiElement(value, "REL SPEED", self.unit, color)
+
+
+class SteeringAngleElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    angle_steers = car_state.steeringAngleDeg
+    lat_active = sm['carControl'].latActive
+    steer_override = car_state.steeringPressed
+
+    value = f"{angle_steers:.1f}°"
+    color = self.get_lat_color(lat_active, steer_override, angle_steers, check_angle=True)
+
+    return UiElement(value, "REAL STEER", self.unit, color)
+
+
+class DesiredSteeringAngleElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    controls_state = sm['controlsState']
+    lat_active = sm['carControl'].latActive
+    angle_steers = car_state.steeringAngleDeg
+    steer_angle_desired = controls_state.lateralControlState.angleState.steeringAngleDeg
+
+    value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
+
+    color = rl.WHITE
+    if lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        color = rl.Color(0, 255, 0, 255)
+
+    return UiElement(value, "DESIRED STEER", self.unit, color)
+
+
+class ActualLateralAccelElement(LateralControlElement):
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    controls_state = sm['controlsState']
+    curvature = controls_state.curvature
+    v_ego = sm['carState'].vEgo
+    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    lat_active = sm['carControl'].latActive
+    steer_override = sm['carState'].steeringPressed
+
+    actual_lat_accel = (curvature * v_ego ** 2) - (roll * 9.81)
+    value = f"{actual_lat_accel:.2f}"
+    color = self.get_lat_color(lat_active, steer_override)
+
+    return UiElement(value, "ACTUAL L.A.", self.unit, color)
+
+
+class DesiredLateralAccelElement(LateralControlElement):
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    controls_state = sm['controlsState']
+    desired_curvature = controls_state.desiredCurvature
+    v_ego = sm['carState'].vEgo
+    roll = sm['liveParameters'].roll if sm.valid['liveParameters'] else 0.0
+    lat_active = sm['carControl'].latActive
+    steer_override = sm['carState'].steeringPressed
+
+    desired_lat_accel = (desired_curvature * v_ego ** 2) - (roll * 9.81)
+    value = f"{desired_lat_accel:.2f}" if lat_active else "-"
+    color = self.get_lat_color(lat_active, steer_override)
+
+    return UiElement(value, "DESIRED L.A.", self.unit, color)
+
+
+class DesiredSteeringPIDElement(LateralControlElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    car_state = sm['carState']
+    controls_state = sm['controlsState']
+    lat_active = sm['carControl'].latActive
+    angle_steers = car_state.steeringAngleDeg
+    steer_angle_desired = controls_state.lateralControlState.pidState.steeringAngleDesiredDeg
+
+    value = f"{steer_angle_desired:.1f}°" if lat_active else "-"
+
+    color = rl.WHITE
+    if lat_active:
+      if abs(angle_steers) > 180:
+        color = rl.RED
+      elif abs(angle_steers) > 90:
+        color = rl.Color(255, 188, 0, 255)
+      else:
+        color = rl.Color(0, 255, 0, 255)
+
+    return UiElement(value, "DESIRED STEER", self.unit, color)
+
+
+class AEgoElement:
+  def __init__(self):
+    self.unit = "m/s^2"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    a_ego = sm['carState'].aEgo
+    value = f"{a_ego:.1f}"
+    return UiElement(value, "ACC.", self.unit, rl.WHITE)
+
+
+class LeadSpeedElement(LeadInfoElement):
+  def __init__(self):
+    self.unit = "km/h"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    lead_status, _, lead_v_rel = self.get_lead_status(sm)
+    v_ego = sm['carState'].vEgo
+
+    self.unit = "km/h" if is_metric else "mph"
+
+    conversion = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+    value = f"{(lead_v_rel + v_ego) * conversion:.0f}" if lead_status else "-"
+    color = self.get_lead_color(0, lead_v_rel, use_v_rel=True) if lead_status else rl.WHITE
+
+    return UiElement(value, "L.S.", self.unit, color)
+
+
+class FrictionCoefficientElement:
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    ltp = sm['liveTorqueParameters']
+    friction_coef = ltp.frictionCoefficientFiltered
+    live_valid = ltp.liveValid
+
+    value = f"{friction_coef:.3f}"
+    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    return UiElement(value, "FRIC.", self.unit, color)
+
+
+class LatAccelFactorElement:
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    ltp = sm['liveTorqueParameters']
+    lat_accel_factor = ltp.latAccelFactorFiltered
+    live_valid = ltp.liveValid
+
+    value = f"{lat_accel_factor:.3f}"
+    color = rl.Color(0, 255, 0, 255) if live_valid else rl.WHITE
+    return UiElement(value, "L.A.F.", self.unit, color)
+
+
+class SteeringTorqueEpsElement:
+  def __init__(self):
+    self.unit = "N·dm"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    steering_torque_eps = sm['carState'].steeringTorqueEps
+    value = f"{abs(steering_torque_eps):.1f}"
+    return UiElement(value, "E.T.", self.unit, rl.WHITE)
+
+
+class GpsInfoElement:
+  @staticmethod
+  def get_gps_data(sm):
+    if sm.valid['gpsLocationExternal']:
+      return sm['gpsLocationExternal'], True
+    elif sm.valid['gpsLocation']:
+      return sm['gpsLocation'], True
+    return None, False
+
+
+class BearingDegElement(GpsInfoElement):
+  def __init__(self):
+    self.unit = ""
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    gps_data, valid = self.get_gps_data(sm)
+    if not valid:
+      return UiElement("OFF | -", "B.D.", self.unit, rl.WHITE)
+
+    bearing_accuracy_deg = gps_data.bearingAccuracyDeg
+    bearing_deg = gps_data.bearingDeg
+
+    if bearing_accuracy_deg != 180.0:
+      value = f"{bearing_deg:.0f}°"
+      if (337.5 <= bearing_deg <= 360) or (0 <= bearing_deg <= 22.5):
+        dir_value = "N"
+      elif 22.5 < bearing_deg < 67.5:
+        dir_value = "NE"
+      elif 67.5 <= bearing_deg <= 112.5:
+        dir_value = "E"
+      elif 112.5 < bearing_deg < 157.5:
+        dir_value = "SE"
+      elif 157.5 <= bearing_deg <= 202.5:
+        dir_value = "S"
+      elif 202.5 < bearing_deg < 247.5:
+        dir_value = "SW"
+      elif 247.5 <= bearing_deg <= 292.5:
+        dir_value = "W"
+      else:  # 292.5 < bearing_deg < 337.5
+        dir_value = "NW"
+    else:
+      value = "-"
+      dir_value = "OFF"
+
+    return UiElement(f"{dir_value} | {value}", "B.D.", self.unit, rl.WHITE)
+
+
+class AltitudeElement(GpsInfoElement):
+  def __init__(self):
+    self.unit = "m"
+
+  def update(self, sm, is_metric: bool) -> UiElement:
+    gps_data, valid = self.get_gps_data(sm)
+
+    gps_accuracy = 0.0
+    altitude = 0.0
+
+    if valid:
+      altitude = gps_data.altitude
+      if sm.valid['gpsLocationExternal']:
+        gps_accuracy = gps_data.horizontalAccuracy
+      else:
+        gps_accuracy = 1.0  # Simulate valid for legacy check
+
+    value = f"{altitude:.1f}" if gps_accuracy != 0.0 else "-"
+    return UiElement(value, "ALT.", self.unit, rl.WHITE)
diff --git a/selfdrive/ui/sunnypilot/onroad/driver_state.py b/selfdrive/ui/sunnypilot/onroad/driver_state.py
new file mode 100644
index 0000000000..d3239b9e3d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/driver_state.py
@@ -0,0 +1,48 @@
+"""
+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.
+"""
+import numpy as np
+
+from openpilot.selfdrive.ui import UI_BORDER_SIZE
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer, BTN_SIZE, ARC_LENGTH
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import get_bottom_dev_ui_offset
+
+
+class DriverStateRendererSP(DriverStateRenderer):
+  def __init__(self):
+    super().__init__()
+
+  def _pre_calculate_drawing_elements(self):
+    """Pre-calculate all drawing elements based on the current rectangle"""
+    # Calculate icon position (bottom-left or bottom-right)
+    width, height = self._rect.width, self._rect.height
+    offset = UI_BORDER_SIZE + BTN_SIZE // 2
+    self.position_x = self._rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = self._rect.y + height - offset - get_bottom_dev_ui_offset()
+
+    # Pre-calculate the face lines positions
+    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
+    for i in range(len(positioned_keypoints)):
+      self.face_lines[i].x = positioned_keypoints[i][0]
+      self.face_lines[i].y = positioned_keypoints[i][1]
+
+    # Calculate arc dimensions based on head rotation
+    delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0  # Horizontal movement
+    delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0  # Vertical movement
+
+    # Horizontal arc
+    h_width = abs(delta_x)
+    self.h_arc_data = self._calculate_arc_data(
+      delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+      self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+    )
+
+    # Vertical arc
+    v_height = abs(delta_y)
+    self.v_arc_data = self._calculate_arc_data(
+      delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+      self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+    )
diff --git a/selfdrive/ui/sunnypilot/onroad/hud_renderer.py b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
new file mode 100644
index 0000000000..f8e4257733
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/hud_renderer.py
@@ -0,0 +1,146 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
+from openpilot.selfdrive.ui.sunnypilot.onroad.developer_ui import DeveloperUiRenderer, DeveloperUiState, get_bottom_dev_ui_offset
+from openpilot.selfdrive.ui.sunnypilot.onroad.road_name import RoadNameRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.rocket_fuel import RocketFuel
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_limit import SpeedLimitRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.smart_cruise_control import SmartCruiseControlRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.turn_signal import TurnSignalController
+from openpilot.selfdrive.ui.sunnypilot.onroad.circular_alerts import CircularAlertsRenderer
+from openpilot.selfdrive.ui.sunnypilot.onroad.speed_renderer import SpeedRenderer
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer, UI_CONFIG, FONT_SIZES, COLORS, CRUISE_DISABLED_CHAR
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+SLA_ACTIVE_COLOR = rl.Color(0x91, 0x9b, 0x95, 0xff)
+
+
+class HudRendererSP(HudRenderer):
+  def __init__(self):
+    super().__init__()
+    self.developer_ui = DeveloperUiRenderer()
+    self.road_name_renderer = RoadNameRenderer()
+    self.rocket_fuel = RocketFuel()
+    self.speed_limit_renderer = SpeedLimitRenderer()
+    self.smart_cruise_control_renderer = SmartCruiseControlRenderer()
+    self.turn_signal_controller = TurnSignalController()
+    self.circular_alerts_renderer = CircularAlertsRenderer()
+    self.speed_renderer = SpeedRenderer()
+    self._torque_bar = TorqueBar(scale=3.0, always=True)
+
+    self.pcm_cruise_speed: bool = True
+    self.show_icbm_status: bool = False
+    self.icbm_active_counter: int = 0
+    self.speed_cluster: float = 0.0
+    self.speed_conv: float = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+  def _update_state(self) -> None:
+    if ui_state.sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    if ui_state.CP_SP is not None:
+      self.pcm_cruise_speed = ui_state.CP_SP.pcmCruiseSpeed
+    self.speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed_cluster = ui_state.sm['carState'].cruiseState.speedCluster * self.speed_conv
+
+    super()._update_state()
+    self.road_name_renderer.update()
+    self.speed_limit_renderer.update()
+    self.smart_cruise_control_renderer.update()
+    self.turn_signal_controller.update()
+    self.circular_alerts_renderer.update()
+    self.speed_renderer.update()
+
+  def _get_icbm_status(self):
+    if not self.pcm_cruise_speed and ui_state.sm['carControl'].enabled:
+      if round(self.set_speed) != round(self.speed_cluster):
+        self.icbm_active_counter = 3 * gui_app.target_fps  # 3 seconds usually
+      elif self.icbm_active_counter > 0:
+        self.icbm_active_counter -= 1
+    else:
+      self.icbm_active_counter = 0
+
+    self.show_icbm_status = self.icbm_active_counter > 0
+
+  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    long_plan_sp = ui_state.sm['longitudinalPlanSP']
+    long_override = ui_state.sm['carControl'].cruiseControl.override
+    self._get_icbm_status()
+
+    set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2
+    y = rect.y + 45
+
+    set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
+
+    max_color = COLORS.GREY
+    set_speed_color = COLORS.DARK_GREY
+    if self.is_cruise_set:
+      set_speed_color = COLORS.WHITE
+      if long_plan_sp.speedLimit.assist.active:
+        set_speed_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0, 0xff, 0, 0xff)
+        max_color = SLA_ACTIVE_COLOR if long_override else rl.Color(0x80, 0xd8, 0xa6, 0xff)
+      else:
+        if ui_state.status == UIStatus.ENGAGED:
+          max_color = COLORS.ENGAGED
+        elif ui_state.status == UIStatus.DISENGAGED:
+          max_color = COLORS.DISENGAGED
+        elif ui_state.status == UIStatus.OVERRIDE:
+          max_color = COLORS.OVERRIDE
+
+    max_str_size = 60 if self.show_icbm_status else 40
+    max_str_y = 15 if self.show_icbm_status else 27
+
+    max_text = str(round(self.speed_cluster)) if self.show_icbm_status else tr("MAX")
+    max_text_width = measure_text_cached(self._font_semi_bold, max_text, max_str_size).x
+    rl.draw_text_ex(
+      self._font_semi_bold,
+      max_text,
+      rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + max_str_y),
+      max_str_size,
+      0,
+      max_color,
+    )
+
+    set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(self.set_speed))
+    speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x
+    rl.draw_text_ex(
+      self._font_bold,
+      set_speed_text,
+      rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77),
+      FONT_SIZES.set_speed,
+      0,
+      set_speed_color,
+    )
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    self.speed_renderer.render(rect)
+
+  def _render(self, rect: rl.Rectangle) -> None:
+    super()._render(rect)
+
+    if ui_state.torque_bar:
+      torque_rect = rect
+      if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
+        torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())
+      self._torque_bar.render(torque_rect)
+
+    self.developer_ui.render(rect)
+    self.road_name_renderer.render(rect)
+    self.speed_limit_renderer.render(rect)
+    self.smart_cruise_control_renderer.render(rect)
+    self.turn_signal_controller.render(rect)
+    self.circular_alerts_renderer.render(rect)
+    self.rocket_fuel.render(rect, ui_state.sm)
diff --git a/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
new file mode 100644
index 0000000000..5d78997662
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/model_renderer.py
@@ -0,0 +1,14 @@
+"""
+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.
+"""
+from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
+from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+
+
+class ModelRendererSP:
+  def __init__(self):
+    self.rainbow_path = RainbowPath()
+    self.chevron_metrics = ChevronMetrics()
diff --git a/selfdrive/ui/sunnypilot/onroad/rainbow_path.py b/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
new file mode 100644
index 0000000000..de383a659d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/rainbow_path.py
@@ -0,0 +1,79 @@
+"""
+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.
+"""
+import time
+import colorsys
+import pyray as rl
+from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
+
+
+class RainbowPath:
+  DEFAULT_NUM_SEGMENTS = 8
+  DEFAULT_SPEED = 50.0  # degrees per second
+  DEFAULT_SATURATION = 0.9
+  DEFAULT_LIGHTNESS = 0.6
+  BASE_ALPHA = 0.8
+  ALPHA_FADE = 0.3  # Alpha reduction from bottom to top
+
+  def __init__(self, num_segments: int = DEFAULT_NUM_SEGMENTS, speed: float = DEFAULT_SPEED,
+               saturation: float = DEFAULT_SATURATION, lightness: float = DEFAULT_LIGHTNESS):
+    self.num_segments = num_segments
+    self.speed = speed
+    self.saturation = saturation
+    self.lightness = lightness
+
+  def set_speed(self, speed: float):
+    self.speed = speed
+
+  def set_num_segments(self, num_segments: int):
+    self.num_segments = num_segments
+
+  def set_saturation(self, saturation: float):
+    self.saturation = max(0.0, min(1.0, saturation))
+
+  def set_lightness(self, lightness: float):
+    self.lightness = max(0.0, min(1.0, lightness))
+
+  def get_gradient(self) -> Gradient:
+    time_offset = time.monotonic()
+    hue_offset = (time_offset * self.speed) % 360.0
+
+    segment_colors = []
+    gradient_stops = []
+
+    for i in range(self.num_segments):
+      position = i / (self.num_segments - 1)
+      hue = (hue_offset + position * 360.0) % 360.0
+      alpha = self.BASE_ALPHA * (1.0 - position * self.ALPHA_FADE)
+      color = self._hsla_to_color(
+        hue / 360.0,
+        self.saturation,
+        self.lightness,
+        alpha
+      )
+      gradient_stops.append(position)
+      segment_colors.append(color)
+
+    return Gradient(
+      start=(0.0, 1.0),  # Bottom of path
+      end=(0.0, 0.0),  # Top of path
+      colors=segment_colors,
+      stops=gradient_stops,
+    )
+
+  @staticmethod
+  def _hsla_to_color(h: float, s: float, l: float, a: float) -> rl.Color:
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+      int(rgb[0] * 255),
+      int(rgb[1] * 255),
+      int(rgb[2] * 255),
+      int(a * 255)
+    )
+
+  def draw_rainbow_path(self, rect, path):
+    gradient = self.get_gradient()
+    draw_polygon(rect, path.projected_points, gradient=gradient)
diff --git a/selfdrive/ui/sunnypilot/onroad/road_name.py b/selfdrive/ui/sunnypilot/onroad/road_name.py
new file mode 100644
index 0000000000..f85285ef53
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/road_name.py
@@ -0,0 +1,56 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+
+class RoadNameRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.road_name = ""
+    self.is_metric = False
+    self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      return
+
+    self.is_metric = ui_state.is_metric
+
+    if sm.updated["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.road_name = lmd.roadName
+
+  def _render(self, rect: rl.Rectangle):
+    if not self.road_name or not ui_state.road_name_toggle:
+      return
+
+    text = self.road_name
+    text_size = measure_text_cached(self.font_demi, text, 46)
+
+    padding = 40
+    rect_width = max(200, min(text_size.x + padding, rect.width - 40))
+
+    road_rect = rl.Rectangle(rect.x + rect.width / 2 - rect_width / 2, rect.y - 4, rect_width, 60)
+
+    rl.draw_rectangle_rounded(road_rect, 0.2, 10, rl.Color(0, 0, 0, 120))
+
+    max_text_width = road_rect.width - 20
+    if text_size.x > max_text_width:
+      while text_size.x > max_text_width and len(text) > 3:
+        text = text[:-1]
+        text_size = measure_text_cached(self.font_demi, text + "...", 46)
+      text = text + "..."
+
+    sz = measure_text_cached(self.font_demi, text, 46)
+    origin = rl.Vector2(road_rect.x + road_rect.width / 2 - sz.x / 2, road_rect.y + road_rect.height / 2 - sz.y / 2)
+    rl.draw_text_ex(self.font_demi, text, origin, 46, 0, rl.Color(255, 255, 255, 200))
diff --git a/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
new file mode 100644
index 0000000000..cb1012890e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/rocket_fuel.py
@@ -0,0 +1,50 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+class RocketFuel:
+  def __init__(self):
+    self.vc_accel = 0.0
+
+  def render(self, rect: rl.Rectangle, sm) -> None:
+    if not ui_state.rocket_fuel:
+      return
+
+    vc_accel0 = sm['carState'].aEgo
+
+    # Smooth the acceleration
+    self.vc_accel = self.vc_accel + (vc_accel0 - self.vc_accel) / 5.0
+
+    hha = 0.0
+    color = rl.Color(0, 0, 0, 0)  # Transparent by default
+
+    if self.vc_accel > 0:
+      hha = 0.85 - 0.1 / self.vc_accel  # only extend up to 85%
+      color = rl.Color(0, 245, 0, 200)
+    elif self.vc_accel < 0:
+      hha = 0.85 + 0.1 / self.vc_accel  # only extend up to 85%
+      color = rl.Color(245, 0, 0, 200)
+
+    if hha < 0:
+      hha = 0.0
+
+    hha = hha * rect.height
+    wp = 28.0
+
+    # Draw
+    rect_h = rect.height
+
+    if self.vc_accel > 0:
+      ra_y = rect_h / 2.0 - hha / 2.0
+    else:
+      ra_y = rect_h / 2.0
+
+    if hha > 0:
+      rl.draw_rectangle(int(rect.x), int(rect.y + ra_y), int(wp), int(hha / 2.0), color)
diff --git a/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
new file mode 100644
index 0000000000..c89bd914be
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/smart_cruise_control.py
@@ -0,0 +1,105 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.selfdrive.ui.onroad.hud_renderer import COLORS
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.utils import AlertFadeAnimator
+from openpilot.system.ui.widgets import Widget
+
+
+class SmartCruiseControlRenderer(Widget):
+  def __init__(self):
+    super().__init__()
+    self.vision_enabled = False
+    self.vision_active = False
+    self.map_enabled = False
+    self.map_active = False
+    self.long_override = False
+
+    self._vision_fade = AlertFadeAnimator(gui_app.target_fps)
+    self._map_fade = AlertFadeAnimator(gui_app.target_fps)
+
+    self.font = gui_app.font(FontWeight.BOLD)
+
+  def update(self):
+    sm = ui_state.sm
+    if sm.updated["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      vision = lp_sp.smartCruiseControl.vision
+      map_ = lp_sp.smartCruiseControl.map
+
+      self.vision_enabled = vision.enabled
+      self.vision_active = vision.active
+      self.map_enabled = map_.enabled
+      self.map_active = map_.active
+
+    if sm.updated["carControl"]:
+      self.long_override = sm["carControl"].cruiseControl.override
+
+    self._vision_fade.update(self.vision_active)
+    self._map_fade.update(self.map_active)
+
+  def _draw_icon(self, rect_center_x, rect_height, x_offset, y_offset, name, alpha=1.0):
+    text = name
+    font_size = 36
+    padding_v = 5
+    box_width = 160
+
+    sz = measure_text_cached(self.font, text, font_size)
+    box_height = int(sz.y + padding_v * 2)
+
+    if self.long_override:
+      color = COLORS.OVERRIDE
+      box_color = rl.Color(color.r, color.g, color.b, int(alpha * 255))
+    else:
+      box_color = rl.Color(0, 255, 0, int(alpha * 255))
+
+    text_color = rl.Color(0, 0, 0, int(alpha * 255))
+
+    screen_y = rect_height / 4 + y_offset
+
+    box_x = rect_center_x + x_offset - box_width / 2
+    box_y = screen_y - box_height / 2
+
+    # Draw rounded background box
+    if alpha > 0.01:
+      rl.draw_rectangle_rounded(rl.Rectangle(box_x, box_y, box_width, box_height), 0.2, 10, box_color)
+
+      # Draw text centered in the box (black color for contrast against bright green/grey)
+      text_pos_x = box_x + (box_width - sz.x) / 2
+      text_pos_y = box_y + (box_height - sz.y) / 2
+
+      rl.draw_text_ex(self.font, text, rl.Vector2(text_pos_x, text_pos_y), font_size, 0, text_color)
+
+  def _render(self, rect: rl.Rectangle):
+    x_offset = -260
+    y1_offset = -40
+    y2_offset = -100
+
+    orders = [y1_offset, y2_offset]
+    y_scc_v = 0
+    y_scc_m = 0
+    idx = 0
+
+    if self.vision_enabled:
+      y_scc_v = orders[idx]
+      idx += 1
+
+    if self.map_enabled:
+      y_scc_m = orders[idx]
+      idx += 1
+
+    if self.vision_enabled:
+      alpha = self._vision_fade.alpha if self.vision_active else 1.0
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_v, "SCC-V", alpha)
+
+    if self.map_enabled:
+      alpha = self._map_fade.alpha if self.map_active else 1.0
+      self._draw_icon(rect.x + rect.width / 2, rect.height, x_offset, y_scc_m, "SCC-M", alpha)
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_limit.py b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
new file mode 100644
index 0000000000..1b03e9a204
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/speed_limit.py
@@ -0,0 +1,328 @@
+"""
+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.
+"""
+
+from dataclasses import dataclass
+from enum import StrEnum
+import pyray as rl
+
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.onroad.hud_renderer import UI_CONFIG
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.utils import AlertFadeAnimator
+from openpilot.system.ui.widgets import Widget
+
+METER_TO_FOOT = 3.28084
+METER_TO_MILE = 0.000621371
+AHEAD_THRESHOLD = 5
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
+
+AssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+
+@dataclass(frozen=True)
+class Colors:
+  WHITE = rl.WHITE
+  BLACK = rl.BLACK
+  RED = rl.Color(235, 32, 32, 255)
+  GREY = rl.Color(145, 155, 149, 255)
+  DARK_GREY = rl.Color(77, 77, 77, 255)
+  SUB_BG = rl.Color(0, 0, 0, 180)
+  MUTCD_LINES = rl.Color(255, 255, 255, 100)
+
+
+class IconSide(StrEnum):
+  left = 'left'
+  right = 'right'
+
+
+class SpeedLimitAlertRenderer:
+  ARROW_SIZE = 90 if HARDWARE.get_device_type() == 'mici' else 200
+
+  def __init__(self):
+    self.arrow_up = gui_app.texture("../../sunnypilot/selfdrive/assets/img_plus_arrow_up.png", self.ARROW_SIZE, self.ARROW_SIZE)
+    self.arrow_down = gui_app.texture("../../sunnypilot/selfdrive/assets/img_minus_arrow_down.png", self.ARROW_SIZE, self.ARROW_SIZE)
+
+    blank_image = rl.gen_image_color(self.ARROW_SIZE, self.ARROW_SIZE, rl.Color(0, 0, 0, 0))
+    self.arrow_blank = rl.load_texture_from_image(blank_image)
+    rl.unload_image(blank_image)
+
+    self._pre_active_fade = AlertFadeAnimator(gui_app.target_fps, duration_on=0.75, rc=0.05)
+
+  def update(self):
+    assist_state = ui_state.sm['longitudinalPlanSP'].speedLimit.assist.state
+    self._pre_active_fade.update(assist_state == AssistState.preActive)
+
+  def speed_limit_pre_active_icon_helper(self):
+    icon_alpha = max(0.0, min(self._pre_active_fade.alpha * 255.0, 255.0))
+    txt_icon = self.arrow_blank
+    icon_margin_x = 10
+    icon_margin_y = 18
+
+    if icon_alpha > 0:
+      speed_conv = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+      speed_limit_final_last = ui_state.sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
+
+      v_cruise_cluster = ui_state.sm['carState'].vCruiseCluster
+      set_speed = ui_state.sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+      if not ui_state.is_metric:
+        set_speed *= KM_TO_MILE
+
+      set_speed_round = round(set_speed)
+      speed_limit_round = round(speed_limit_final_last * speed_conv)
+
+      if set_speed_round < speed_limit_round:
+        txt_icon = self.arrow_up
+      elif set_speed_round > speed_limit_round:
+        txt_icon = self.arrow_down
+
+    return IconSide.right, txt_icon, icon_alpha, icon_margin_x, icon_margin_y
+
+
+class SpeedLimitRenderer(Widget, SpeedLimitAlertRenderer):
+  def __init__(self):
+    Widget.__init__(self)
+    SpeedLimitAlertRenderer.__init__(self)
+
+    self.speed_limit = 0.0
+    self.speed_limit_last = 0.0
+    self.speed_limit_offset = 0.0
+    self.speed_limit_valid = False
+    self.speed_limit_last_valid = False
+    self.speed_limit_final_last = 0.0
+    self.speed_limit_source = SpeedLimitSource.none
+    self.speed_limit_assist_state = AssistState.disabled
+
+    self.speed_limit_ahead = 0.0
+    self.speed_limit_ahead_dist = 0.0
+    self.speed_limit_ahead_dist_prev = 0.0
+    self.speed_limit_ahead_valid = False
+    self.speed_limit_ahead_frame = 0
+
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = True
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+
+    self.font_bold = gui_app.font(FontWeight.BOLD)
+    self.font_demi = gui_app.font(FontWeight.SEMI_BOLD)
+    self.font_norm = gui_app.font(FontWeight.NORMAL)
+
+  @property
+  def speed_conv(self):
+    return CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+
+  def update(self):
+    SpeedLimitAlertRenderer.update(self)
+    sm = ui_state.sm
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
+      return
+
+    if sm.updated["longitudinalPlanSP"]:
+      lp_sp = sm["longitudinalPlanSP"]
+      resolver = lp_sp.speedLimit.resolver
+      assist = lp_sp.speedLimit.assist
+
+      self.speed_limit = resolver.speedLimit * self.speed_conv
+      self.speed_limit_last = resolver.speedLimitLast * self.speed_conv
+      self.speed_limit_offset = resolver.speedLimitOffset * self.speed_conv
+      self.speed_limit_valid = resolver.speedLimitValid
+      self.speed_limit_last_valid = resolver.speedLimitLastValid
+      self.speed_limit_final_last = resolver.speedLimitFinalLast * self.speed_conv
+      self.speed_limit_source = resolver.source
+      self.speed_limit_assist_state = assist.state
+
+    if sm.updated["liveMapDataSP"]:
+      lmd = sm["liveMapDataSP"]
+      self.speed_limit_ahead_valid = lmd.speedLimitAheadValid
+      self.speed_limit_ahead = lmd.speedLimitAhead * self.speed_conv
+      self.speed_limit_ahead_dist = lmd.speedLimitAheadDistance
+
+      if self.speed_limit_ahead_dist < self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame < AHEAD_THRESHOLD:
+        self.speed_limit_ahead_frame += 1
+      elif self.speed_limit_ahead_dist > self.speed_limit_ahead_dist_prev and self.speed_limit_ahead_frame > 0:
+        self.speed_limit_ahead_frame -= 1
+
+      self.speed_limit_ahead_dist_prev = self.speed_limit_ahead_dist
+
+    controls_state = sm['controlsState']
+    car_state = sm["carState"]
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not ui_state.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or car_state.vEgoCluster != 0.0
+    v_ego = car_state.vEgoCluster if self.v_ego_cluster_seen else car_state.vEgo
+    self.speed = max(0.0, v_ego * self.speed_conv)
+
+  @staticmethod
+  def _draw_text_centered(font, text, size, pos_center, color):
+    sz = measure_text_cached(font, text, size)
+    rl.draw_text_ex(font, text, rl.Vector2(pos_center.x - sz.x / 2, pos_center.y - sz.y / 2), size, 0, color)
+
+  def _render(self, rect: rl.Rectangle):
+    width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + width + 30 - 6
+    y = rect.y + 45 - 6
+
+    sign_rect = rl.Rectangle(x, y, width, UI_CONFIG.set_speed_height + 6 * 2)
+
+    alpha = self._pre_active_fade.alpha
+
+    if ui_state.speed_limit_mode != SpeedLimitMode.off:
+      self._draw_sign_main(sign_rect, alpha)
+      if self.speed_limit_assist_state == AssistState.preActive:
+        self._draw_pre_active_arrow(sign_rect)
+      else:
+        self._draw_ahead_info(sign_rect)
+
+  def _draw_sign_main(self, rect, alpha=1.0):
+    speed_limit_warning_enabled = ui_state.speed_limit_mode >= SpeedLimitMode.warning
+    has_limit = self.speed_limit_valid or self.speed_limit_last_valid
+    is_overspeed = has_limit and round(self.speed_limit_final_last) < round(self.speed)
+
+    limit_str = str(round(self.speed_limit_last)) if has_limit else "---"
+    sub_text = ""
+    if self.speed_limit_offset != 0:
+      sign = "" if self.speed_limit_offset > 0 else "-"
+      sub_text = f"{sign}{round(abs(self.speed_limit_offset))}"
+
+    txt_color = Colors.BLACK
+    if speed_limit_warning_enabled and is_overspeed:
+      txt_color = Colors.RED
+    elif not self.speed_limit_valid:
+      txt_color = Colors.GREY
+
+    if ui_state.is_metric:
+      self._render_vienna(rect, limit_str, sub_text, txt_color, has_limit, alpha)
+    else:
+      self._render_mutcd(rect, limit_str, sub_text, txt_color, has_limit, alpha)
+
+  def _draw_pre_active_arrow(self, sign_rect):
+    _, txt_icon, icon_alpha, _, _ = SpeedLimitAlertRenderer.speed_limit_pre_active_icon_helper(self)
+    if icon_alpha > 0 and txt_icon != self.arrow_blank:
+      sign_margin = 12
+      arrow_spacing = int(sign_margin * 1.4)
+      arrow_x = sign_rect.x + sign_rect.width + arrow_spacing
+      arrow_y = sign_rect.y + (sign_rect.height - txt_icon.height) / 2
+      color = rl.Color(255, 255, 255, int(icon_alpha))
+      rl.draw_texture(txt_icon, int(arrow_x), int(arrow_y), color)
+
+  def _render_vienna(self, rect, val, sub, color, has_limit, alpha=1.0):
+    center = rl.Vector2(rect.x + rect.width / 2, rect.y + rect.height / 2)
+    radius = (rect.width + 18) / 2
+
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    red = rl.color_alpha(Colors.RED, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
+
+    rl.draw_circle_v(center, radius, white)
+    rl.draw_ring(center, radius * 0.75, radius, 0, 360, 36, red)
+
+    font_size = 70 if len(val) >= 3 else 85
+    self._draw_text_centered(self.font_bold, val, font_size, center, text_color)
+
+    if sub and has_limit:
+      s_radius = radius * 0.4
+      s_center = rl.Vector2(rect.x + rect.width - s_radius / 2, rect.y + s_radius / 2)
+
+      rl.draw_circle_v(s_center, s_radius, black)
+      rl.draw_ring(s_center, s_radius - 3, s_radius, 0, 360, 36, dark_grey)
+
+      font_scale = 0.5 if len(sub) < 3 else 0.45
+      self._draw_text_centered(self.font_bold, sub, int(s_radius * 2 * font_scale), s_center, white)
+
+  def _render_mutcd(self, rect, val, sub, color, has_limit, alpha=1.0):
+    white = rl.color_alpha(Colors.WHITE, alpha)
+    black = rl.color_alpha(Colors.BLACK, alpha)
+    dark_grey = rl.color_alpha(Colors.DARK_GREY, alpha)
+    text_color = rl.color_alpha(color, alpha)
+
+    rl.draw_rectangle_rounded(rect, 0.35, 10, white)
+
+    inner = rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20)
+    outer_radius = 0.35 * rect.width / 2.0
+    inner_radius = outer_radius - 10.0
+    inner_roundness = inner_radius / (inner.width / 2.0)
+
+    rl.draw_rectangle_rounded_lines_ex(inner, inner_roundness, 10, 4, black)
+
+    self._draw_text_centered(self.font_demi, "SPEED", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 40), black)
+    self._draw_text_centered(self.font_demi, "LIMIT", 40, rl.Vector2(rect.x + rect.width / 2, rect.y + 80), black)
+    self._draw_text_centered(self.font_bold, val, 90, rl.Vector2(rect.x + rect.width / 2, rect.y + 150), text_color)
+
+    if sub and has_limit:
+      box_sz = rect.width * 0.3
+      overlap = box_sz * 0.2
+      s_rect = rl.Rectangle(rect.x + rect.width - box_sz / 1.5 + overlap, rect.y - box_sz / 1.25 + overlap, box_sz, box_sz)
+
+      rl.draw_rectangle_rounded(s_rect, 0.35, 10, black)
+      rl.draw_rectangle_rounded_lines_ex(s_rect, 0.35, 10, 6, dark_grey)
+
+      f_scale = 0.6 if len(sub) < 3 else 0.475
+      self._draw_text_centered(self.font_bold, sub, int(box_sz * f_scale), rl.Vector2(s_rect.x + box_sz / 2, s_rect.y + box_sz / 2), white)
+
+  def _draw_ahead_info(self, sign_rect):
+    source_is_map = self.speed_limit_source == SpeedLimitSource.map
+    valid = self.speed_limit_ahead_valid and self.speed_limit_ahead > 0 and self.speed_limit_ahead != self.speed_limit
+
+    if not (valid and source_is_map):
+      return
+
+    rect = rl.Rectangle(sign_rect.x + (sign_rect.width - 170) / 2, sign_rect.y + sign_rect.height + 10, 170, 160)
+    rl.draw_rectangle_rounded(rect, 0.35, 10, Colors.SUB_BG)
+    rl.draw_rectangle_rounded_lines_ex(rect, 0.35, 10, 3, Colors.MUTCD_LINES)
+
+    mid_x = rect.x + rect.width / 2
+    self._draw_text_centered(self.font_demi, "AHEAD", 40, rl.Vector2(mid_x, rect.y + 28), Colors.GREY)
+    self._draw_text_centered(self.font_bold, str(round(self.speed_limit_ahead)), 70, rl.Vector2(mid_x, rect.y + 82), Colors.WHITE)
+    self._draw_text_centered(self.font_norm, self._format_dist(self.speed_limit_ahead_dist), 36, rl.Vector2(mid_x, rect.y + 134), Colors.GREY)
+
+  @staticmethod
+  def _format_dist(d):
+    # metric
+    if ui_state.is_metric:
+      if d < 50:
+        return tr("Near")
+
+      if d >= 1000:
+        return f"{d / 1000:.1f} km"
+
+      d_rounded = round(d, -1) if d < 200 else round(d, -2)
+      return f"{int(d_rounded)} m"
+
+    # imperial
+    d_ft = d * METER_TO_FOOT
+    if d_ft < 100:
+      return tr("Near")
+
+    if d_ft >= 900:
+      return f"{d * METER_TO_MILE:.1f} mi"
+
+    if d_ft < 500:
+      return f"{int(round(d_ft / 50) * 50)} ft"
+
+    return f"{int(round(d_ft / 100) * 100)} ft"
diff --git a/selfdrive/ui/sunnypilot/onroad/speed_renderer.py b/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
new file mode 100644
index 0000000000..0a017876e1
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/speed_renderer.py
@@ -0,0 +1,46 @@
+"""
+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.
+"""
+import pyray as rl
+
+from openpilot.common.constants import CV
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.onroad.hud_renderer import FONT_SIZES, COLORS
+
+
+class SpeedRenderer:
+  def __init__(self):
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def update(self) -> None:
+    car_state = ui_state.sm['carState']
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen and not ui_state.true_v_ego_ui else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def render(self, rect: rl.Rectangle) -> None:
+    if ui_state.hide_v_ego_ui:
+      return
+
+    # Draw current speed and unit
+    speed_text = str(round(self.speed))
+    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
+
+    unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
+    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/sunnypilot/onroad/turn_signal.py b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
new file mode 100644
index 0000000000..e285009364
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/onroad/turn_signal.py
@@ -0,0 +1,119 @@
+"""
+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.
+"""
+import pyray as rl
+import time
+from dataclasses import dataclass
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.onroad.alert_renderer import IconSide, TURN_SIGNAL_BLINK_PERIOD
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+@dataclass(frozen=True)
+class TurnSignalConfig:
+  left_x: int = 80
+  left_y: int = 190
+  right_x: int = 80
+  right_y: int = 190
+  size: int = 150
+
+
+class TurnSignalWidget(Widget):
+  def __init__(self, direction: IconSide):
+    super().__init__()
+    self._direction = direction
+    self._active = False
+    self._type = 'signal'
+
+    self._turn_signal_timer = 0.0
+    self._turn_signal_alpha_filter = FirstOrderFilter(0.0, 0.3, 1 / gui_app.target_fps)
+
+    self._signal_texture = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 120, 109, flip_x=(direction == IconSide.right))
+    self._blind_spot_texture = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 120, 109, flip_x=(direction == IconSide.right))
+    self._texture = self._signal_texture
+
+  def _render(self, _):
+    if not self._active:
+      return
+
+    if self._type == 'signal':
+      if time.monotonic() - self._turn_signal_timer > TURN_SIGNAL_BLINK_PERIOD:
+        self._turn_signal_timer = time.monotonic()
+        self._turn_signal_alpha_filter.x = 255 * 2
+      else:
+        self._turn_signal_alpha_filter.update(255 * 0.2)
+      icon_alpha = int(min(self._turn_signal_alpha_filter.x, 255))
+    else:
+      icon_alpha = 255
+
+    self._texture = self._blind_spot_texture if self._type == 'blind_spot' else self._signal_texture
+
+    if self._texture:
+      pos_x = int(self._rect.x + (self._rect.width - self._texture.width) / 2)
+      pos_y = int(self._rect.y + (self._rect.height - self._texture.height) / 2)
+      color = rl.Color(255, 255, 255, icon_alpha)
+      rl.draw_texture(self._texture, pos_x, pos_y, color)
+
+  def activate(self, _type: str = 'signal'):
+    if not self._active or self._type != _type:
+      self._turn_signal_timer = 0.0
+    self._active = True
+    self._type = _type
+
+  def deactivate(self):
+    self._active = False
+    self._turn_signal_timer = 0.0
+
+
+class TurnSignalController:
+  def __init__(self):
+    self._config = TurnSignalConfig()
+    self._left_signal = TurnSignalWidget(direction=IconSide.left)
+    self._right_signal = TurnSignalWidget(direction=IconSide.right)
+
+  @staticmethod
+  def _update_signal(signal, blindspot, blinker):
+    if ui_state.blindspot and blindspot:
+      signal.activate('blind_spot')
+    elif ui_state.turn_signals and blinker:
+      signal.activate('signal')
+    else:
+      signal.deactivate()
+
+  def update(self):
+    CS = ui_state.sm['carState']
+
+    self._update_signal(self._left_signal, CS.leftBlindspot, CS.leftBlinker)
+    self._update_signal(self._right_signal, CS.rightBlindspot, CS.rightBlinker)
+
+  def render(self, rect: rl.Rectangle):
+    if not ui_state.turn_signals and not ui_state.blindspot:
+      return
+
+    x = rect.x + rect.width / 2
+
+    left_x = x - self._config.left_x - self._config.size
+    left_y = rect.y + self._config.left_y
+
+    right_x = x + self._config.right_x
+    right_y = rect.y + self._config.right_y
+
+    if self._left_signal._active:
+      self._left_signal.render(rl.Rectangle(left_x, left_y, self._config.size, self._config.size))
+
+    if self._right_signal._active:
+      self._right_signal.render(rl.Rectangle(right_x, right_y, self._config.size, self._config.size))
+
+  @property
+  def config(self) -> TurnSignalConfig:
+    return self._config
+
+  @config.setter
+  def config(self, new_config: TurnSignalConfig):
+    self._config = new_config
diff --git a/selfdrive/ui/sunnypilot/qt/api.cc b/selfdrive/ui/sunnypilot/qt/api.cc
deleted file mode 100644
index d75d8d39f0..0000000000
--- a/selfdrive/ui/sunnypilot/qt/api.cc
+++ /dev/null
@@ -1,63 +0,0 @@
-/**
- * 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/api.h"
-
-#include <QApplication>
-#include <QJsonDocument>
-
-#include "util.h"
-#include "selfdrive/ui/qt/util.h"
-
-namespace SunnylinkApi {
-  QString create_jwt(const QJsonObject &payloads, int expiry, bool sunnylink) {
-    QJsonObject header = {{"alg", "RS256"}};
-
-    auto t = QDateTime::currentSecsSinceEpoch();
-    auto dongle_id = sunnylink ? getSunnylinkDongleId() : getDongleId();
-    QJsonObject payload = {{"identity", dongle_id.value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
-    for (auto it = payloads.begin(); it != payloads.end(); ++it) {
-      payload.insert(it.key(), it.value());
-    }
-
-    auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
-    QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
-                  QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
-
-    auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
-    return jwt + "." + CommaApi::rsa_sign(hash).toBase64(b64_opts);
-  }
-} // namespace SunnylinkApi
-
-void HttpRequestSP::sendRequest(const QString& requestURL, Method method, const QByteArray& payload) {
-  if (active()) {
-    return;
-  }
-  QNetworkRequest request = prepareRequest(requestURL);
-
-  if(!payload.isEmpty() && (method == Method::POST || method == Method::PUT)) {
-    request.setHeader(QNetworkRequest::ContentTypeHeader, "application/json");
-  }
-
-  switch (method) {
-    case Method::GET:
-      reply = nam()->get(request);
-      break;
-    case Method::DELETE:
-      reply = nam()->deleteResource(request);
-      break;
-    case Method::POST:
-      reply = nam()->post(request, payload);
-      break;
-    case Method::PUT:
-      reply = nam()->put(request, payload);
-      break;
-  }
-
-  networkTimer->start();
-  connect(reply, &QNetworkReply::finished, this, &HttpRequestSP::requestFinished);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/api.h b/selfdrive/ui/sunnypilot/qt/api.h
deleted file mode 100644
index 592b2e668f..0000000000
--- a/selfdrive/ui/sunnypilot/qt/api.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/**
- * 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/qt/api.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-#include "common/util.h"
-
-namespace SunnylinkApi {
-  QByteArray rsa_encrypt(const QByteArray& data);
-  QByteArray rsa_decrypt(const QByteArray& data);
-  QString create_jwt(const QJsonObject& payloads = {}, int expiry = 3600, bool sunnylink = false);
-}
-
-class HttpRequestSP : public HttpRequest {
-  Q_OBJECT
-
-public:
-  explicit HttpRequestSP(QObject* parent, bool create_jwt = true, int timeout = 20000, bool sunnylink = false) :
-    HttpRequest(parent, create_jwt, timeout), sunnylink(sunnylink) {}
-
-  using HttpRequest::sendRequest;
-  void sendRequest(const QString& requestURL, Method method, const QByteArray& payload);
-
-private:
-  bool sunnylink;
-
-protected:
-  [[nodiscard]] QString GetJwtToken() const override { return SunnylinkApi::create_jwt({}, 3600, sunnylink); }
-  [[nodiscard]] QString GetUserAgent() const override { return getUserAgent(sunnylink); }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/home.cc b/selfdrive/ui/sunnypilot/qt/home.cc
deleted file mode 100644
index 92b6e724fe..0000000000
--- a/selfdrive/ui/sunnypilot/qt/home.cc
+++ /dev/null
@@ -1,21 +0,0 @@
-/**
- * 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/home.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
-HomeWindowSP::HomeWindowSP(QWidget *parent) : HomeWindow(parent) {
-}
-
-void HomeWindowSP::updateState(const UIState &s) {
-  HomeWindow::updateState(s);
-}
-
-void HomeWindowSP::mousePressEvent(QMouseEvent *e) {
-  HomeWindow::mousePressEvent(e);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/home.h b/selfdrive/ui/sunnypilot/qt/home.h
deleted file mode 100644
index 4cf532d14c..0000000000
--- a/selfdrive/ui/sunnypilot/qt/home.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/**
- * 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 <QFrame>
-#include <QWidget>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/body.h"
-#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/qt/home.h"
-
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/qt/sidebar.h"
-#define OnroadWindow OnroadWindowSP
-#else
-#include "selfdrive/ui/qt/sidebar.h"
-#include "selfdrive/ui/qt/onroad/onroad_home.h"
-#endif
-
-class HomeWindowSP : public HomeWindow {
-  Q_OBJECT
-
-public:
-  explicit HomeWindowSP(QWidget *parent = 0);
-
-protected:
-  void mousePressEvent(QMouseEvent *e) override;
-
-private slots:
-  void updateState(const UIState &s) override;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/networking.cc b/selfdrive/ui/sunnypilot/qt/network/networking.cc
deleted file mode 100644
index 3db65a5b51..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/networking.cc
+++ /dev/null
@@ -1,45 +0,0 @@
-#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
-#include <QVBoxLayout>
-#include <QPushButton>
-#include <QStackedLayout>
-
-NetworkingSP::NetworkingSP(QWidget *parent) : Networking(parent) {
-  auto vlayout = wifiScreen->findChild<QVBoxLayout*>();
-  auto hlayout = new QHBoxLayout();
-  
-  // Create and setup scan button
-  auto scanButton = new QPushButton(tr("Scan"));
-  scanButton->setObjectName("scan_btn");
-  scanButton->setFixedSize(400, 100);
-
-  connect(wifi, &WifiManager::refreshSignal, this, [=]() { scanButton->setText(tr("Scan")); scanButton->setEnabled(true); });
-  connect(scanButton, &QPushButton::clicked, [=]() { scanButton->setText(tr("Scanning...")); scanButton->setEnabled(false); wifi->requestScan(); });
-
-  hlayout->addWidget(scanButton);
-  hlayout->addStretch(1);
-
-  // Look for an existing Advanced button
-  QPushButton* existingAdvanced = wifiScreen->findChild<QPushButton*>("advanced_btn");
-  if (existingAdvanced) {
-    hlayout->addWidget(existingAdvanced);
-  }
-
-  // Insert our new layout at the top of vlayout
-  vlayout->setMargin(40);
-  vlayout->insertLayout(0, hlayout);
-
-  // Add our scan button to the existing style selectors
-  auto newStyleSheet = styleSheet().replace(
-    ", #advanced_btn ",
-    ", #advanced_btn, #scan_btn "
-  ).replace(
-    ", #advanced_btn:pressed",
-    ", #advanced_btn:pressed, #scan_btn:pressed"
-  ).append(R"(
-    #scan_btn:disabled {
-      background-color: #121212;
-      color: #33FFFFFF;
-    }
-  )");
-  setStyleSheet(newStyleSheet);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/network/networking.h b/selfdrive/ui/sunnypilot/qt/network/networking.h
deleted file mode 100644
index f220b8a50a..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/networking.h
+++ /dev/null
@@ -1,17 +0,0 @@
-/**
- * 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/qt/network/networking.h"
-
-
-class NetworkingSP : public Networking {
-    Q_OBJECT
-
-public:
-    explicit NetworkingSP(QWidget *parent = nullptr);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h
deleted file mode 100644
index 04b4dccf14..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/**
- * 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 <QJsonObject>
-
-enum class RoleType {
-  ReadOnly,
-  Sponsor,
-  Admin
-};
-
-// haha, a role model xD
-class RoleModel {
-protected:
-  QJsonObject m_raw_json_object;
-
-public:
-  RoleType roleType;
-
-  explicit RoleModel(const RoleType &roleType) : roleType(roleType) { m_raw_json_object = toJson(); }
-  explicit RoleModel(const QJsonObject &json) : RoleModel(stringToRoleType(json["role_type"].toString())) { m_raw_json_object = json; }
-
-  [[nodiscard]] QJsonObject toJson() const {
-    QJsonObject json;
-    json["role_type"] = roleTypeToString(roleType);
-    return json;
-  }
-
-  static RoleType stringToRoleType(const QString &roleTypeString) {
-    if (roleTypeString == "ReadOnly") return RoleType::ReadOnly;
-    if (roleTypeString == "Sponsor")  return RoleType::Sponsor;
-
-    return RoleType::Admin;  // Default to Admin
-  }
-
-  static QString roleTypeToString(const RoleType &roleType) {
-    switch (roleType) {
-      case RoleType::ReadOnly:
-        return "ReadOnly";
-      case RoleType::Sponsor:
-        return "Sponsor";
-      default:  // RoleType::Admin
-        return "Admin";
-    }
-  }
-
-  template <typename T, typename = typename std::enable_if<std::is_base_of<RoleModel, T>::value>::type> T as() const {
-    return T(m_raw_json_object);
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h
deleted file mode 100644
index 7e1772b591..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h
+++ /dev/null
@@ -1,83 +0,0 @@
-/**
- * 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 <QJsonObject>
-
-enum class SponsorTier {
-  Free,
-  Novice,
-  Supporter,
-  Contributor,
-  Benefactor,
-  Guardian,
-};
-
-// haha, a role model xD
-class SponsorRoleModel final : RoleModel {
-public:
-  SponsorTier roleTier;
-
-  explicit SponsorRoleModel(const RoleType &roleType, const SponsorTier &roleTier) : RoleModel(roleType), roleTier(roleTier) {}
-  explicit SponsorRoleModel(const QJsonObject &json) : RoleModel(json), roleTier(stringToSponsorTier(json["role_tier"].toString())) {}
-
-  [[nodiscard]] QJsonObject toJson() const {
-    QJsonObject json = RoleModel::toJson();
-    json["role_tier"] = sponsorTierToString(roleTier);
-    return json;
-  }
-
-  static SponsorTier stringToSponsorTier(const QString &sponsorTierString) {
-    const auto sponsorTierStringLower = sponsorTierString.toLower();
-    if (sponsorTierStringLower == "guardian")    return SponsorTier::Guardian;
-    if (sponsorTierStringLower == "novice")      return SponsorTier::Novice;
-    if (sponsorTierStringLower == "supporter")   return SponsorTier::Supporter;
-    if (sponsorTierStringLower == "contributor") return SponsorTier::Contributor;
-    if (sponsorTierStringLower == "benefactor")  return SponsorTier::Benefactor;
-
-    // Default to Free
-    return SponsorTier::Free;
-  }
-
-  static QString sponsorTierToString(const SponsorTier &sponsorTier) {
-    switch (sponsorTier) {
-      case SponsorTier::Guardian:
-        return "Guardian";
-      case SponsorTier::Novice:
-        return "Novice";
-      case SponsorTier::Supporter:
-        return "Supporter";
-      case SponsorTier::Contributor:
-        return "Contributor";
-      case SponsorTier::Benefactor:
-        return "Benefactor";
-
-      default:  // SponsorTier::Free
-        return "Free";
-    }
-  }
-  [[nodiscard]] auto getSponsorTierString() const { return sponsorTierToString(roleTier); }
-
-  static QString sponsorTierToColor(const SponsorTier &sponsorTier) {
-    switch (sponsorTier) {
-      case SponsorTier::Guardian:
-        return "gold";
-      case SponsorTier::Benefactor:
-        return "mediumseagreen";
-      case SponsorTier::Contributor:
-        return "steelblue";
-      case SponsorTier::Supporter:
-        return "mediumpurple";
-      case SponsorTier::Novice:
-        return "white";
-      default:  // SponsorTier::Free
-        return "silver";
-    }
-  }
-  [[nodiscard]] auto getSponsorTierColor() const { return sponsorTierToColor(roleTier); }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h
deleted file mode 100644
index 4d255ac8e3..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/**
- * 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 <QJsonObject>
-
-class UserModel {
-public:
-  QString device_id;
-  QString user_id;
-  qint64 created_at;
-  qint64 updated_at;
-  QString token_hash;
-
-  explicit UserModel(const QJsonObject &json) {
-    device_id = json["device_id"].toString();
-    user_id = json["user_id"].toString();
-    created_at = json["created_at"].toInt();
-    updated_at = json["updated_at"].toInt();
-    token_hash = json["token_hash"].toString();
-  }
-
-  [[nodiscard]] QJsonObject toJson() const {
-    QJsonObject json;
-    json["device_id"] = device_id;
-    json["user_id"] = user_id;
-    json["created_at"] = created_at;
-    json["updated_at"] = updated_at;
-    json["token_hash"] = token_hash;
-    return json;
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc
deleted file mode 100644
index 3919a1821f..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.cc
+++ /dev/null
@@ -1,57 +0,0 @@
-/**
- * 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/network/sunnylink//services/base_device_service.h"
-
-#include "selfdrive/ui/sunnypilot/qt/request_repeater.h"
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
-
-BaseDeviceService::BaseDeviceService(QObject* parent) : QObject(parent) {
-  param_watcher = new ParamWatcher(this);
-  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    paramsRefresh();
-  });
-  param_watcher->addParam("SunnylinkEnabled");
-}
-
-void BaseDeviceService::paramsRefresh() {
-}
-
-void BaseDeviceService::loadDeviceData(const QString &url, bool poll) {
-  if (!is_sunnylink_enabled()) {
-    LOGW("Sunnylink is not enabled, refusing to load data.");
-    return;
-  }
-
-  auto sl_dongle_id = getSunnylinkDongleId();
-  if (!sl_dongle_id.has_value())
-    return;
-
-  QString fullUrl = SUNNYLINK_BASE_URL + "/device/" + *sl_dongle_id + url;
-  if (poll && !isCurrentyPolling()) {
-    LOGD("Polling %s", qPrintable(fullUrl));
-    LOGD("Cache key: SunnylinkCache_%s", qPrintable(QString(getCacheKey())));
-    repeater = new RequestRepeaterSP(this, fullUrl, "SunnylinkCache_" + getCacheKey(), 60, false, true);
-    connect(repeater, &RequestRepeaterSP::requestDone, this, &BaseDeviceService::handleResponse);
-  } else if (isCurrentyPolling()) {
-    repeater->ForceUpdate();
-  } else {
-    LOGD("Sending one-time %s", qPrintable(fullUrl));
-    initial_request = new HttpRequestSP(this, true, 10000, true);
-    connect(initial_request, &HttpRequestSP::requestDone, this, &BaseDeviceService::handleResponse);
-  }
-}
-
-void BaseDeviceService::stopPolling() {
-  if (repeater != nullptr) {
-    repeater->deleteLater();
-    repeater = nullptr;
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h
deleted file mode 100644
index 8ef99d1013..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/**
- * 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/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-class BaseDeviceService : public QObject {
-  Q_OBJECT
-
-protected:
-  void paramsRefresh();
-  void loadDeviceData(const QString &url, bool poll = false);
-  virtual void handleResponse(const QString &response, bool success) = 0;
-
-  static bool is_sunnylink_enabled() { return Params().getBool("SunnylinkEnabled");}
-  ParamWatcher* param_watcher;
-  HttpRequestSP* initial_request = nullptr;
-  RequestRepeaterSP* repeater = nullptr;
-
-public:
-  explicit BaseDeviceService(QObject* parent = nullptr);
-  virtual QString getCacheKey() const = 0;
-  bool isCurrentyPolling() {return repeater != nullptr;}
-  void stopPolling();
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc
deleted file mode 100644
index bffe32839f..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-/**
- * 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/network/sunnylink/services/role_service.h"
-
-#include <QJsonArray>
-#include <QJsonDocument>
-
-RoleService::RoleService(QObject* parent) : BaseDeviceService(parent) {}
-
-void RoleService::load() {
-  loadDeviceData(url);
-}
-
-void RoleService::startPolling() {
-  loadDeviceData(url, true);
-}
-
-void RoleService::handleResponse(const QString &response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-  QJsonArray jsonArray = doc.array();
-
-  std::vector<RoleModel> roles;
-  for (const auto &value : jsonArray) {
-    roles.emplace_back(value.toObject());
-  }
-
-  emit rolesReady(roles);
-  uiStateSP()->setSunnylinkRoles(roles);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h
deleted file mode 100644
index abd0e1ab83..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * 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 <vector>
-
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
-
-class RoleService : public BaseDeviceService {
-  Q_OBJECT
-
-public:
-  explicit RoleService(QObject* parent = nullptr);
-  void load();
-  void startPolling();
-  [[nodiscard]] QString getCacheKey() const final { return "Roles"; }
-
-signals:
-  void rolesReady(const std::vector<RoleModel> &roles);
-
-protected:
-  void handleResponse(const QString&response, bool success) override;
-
-private:
-  QString url = "/roles";
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc
deleted file mode 100644
index cd16360c26..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.cc
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- * 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/network/sunnylink/services/user_service.h"
-
-#include <QJsonArray>
-#include <QJsonDocument>
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-UserService::UserService(QObject* parent) : BaseDeviceService(parent) {
-  url = "/users";
-}
-
-void UserService::load() {
-  loadDeviceData(url);
-}
-
-void UserService::startPolling() {
-  loadDeviceData(url, true);
-}
-
-void UserService::handleResponse(const QString &response, bool success) {
-  if (!success) {
-    return;
-  }
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-  QJsonArray jsonArray = doc.array();
-
-  std::vector<UserModel> users;
-  for (const auto &value : jsonArray) {
-    users.emplace_back(value.toObject());
-  }
-
-  emit usersReady(users);
-  uiStateSP()->setSunnylinkDeviceUsers(users);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h
deleted file mode 100644
index 90eb354751..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * 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 <vector>
-
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/base_device_service.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h"
-
-class UserService : public BaseDeviceService {
-  Q_OBJECT
-
-public:
-  explicit UserService(QObject* parent = nullptr);
-  void load();
-  void startPolling();
-  [[nodiscard]] QString getCacheKey() const final { return "Users"; };
-
-signals:
-  void usersReady(const std::vector<UserModel>&users);
-
-protected:
-  void handleResponse(const QString&response, bool success) override;
-
-private:
-  QString url = "/users";
-};
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc b/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc
deleted file mode 100644
index 4428eb55c4..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/network/sunnylink/sunnylink_client.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
-
-SunnylinkClient::SunnylinkClient(QObject* parent) : QObject(parent) {
-  role_service = new RoleService(parent);
-  user_service = new UserService(parent);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h b/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h
deleted file mode 100644
index 0961449926..0000000000
--- a/selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/**
- * 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 <QObject>
-
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/role_service.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/services/user_service.h"
-
-class SunnylinkClient : public QObject {
-  Q_OBJECT
-
-public:
-  explicit SunnylinkClient(QObject* parent);
-  RoleService* role_service;
-  UserService* user_service;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
deleted file mode 100644
index 05b1d80846..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * 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/offroad_home.h"
-
-#include <QStackedWidget>
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
-OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
-  QStackedWidget *left_widget = new QStackedWidget(this);
-  left_widget->addWidget(new DriveStats(this));
-  left_widget->setStyleSheet("border-radius: 10px;");
-
-  home_layout->insertWidget(0, left_widget);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
deleted file mode 100644
index 9710150d57..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
+++ /dev/null
@@ -1,17 +0,0 @@
-/**
- * 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/qt/offroad/offroad_home.h"
-
-class OffroadHomeSP : public OffroadHome {
-  Q_OBJECT
-
-public:
-  explicit OffroadHomeSP(QWidget *parent = 0);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
deleted file mode 100644
index e6855c4b4e..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ /dev/null
@@ -1,182 +0,0 @@
-/**
- * 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/device_panel.h"
-
-#include "common/watchdog.h"
-#include "selfdrive/ui/qt/qt_window.h"
-
-DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
-  QGridLayout *device_grid_layout = new QGridLayout();
-  device_grid_layout->setSpacing(30);
-  device_grid_layout->setHorizontalSpacing(5);
-  device_grid_layout->setVerticalSpacing(25);
-
-  std::vector<std::tuple<QString, QString, QString>> device_btns = {
-    {"quietModeBtn", tr("Quiet Mode"), "QuietMode"},
-    {"dcamBtn", tr("Driver Camera Preview"), ""},
-    {"retrainingBtn", tr("Training Guide"), ""},
-    {"regulatoryBtn", tr("Regulatory"), ""},
-    {"translateBtn", tr("Language"), ""},
-    {"resetParams", tr("Reset Settings"), ""},
-  };
-
-  int row = 0, col = 0;
-  for (const auto &[id, text, param] : device_btns) {
-    if (id == "regulatoryBtn" && !Hardware::TICI()) {
-      continue;
-    }
-
-    auto *btn = new PushButtonSP(text, 750, this, param);
-    btn->setObjectName(id);
-    buttons[id] = btn;
-
-    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++;
-    }
-  }
-
-  connect(buttons["dcamBtn"], &PushButtonSP::clicked, [=]() { emit showDriverView(); });
-
-  connect(buttons["quietModeBtn"], &PushButtonSP::clicked, buttons["quietModeBtn"], &PushButtonSP::updateButton);
-
-  connect(buttons["retrainingBtn"], &PushButtonSP::clicked, [=]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
-      emit reviewTrainingGuide();
-    }
-  });
-
-  if (Hardware::TICI()) {
-    connect(buttons["regulatoryBtn"], &PushButtonSP::clicked, [=]() {
-      const std::string txt = util::read_file("../assets/offroad/fcc.html");
-      ConfirmationDialog::rich(QString::fromStdString(txt), this);
-    });
-  }
-
-  connect(buttons["translateBtn"], &PushButtonSP::clicked, [=]() {
-    QMap<QString, QString> langs = getSupportedLanguages();
-    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
-    if (!selection.isEmpty()) {
-      // put language setting, exit Qt UI, and trigger fast restart
-      params.put("LanguageSetting", langs[selection].toStdString());
-      qApp->exit(18);
-      watchdog_kick(0);
-    }
-  });
-
-  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
-
-  QHBoxLayout *power_layout = new QHBoxLayout();
-  power_layout->setSpacing(25);
-
-  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"), 750, this);
-  poweroffBtn->setStyleSheet(powerOffButtonStyle);
-  power_layout->addWidget(poweroffBtn);
-  QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
-
-  if (!Hardware::PC()) {
-    connect(uiState(), &UIState::offroadTransition, poweroffBtn, &PushButtonSP::setVisible);
-  }
-
-  offroadBtn = new PushButtonSP(tr("Offroad Mode"));
-  offroadBtn->setFixedWidth(power_layout->sizeHint().width());
-  QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
-
-  QVBoxLayout *power_group_layout = new QVBoxLayout();
-  power_group_layout->setSpacing(25);
-  power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
-  power_group_layout->addLayout(power_layout);
-
-  addItem(power_group_layout);
-
-  std::vector always_enabled_btns = {
-    rebootBtn,
-    poweroffBtn,
-    offroadBtn,
-    buttons["quietModeBtn"],
-  };
-
-  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
-    for (auto btn : findChildren<PushButtonSP*>()) {
-      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
-
-      if (!always_enabled) {
-        btn->setEnabled(offroad);
-      }
-    }
-  });
-}
-
-void DevicePanelSP::setOffroadMode() {
-  if (!uiState()->engaged()) {
-    if (params.getBool("OffroadMode")) {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
-        // Check engaged again in case it changed while the dialog was open
-        if (!uiState()->engaged()) {
-          params.remove("OffroadMode");
-        }
-      }
-    } else {
-      if (ConfirmationDialog::confirm(tr("Are you sure you want to enter Always Offroad mode?"), tr("Confirm"), this)) {
-        // Check engaged again in case it changed while the dialog was open
-        if (!uiState()->engaged()) {
-          params.putBool("OffroadMode", true);
-        }
-      }
-    }
-  } else {
-    ConfirmationDialog::alert(tr("Disengage to Enter Always Offroad Mode"), this);
-  }
-
-  updateState();
-}
-
-void DevicePanelSP::resetSettings() {
-  if (ConfirmationDialog::confirm(tr("Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back."), tr("Reset"), this)) {
-    if (ConfirmationDialog::confirm(tr("The reset cannot be undone. You have been warned."), tr("Confirm"), this)) {
-      const std::vector<std::string> keys = params.allKeys();
-      for (const auto& key : keys) {
-        params.remove(key);
-      }
-
-      Hardware::reboot();
-    }
-  }
-}
-
-void DevicePanelSP::showEvent(QShowEvent *event) {
-  updateState();
-}
-
-void DevicePanelSP::updateState() {
-  if (!isVisible()) {
-    return;
-  }
-
-  bool offroad_mode_param = params.getBool("OffroadMode");
-  offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
-  offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
deleted file mode 100644
index 7b7412a739..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/**
- * 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/qt/offroad/settings/max_time_offroad.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class DevicePanelSP : public DevicePanel {
-  Q_OBJECT
-
-public:
-  explicit DevicePanelSP(SettingsWindowSP *parent = 0);
-  void showEvent(QShowEvent *event) override;
-  void setOffroadMode();
-  void updateState();
-  void resetSettings();
-
-private:
-  std::map<QString, PushButtonSP*> buttons;
-  PushButtonSP *offroadBtn;
-  MaxTimeOffroad *maxTimeOffroad;
-
-  const QString alwaysOffroadStyle = R"(
-    PushButtonSP {
-      border-radius: 20px;
-      font-size: 50px;
-      font-weight: 450;
-      height: 150px;
-      padding: 0 25px 0 25px;
-      color: #FFFFFF;
-      background-color: #393939;
-    }
-    PushButtonSP:pressed {
-      background-color: #4A4A4A;
-    }
-  )";
-
-  const QString autoOffroadStyle = R"(
-    PushButtonSP {
-      border-radius: 20px;
-      font-size: 50px;
-      font-weight: 450;
-      height: 150px;
-      padding: 0 25px 0 25px;
-      color: #FFFFFF;
-      background-color: #E22C2C;
-    }
-    PushButtonSP:pressed {
-      background-color: #FF2424;
-    }
-  )";
-
-  const QString rebootButtonStyle = R"(
-    PushButtonSP {
-      border-radius: 20px;
-      font-size: 50px;
-      font-weight: 450;
-      height: 150px;
-      padding: 0 25px 0 25px;
-      color: #FFFFFF;
-      background-color: #393939;
-    }
-    PushButtonSP:pressed {
-      background-color: #4A4A4A;
-    }
-  )";
-
-  const QString powerOffButtonStyle = R"(
-    PushButtonSP {
-      border-radius: 20px;
-      font-size: 50px;
-      font-weight: 450;
-      height: 150px;
-      padding: 0 25px 0 25px;
-      color: #FFFFFF;
-      background-color: #E22C2C;
-    }
-    PushButtonSP:pressed {
-      background-color: #FF2424;
-    }
-  )";
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
deleted file mode 100644
index 53717508bf..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc
+++ /dev/null
@@ -1,111 +0,0 @@
-/**
- * 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.
- *
- * Created by kumar on March 10, 2025
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include <map>
-#include <string>
-#include <tuple>
-#include <vector>
-
-LaneChangeSettings::LaneChangeSettings(QWidget* parent) : QWidget(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton* back = new PanelBackButton(tr("Back"));
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  ListWidgetSP *list = new ListWidgetSP(this, false);
-  // param, title, desc, icon
-  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
-    {
-      "AutoLaneChangeBsmDelay",
-      tr("Auto Lane Change: Delay with Blind Spot"),
-      tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
-      "../assets/offroad/icon_blank.png",
-    },
-  };
-
-  // Controls: Auto Lane Change Timer
-  autoLaneChangeTimer = new AutoLaneChangeTimer();
-  autoLaneChangeTimer->setUpdateOtherToggles(true);
-  autoLaneChangeTimer->showDescription();
-  connect(autoLaneChangeTimer, &OptionControlSP::updateLabels, autoLaneChangeTimer, &AutoLaneChangeTimer::refresh);
-  connect(autoLaneChangeTimer, &AutoLaneChangeTimer::updateOtherToggles, this, &LaneChangeSettings::updateToggles);
-  list->addItem(autoLaneChangeTimer);
-
-  for (auto &[param, title, desc, icon] : toggle_defs) {
-    auto toggle = new ParamControlSP(param, title, desc, icon, this);
-    list->addItem(toggle);
-    toggles[param.toStdString()] = toggle;
-  }
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void LaneChangeSettings::showEvent(QShowEvent *event) {
-  updateToggles();
-}
-
-void LaneChangeSettings::updateToggles() {
-  if (!isVisible()) {
-    return;
-  }
-
-  auto auto_lane_change_bsm_delay_toggle = toggles["AutoLaneChangeBsmDelay"];
-  auto autoLaneChangeTimer_param = std::atoi(params.get("AutoLaneChangeTimer").c_str());
-
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    if (!CP.getEnableBsm()) {
-      params.remove("AutoLaneChangeBsmDelay");
-    }
-    auto_lane_change_bsm_delay_toggle->setEnabled(CP.getEnableBsm() && (autoLaneChangeTimer_param > 0));
-    auto_lane_change_bsm_delay_toggle->refresh();
-  } else {
-    auto_lane_change_bsm_delay_toggle->setEnabled(false);
-  }
-}
-
-// Auto Lane Change Timer (ALCT)
-AutoLaneChangeTimer::AutoLaneChangeTimer() : OptionControlSP(
-  "AutoLaneChangeTimer",
-  tr("Auto Lane Change by Blinker"),
-  tr("Set a timer to delay the auto lane change operation when the blinker is used. "
-     "No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.\n"
-     "Please use caution when using this feature. Only use the blinker when traffic and road conditions permit."),
-  "../assets/offroad/icon_blank.png",
-  {-1, 5}) {
-
-  refresh();
-}
-
-void AutoLaneChangeTimer::refresh() {
-  QString option = QString::fromStdString(params.get("AutoLaneChangeTimer"));
-  const QString second = tr("s");
-
-  static const QMap<QString, QString> options = {
-    {"-1", tr("Off")},
-    {"0",  tr("Nudge")},
-    {"1",  tr("Nudgeless")},
-    {"2",  "0.5 " + second},
-    {"3",  "1 "   + second},
-    {"4",  "2 "   + second},
-    {"5",  "3 "   + second},
-  };
-
-  setLabel(options.value(option, tr("Nudge")));
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
deleted file mode 100644
index 5bd458c47d..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/**
- * 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 <map>
-#include <string>
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class AutoLaneChangeTimer : public OptionControlSP {
-  Q_OBJECT
-
-public:
-  AutoLaneChangeTimer();
-
-  void refresh();
-
-signals:
-  void toggleUpdated();
-
-private:
-  Params params;
-};
-
-
-class LaneChangeSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit LaneChangeSettings(QWidget* parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles();
-
-private:
-  Params params;
-  std::map<std::string, ParamControlSP*> toggles;
-
-  AutoLaneChangeTimer *autoLaneChangeTimer;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
deleted file mode 100644
index fa0f7f8bd4..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
- * 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/lateral/mads_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  ListWidget *list = new ListWidget(this, false);
-  // Main cruise
-  madsMainCruiseToggle = new ParamControl(
-    "MadsMainCruiseAllowed",
-    tr("Toggle with Main Cruise"),
-    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
-    "");
-  list->addItem(madsMainCruiseToggle);
-
-  // Unified Engagement Mode
-  madsUnifiedEngagementModeToggle = new ParamControl(
-    "MadsUnifiedEngagementMode",
-    tr("Unified Engagement Mode (UEM)"),
-    QString("%1<br>"
-            "<h4>%2</h4>")
-    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
-    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
-    "");
-  list->addItem(madsUnifiedEngagementModeToggle);
-
-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
-    tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
-    "",
-    lateral_on_brake_texts,
-    500);
-  list->addItem(madsPauseLateralOnBrake);
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-}
-
-void MadsSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
-
-  offroad = _offroad;
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
deleted file mode 100644
index fccb4cbb84..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/**
- * 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/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class MadsSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit MadsSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-
-  ParamControl *madsMainCruiseToggle;
-  ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
deleted file mode 100644
index 0b66b83660..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc
+++ /dev/null
@@ -1,59 +0,0 @@
-/**
- * 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/lateral/neural_network_lateral_control.h"
-
-NeuralNetworkLateralControl::NeuralNetworkLateralControl() :
-  ParamControl("NeuralNetworkLateralControl", tr("Neural Network Lateral Control (NNLC)"),  "", "") {
-  setConfirmation(true, false);
-  updateToggle();
-}
-
-void NeuralNetworkLateralControl::updateToggle() {
-  QString statusInitText = "<font color='yellow'>" + STATUS_CHECK_COMPATIBILITY + "</font>";
-  QString notLoadedText = "<font color='yellow'>" + STATUS_NOT_LOADED + "</font>";
-  QString loadedText = "<font color=#00ff00>" + STATUS_LOADED + "</font>";
-
-  auto cp_bytes = params.get("CarParamsPersistent");
-  auto cp_sp_bytes = params.get("CarParamsSPPersistent");
-  if (!cp_bytes.empty() && !cp_sp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    AlignedBuffer aligned_buf_sp;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(cp_sp_bytes.data(), cp_sp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    cereal::CarParamsSP::Reader CP_SP = cmsg_sp.getRoot<cereal::CarParamsSP>();
-
-    if (CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE) {
-      params.remove("NeuralNetworkLateralControl");
-      setDescription(nnffDescriptionBuilder(STATUS_NOT_AVAILABLE));
-      setEnabled(false);
-    } else {
-      QString nn_model_name = QString::fromStdString(CP_SP.getNeuralNetworkLateralControl().getModel().getName());
-      QString nn_fuzzy = CP_SP.getNeuralNetworkLateralControl().getFuzzyFingerprint() ?
-                         STATUS_MATCH_FUZZY : STATUS_MATCH_EXACT;
-
-      if (nn_model_name.isEmpty()) {
-        setDescription(nnffDescriptionBuilder(statusInitText));
-      } else if (nn_model_name == "MOCK") {
-        setDescription(nnffDescriptionBuilder(
-          notLoadedText + "<br>" + buildSupportText(SUPPORT_DONATE_LOGS)
-        ));
-      } else {
-        QString statusText = loadedText + " | " + STATUS_MATCH + " = " + nn_fuzzy + " | " + nn_model_name;
-        QString explanationText = EXPLANATION_MATCH + " " + buildSupportText(SUPPORT_ISSUES);
-        setDescription(nnffDescriptionBuilder(statusText + "<br><br>" + explanationText));
-      }
-    }
-  } else {
-    setDescription(nnffDescriptionBuilder(statusInitText));
-  }
-
-  if (getDescription() != getBaseDescription()) {
-    showDescription();
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
deleted file mode 100644
index df80fbf097..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/**
- * 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 <map>
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-
-class NeuralNetworkLateralControl : public ParamControl {
-  Q_OBJECT
-
-public:
-  NeuralNetworkLateralControl();
-
-public slots:
-  void updateToggle();
-
-private:
-  Params params;
-
-  // Status messages
-  const QString STATUS_NOT_AVAILABLE = tr("NNLC is currently not available on this platform.");
-  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the car to check car compatibility");
-  const QString STATUS_NOT_LOADED = tr("NNLC Not Loaded");
-  const QString STATUS_LOADED = tr("NNLC Loaded");
-  const QString STATUS_MATCH = tr("Match");
-  const QString STATUS_MATCH_EXACT = tr("Exact");
-  const QString STATUS_MATCH_FUZZY = tr("Fuzzy");
-
-  // Explanations
-  const QString EXPLANATION_MATCH = tr("Match: \"Exact\" is ideal, but \"Fuzzy\" is fine too.");
-  const QString EXPLANATION_FEATURE = tr("Formerly known as <b>\"NNFF\"</b>, this replaces the lateral <b>\"torque\"</b> controller, "
-                                            "with one using a neural network trained on each car's (actually, each separate EPS firmware) driving data for increased controls accuracy.");
-
-  // Support information
-  const QString SUPPORT_CHANNEL = "<font color='white'><b>#tuning-nnlc</b></font>";
-  const QString SUPPORT_REACH_OUT = tr("Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server");
-  const QString SUPPORT_FEEDBACK = tr("with feedback, or to provide log data for your car if your car is currently unsupported:");
-  const QString SUPPORT_ISSUES = tr("if there are any issues:");
-  const QString SUPPORT_DONATE_LOGS = tr("and donate logs to get NNLC loaded for your car:");
-
-  // Description builders
-  QString buildSupportText(const QString& context) const {
-    return SUPPORT_REACH_OUT + " " + context + " " + SUPPORT_CHANNEL;
-  }
-
-  QString nnffDescriptionBuilder(const QString &custom_description) const {
-    return "<b>" + custom_description + "</b><br><br>" + getBaseDescription();
-  }
-
-  QString getBaseDescription() const {
-    return EXPLANATION_FEATURE + "<br><br>" + buildSupportText(SUPPORT_FEEDBACK);
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
deleted file mode 100644
index 75cd13664d..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ /dev/null
@@ -1,128 +0,0 @@
-/**
- * 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/lateral_panel.h"
-
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
-  ListWidget *list = new ListWidget(this, false);
-
-  sunnypilotScreen = new QWidget(this);
-  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
-
-  // MADS
-  madsToggle = new ParamControl(
-    "Mads",
-    tr("Modular Assistive Driving System (MADS)"),
-    tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
-    "");
-  madsToggle->setConfirmation(true, false);
-  list->addItem(madsToggle);
-
-  madsSettingsButton = new PushButtonSP(tr("Customize MADS"));
-  madsSettingsButton->setObjectName("mads_btn");
-  connect(madsSettingsButton, &QPushButton::clicked, [=]() {
-    sunnypilotScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(madsWidget);
-  });
-  QObject::connect(madsToggle, &ToggleControl::toggleFlipped, madsSettingsButton, &PushButtonSP::setEnabled);
-
-  madsWidget = new MadsSettings(this);
-  connect(madsWidget, &MadsSettings::backPress, [=]() {
-    sunnypilotScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(sunnypilotScreen);
-  });
-  list->addItem(madsSettingsButton);
-
-  list->addItem(vertical_space());
-  list->addItem(horizontal_line());
-  list->addItem(vertical_space());
-
-  // Lane Change Settings
-  laneChangeSettingsButton = new PushButtonSP(tr("Customize Lane Change"));
-  laneChangeSettingsButton->setObjectName("lane_change_btn");
-  connect(laneChangeSettingsButton, &QPushButton::clicked, [=]() {
-    sunnypilotScroller->setLastScrollPosition();
-    main_layout->setCurrentWidget(laneChangeWidget);
-  });
-
-  laneChangeWidget = new LaneChangeSettings(this);
-  connect(laneChangeWidget, &LaneChangeSettings::backPress, [=]() {
-    sunnypilotScroller->restoreScrollPosition();
-    main_layout->setCurrentWidget(sunnypilotScreen);
-  });
-  list->addItem(laneChangeSettingsButton);
-
-  list->addItem(vertical_space(0));
-  list->addItem(horizontal_line());
-
-  // Neural Network Lateral Control
-  nnlcToggle = new NeuralNetworkLateralControl();
-  list->addItem(nnlcToggle);
-
-  QObject::connect(nnlcToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    if (state) {
-      nnlcToggle->showDescription();
-    } else {
-      nnlcToggle->hideDescription();
-    }
-
-    nnlcToggle->updateToggle();
-  });
-
-  toggleOffroadOnly = {
-    madsToggle, nnlcToggle,
-  };
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
-
-  sunnypilotScroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(sunnypilotScroller);
-
-  main_layout->addWidget(sunnypilotScreen);
-  main_layout->addWidget(madsWidget);
-  main_layout->addWidget(laneChangeWidget);
-
-  setStyleSheet(R"(
-    #back_btn {
-      font-size: 50px;
-      margin: 0px;
-      padding: 15px;
-      border-width: 0;
-      border-radius: 30px;
-      color: #dddddd;
-      background-color: #393939;
-    }
-    #back_btn:pressed {
-      background-color:  #4a4a4a;
-    }
-  )");
-
-  main_layout->setCurrentWidget(sunnypilotScreen);
-}
-
-void LateralPanel::showEvent(QShowEvent *event) {
-  nnlcToggle->updateToggle();
-  updateToggles(offroad);
-}
-
-void LateralPanel::hideEvent(QHideEvent *event) {
-  main_layout->setCurrentWidget(sunnypilotScreen);
-}
-
-void LateralPanel::updateToggles(bool _offroad) {
-  for (auto *toggle : toggleOffroadOnly) {
-    toggle->setEnabled(_offroad);
-  }
-
-  madsSettingsButton->setEnabled(madsToggle->isToggled());
-
-  offroad = _offroad;
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
deleted file mode 100644
index 1b77939ee8..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/**
- * 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 <map>
-#include <string>
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-class LateralPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit LateralPanel(SettingsWindowSP *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent* event) override;
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* sunnypilotScreen = nullptr;
-  ScrollViewSP *sunnypilotScroller = nullptr;
-  std::vector<ParamControl *> toggleOffroadOnly;
-  bool offroad;
-
-  ParamControl *madsToggle;
-  PushButtonSP *madsSettingsButton;
-  MadsSettings *madsWidget = nullptr;
-  PushButtonSP *laneChangeSettingsButton;
-  LaneChangeSettings *laneChangeWidget = nullptr;
-  NeuralNetworkLateralControl *nnlcToggle = nullptr;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
deleted file mode 100644
index 9d8a4d9c19..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
+++ /dev/null
@@ -1,11 +0,0 @@
-/**
- * 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/longitudinal_panel.h"
-
-LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
deleted file mode 100644
index cd68e3ec2f..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-/**
- * 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/qt/offroad/settings/settings.h"
-
-class LongitudinalPanel : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit LongitudinalPanel(QWidget *parent = nullptr);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
deleted file mode 100644
index 4cc7351b03..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
+++ /dev/null
@@ -1,53 +0,0 @@
-/**
- * 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
deleted file mode 100644
index 31c6a335c7..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/**
- * 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/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
deleted file mode 100644
index 9dd078e52d..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ /dev/null
@@ -1,162 +0,0 @@
-/**
- * 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/settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-#include "selfdrive/ui/qt/offroad/developer_panel.h"
-#include "selfdrive/ui/qt/offroad/firehose.h"
-#include "selfdrive/ui/sunnypilot/qt/network/networking.h"
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
-
-TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) {
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
-}
-
-void TogglesPanelSP::updateState(const UIStateSP &s) {
-  TogglesPanel::updateState(s);
-}
-
-SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
-  // setup two main layouts
-  sidebar_widget = new QWidget;
-  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
-  panel_widget = new QStackedWidget();
-
-  // setup layout for close button
-  QVBoxLayout *close_btn_layout = new QVBoxLayout;
-  close_btn_layout->setContentsMargins(0, 0, 0, 20);
-
-  // close button
-  QPushButton *close_btn = new QPushButton(tr("×"));
-  close_btn->setStyleSheet(R"(
-    QPushButton {
-      font-size: 140px;
-      padding-bottom: 20px;
-      border-radius: 76px;
-      background-color: #292929;
-      font-weight: 400;
-    }
-    QPushButton:pressed {
-      background-color: #3B3B3B;
-    }
-  )");
-  close_btn->setFixedSize(152, 152);
-  close_btn_layout->addWidget(close_btn, 0, Qt::AlignLeft);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindowSP::closeSettings);
-
-  // setup buttons widget
-  QWidget *buttons_widget = new QWidget;
-  QVBoxLayout *buttons_layout = new QVBoxLayout(buttons_widget);
-  buttons_layout->setMargin(0);
-  buttons_layout->addSpacing(10);
-
-  // setup panels
-  DevicePanelSP *device = new DevicePanelSP(this);
-  QObject::connect(device, &DevicePanelSP::reviewTrainingGuide, this, &SettingsWindowSP::reviewTrainingGuide);
-  QObject::connect(device, &DevicePanelSP::showDriverView, this, &SettingsWindowSP::showDriverView);
-
-  TogglesPanelSP *toggles = new TogglesPanelSP(this);
-  QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
-
-  auto networking = new NetworkingSP(this);
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &NetworkingSP::setPrimeType);
-
-  QList<PanelInfo> panels = {
-    PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
-    PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
-    PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/offroad/icon_wifi_strength_full.svg"),
-    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-    PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
-    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/offroad/icon_speed_limit.png"),
-    PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
-    PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
-    PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
-    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
-  };
-
-  nav_btns = new QButtonGroup(this);
-  for (auto &[name, panel, icon] : panels) {
-    QPushButton *btn = new QPushButton(name);
-    btn->setCheckable(true);
-    btn->setChecked(nav_btns->buttons().size() == 0);
-    btn->setIcon(QIcon(QPixmap(icon)));
-    btn->setIconSize(QSize(70, 70));
-    btn->setStyleSheet(R"(
-      QPushButton {
-        border-radius: 20px;
-        width: 400px;
-        height: 98px;
-        color: #bdbdbd;
-        border: none;
-        background: none;
-        font-size: 50px;
-        font-weight: 500;
-        text-align: left;
-        padding-left: 22px;
-      }
-      QPushButton:checked {
-        background-color: #696868;
-        color: white;
-      }
-      QPushButton:pressed {
-        color: #ADADAD;
-      }
-    )");
-    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-    nav_btns->addButton(btn);
-    buttons_layout->addWidget(btn, 0, Qt::AlignLeft | Qt::AlignBottom);
-
-    const int lr_margin = (name != ("   " + tr("Network"))) ? 50 : 0;  // Network panel handles its own margins
-    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
-
-    ScrollViewSP *panel_frame = new ScrollViewSP(panel, this);
-    panel_widget->addWidget(panel_frame);
-
-    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
-      btn->setChecked(true);
-      panel_widget->setCurrentWidget(w);
-    });
-  }
-  sidebar_layout->setContentsMargins(50, 50, 25, 50);
-
-  // main settings layout, sidebar + main panel
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-
-  // add layout for close button
-  sidebar_layout->addLayout(close_btn_layout);
-
-  // add layout for buttons scrolling
-  ScrollViewSP *buttons_scrollview = new ScrollViewSP(buttons_widget, this);
-  sidebar_layout->addWidget(buttons_scrollview);
-
-  sidebar_widget->setFixedWidth(500);
-  main_layout->addWidget(sidebar_widget);
-  main_layout->addWidget(panel_widget);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-size: 50px;
-    }
-    SettingsWindow {
-      background-color: black;
-    }
-    QStackedWidget, ScrollViewSP {
-      background-color: black;
-      border-radius: 30px;
-    }
-  )");
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
deleted file mode 100644
index 2fe511cc48..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/**
- * 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 <map>
-#include <string>
-
-#include "selfdrive/ui/qt/offroad/settings.h"
-
-class SettingsWindowSP : public SettingsWindow {
-  Q_OBJECT
-
-public:
-  explicit SettingsWindowSP(QWidget *parent = nullptr);
-
-protected:
-  struct PanelInfo {
-    QString name;
-    QWidget *widget;
-    QString icon;
-
-    PanelInfo(const QString &name, QWidget *widget, const QString &icon) : name(name), widget(widget), icon(icon) {}
-  };
-};
-
-class TogglesPanelSP : public TogglesPanel {
-  Q_OBJECT
-
-public:
-  explicit TogglesPanelSP(SettingsWindowSP *parent);
-
-private slots:
-  void updateState(const UIStateSP &s);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
deleted file mode 100644
index 20f3fdb598..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ /dev/null
@@ -1,207 +0,0 @@
-/**
- * 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/software_panel.h"
-
-#include <algorithm>
-#include <QJsonDocument>
-
-#include "common/model.h"
-
-/**
- * @brief Constructs the software panel with model bundle selection functionality
- * @param parent Parent widget
- */
-SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
-  const auto current_model = GetActiveModelName();
-  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
-  currentModelLblBtn->setValue(current_model);
-
-  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &SoftwarePanelSP::handleCurrentModelLblBtnClicked);
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SoftwarePanelSP::updateLabels);
-  AddWidgetAt(0, currentModelLblBtn);
-}
-
-/**
- * @brief Updates the UI with bundle download progress information
- * Reads status from modelManagerSP cereal message and displays status for all models
- */
-void SoftwarePanelSP::handleBundleDownloadProgress() {
-  using DS = cereal::ModelManagerSP::DownloadStatus;
-  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
-    currentModelLblBtn->setDescription(tr("No custom model selected!"));
-    return;
-  }
-
-  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
-  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
-  const auto &models = bundle.getModels();
-  download_status = bundle.getStatus();
-  const auto download_status_changed = prev_download_status != download_status;
-  QStringList status;
-
-  // Get status for each model type in order
-  for (const auto &model: models) {
-    QString typeName;
-    QString modelName = QString::fromStdString(bundle.getDisplayName());
-
-    switch (model.getType()) {
-      case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
-        typeName = tr("Driving");
-        break;
-      case cereal::ModelManagerSP::Model::Type::NAVIGATION:
-        typeName = tr("Navigation");
-        break;
-      case cereal::ModelManagerSP::Model::Type::VISION:
-        typeName = tr("Vision");
-        break;
-      case cereal::ModelManagerSP::Model::Type::POLICY:
-        typeName = tr("Policy");
-        break;
-    }
-
-    const auto &progress = model.getArtifact().getDownloadProgress();
-    QString line;
-
-    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
-      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
-    } else {
-      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
-    }
-    status.append(line);
-  }
-
-  currentModelLblBtn->setDescription(status.join("\n"));
-
-  if (prev_download_status != download_status) {
-    switch (bundle.getStatus()) {
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
-      case cereal::ModelManagerSP::DownloadStatus::CACHED:
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
-        currentModelLblBtn->showDescription();
-        break;
-      case cereal::ModelManagerSP::DownloadStatus::FAILED:
-      default:
-        break;
-    }
-  }
-  prev_download_status = download_status;
-}
-
-/**
- * @brief Gets the name of the currently selected model bundle
- * @return Display name of the selected bundle or default model name
- */
-QString SoftwarePanelSP::GetActiveModelName() {
-  if (model_manager.hasActiveBundle()) {
-    return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
-  }
-
-  return DEFAULT_MODEL;
-}
-
-void SoftwarePanelSP::updateModelManagerState() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  model_manager = sm["modelManagerSP"].getModelManagerSP();
-}
-
-/**
- * @brief Handles the model bundle selection button click
- * Displays available bundles, allows selection, and initiates download
- */
-void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
-  currentModelLblBtn->setEnabled(false);
-  currentModelLblBtn->setValue(tr("Fetching models..."));
-
-  // Create mapping of bundle indices to display names
-  QMap<uint32_t, QString> index_to_bundle;
-  const auto bundles = model_manager.getAvailableBundles();
-  for (const auto &bundle: bundles) {
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
-  }
-
-  // Sort bundles by index in descending order
-  QStringList bundleNames;
-  // Add "Default" as the first option
-  bundleNames.append(tr("Use Default"));
-
-  auto indices = index_to_bundle.keys();
-  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
-  for (const auto &index: indices) {
-    bundleNames.append(index_to_bundle[index]);
-  }
-
-  currentModelLblBtn->setValue(GetActiveModelName());
-
-  const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
-
-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
-    return;
-  }
-
-  // Handle "Stock" selection differently
-  if (selectedBundleName == tr("Use Default")) {
-    params.remove("ModelManager_ActiveBundle");
-    currentModelLblBtn->setValue(tr("Default"));
-    showResetParamsDialog();
-  } else {
-    // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
-        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
-        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
-          showResetParamsDialog();
-        }
-        break;
-      }
-    }
-  }
-
-  updateLabels();
-}
-
-/**
- * @brief Updates the UI elements based on current state
- */
-void SoftwarePanelSP::updateLabels() {
-  if (!isVisible()) {
-    return;
-  }
-
-  updateModelManagerState();
-  handleBundleDownloadProgress();
-  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
-  currentModelLblBtn->setValue(GetActiveModelName());
-
-  SoftwarePanel::updateLabels();
-}
-
-/**
- * @brief Shows dialog prompting user to reset calibration after model download
- */
-void SoftwarePanelSP::showResetParamsDialog() {
-  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
-                          .arg(tr("Model download has started in the background."))
-                          .arg(tr("We STRONGLY suggest you to reset calibration."))
-                          .arg(tr("Would you like to do that now?"));
-  const auto button_text = tr("Reset Calibration");
-
-  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
-                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
-
-  if (showConfirmationDialog(content, button_text, false)) {
-    params.remove("CalibrationParams");
-    params.remove("LiveTorqueParameters");
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
deleted file mode 100644
index d0299d6efd..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**
- * 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 <QJsonObject>
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/qt/offroad/settings.h"
-
-class SoftwarePanelSP final : public SoftwarePanel {
-  Q_OBJECT
-
-public:
-  explicit SoftwarePanelSP(QWidget *parent = nullptr);
-
-private:
-  QString GetActiveModelName();
-  void updateModelManagerState();
-
-  bool isDownloading() const {
-    if (!model_manager.hasSelectedBundle()) {
-      return false;
-    }
-
-    const auto &selected_bundle = model_manager.getSelectedBundle();
-    return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING;
-  }
-
-  // UI update related methods
-  void updateLabels() override;
-  void handleCurrentModelLblBtnClicked();
-  void handleBundleDownloadProgress();
-  void showResetParamsDialog();
-  cereal::ModelManagerSP::Reader model_manager;
-  cereal::ModelManagerSP::DownloadStatus download_status{};
-  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
-
-  bool canContinueOnMeteredDialog() {
-    if (!is_metered) return true;
-    return showConfirmationDialog(QString(), QString(), is_metered);
-  }
-
-  inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
-    return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning);
-  }
-
-  static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
-    const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString();
-    const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
-    const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
-
-    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
-  }
-
-  bool is_metered{};
-  bool is_wifi{};
-  ButtonControlSP *currentModelLblBtn;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
deleted file mode 100644
index 7b5ce48238..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc
+++ /dev/null
@@ -1,142 +0,0 @@
-/**
- * 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/sunnylink/sponsor_widget.h"
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/api.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/sunnylink_client.h"
-
-// Sponsor Upsell
-using qrcodegen::QrCode;
-
-SunnylinkSponsorQRWidget::SunnylinkSponsorQRWidget(bool sponsor_pair, QWidget* parent) : QWidget(parent), sponsor_pair(sponsor_pair) {
-  timer = new QTimer(this);
-  connect(timer, &QTimer::timeout, this, &SunnylinkSponsorQRWidget::refresh);
-}
-
-void SunnylinkSponsorQRWidget::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(5 * 60 * 1000);
-  device()->setOffroadBrightness(100);
-}
-
-void SunnylinkSponsorQRWidget::hideEvent(QHideEvent *event) {
-  timer->stop();
-  device()->setOffroadBrightness(BACKLIGHT_OFFROAD);
-}
-
-void SunnylinkSponsorQRWidget::refresh() {
-  QString qrString;
-
-  if (sponsor_pair) {
-    QString token = SunnylinkApi::create_jwt({}, 3600, true);
-    auto sl_dongle_id = getSunnylinkDongleId();
-    QByteArray payload = QString("1|" + sl_dongle_id.value_or("") + "|" + token).toUtf8().toBase64();
-    qrString = SUNNYLINK_BASE_URL + "/sso?state=" + payload;
-  } else {
-    qrString = "https://github.com/sponsors/sunnyhaibin";
-  }
-
-  this->updateQrCode(qrString);
-  update();
-}
-
-void SunnylinkSponsorQRWidget::updateQrCode(const QString &text) {
-  QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW);
-  qint32 sz = qr.getSize();
-  QImage im(sz, sz, QImage::Format_RGB32);
-
-  QRgb black = qRgb(0, 0, 0);
-  QRgb white = qRgb(255, 255, 255);
-  for (int y = 0; y < sz; y++) {
-    for (int x = 0; x < sz; x++) {
-      im.setPixel(x, y, qr.getModule(x, y) ? black : white);
-    }
-  }
-
-  // Integer division to prevent anti-aliasing
-  int final_sz = ((width() / sz) - 1) * sz;
-  img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly);
-}
-
-void SunnylinkSponsorQRWidget::paintEvent(QPaintEvent *e) {
-  QPainter p(this);
-  p.fillRect(rect(), Qt::white);
-
-  QSize s = (size() - img.size()) / 2;
-  p.drawPixmap(s.width(), s.height(), img);
-}
-
-QStringList SunnylinkSponsorPopup::getInstructions(bool sponsor_pair) {
-  QStringList instructions;
-  if (sponsor_pair) {
-    instructions << tr("Scan the QR code to login to your GitHub account")
-                 << tr("Follow the prompts to complete the pairing process")
-                 << tr("Re-enter the \"sunnylink\" panel to verify sponsorship status")
-                 << tr("If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot");
-  } else {
-    instructions << tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page")
-                 << tr("Choose your sponsorship tier and confirm your support")
-                 << tr("Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status");
-  }
-  return instructions;
-}
-
-SunnylinkSponsorPopup::SunnylinkSponsorPopup(bool sponsor_pair, QWidget *parent) : DialogBase(parent), sponsor_pair(sponsor_pair) {
-  auto *hlayout = new QHBoxLayout(this);
-  auto sunnylink_client = new SunnylinkClient(this);
-  hlayout->setContentsMargins(0, 0, 0, 0);
-  hlayout->setSpacing(0);
-
-  setStyleSheet("SunnylinkSponsorPopup { background-color: #E0E0E0; }");
-
-  // text
-  auto vlayout = new QVBoxLayout();
-  vlayout->setContentsMargins(85, 70, 50, 70);
-  vlayout->setSpacing(50);
-  hlayout->addLayout(vlayout, 1);
-  {
-    auto close = new QPushButton(QIcon(":/icons/close.svg"), "", this);
-    close->setIconSize(QSize(80, 80));
-    close->setStyleSheet("border: none;");
-    vlayout->addWidget(close, 0, Qt::AlignLeft);
-    connect(close, &QPushButton::clicked, this, [=] {
-      sunnylink_client->role_service->load();
-      sunnylink_client->user_service->load();
-      QDialog::reject();
-    });
-
-    //vlayout->addSpacing(30);
-
-    const QString titleText = sponsor_pair ? tr("Pair your GitHub account") : tr("Early Access: Become a sunnypilot Sponsor");
-    const auto title = new QLabel(titleText, this);
-    title->setStyleSheet("font-size: 75px; color: black;");
-    title->setWordWrap(true);
-    vlayout->addWidget(title);
-
-    QStringList instructions = getInstructions(sponsor_pair);
-    QString instructionsHtml = "<ol type='1' style='margin-left: 15px;'>";
-    for (const auto & instruction : instructions) {
-      instructionsHtml += QString("<li style='margin-bottom: 50px;'>%1</li>").arg(instruction);
-    }
-    instructionsHtml += "</ol>";
-    const auto instructionsLabel = new QLabel(instructionsHtml, this);
-
-
-    instructionsLabel->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
-    instructionsLabel->setWordWrap(true);
-    vlayout->addWidget(instructionsLabel);
-
-    vlayout->addStretch();
-  }
-
-  // QR code
-  auto *qr = new SunnylinkSponsorQRWidget(sponsor_pair, this);
-  hlayout->addWidget(qr, 1);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h
deleted file mode 100644
index 9f15a6084f..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/**
- * 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 <QrCode.hpp>
-#include <QtCore/qjsonobject.h>
-
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-const QString SUNNYLINK_BASE_URL = util::getenv("SUNNYLINK_API_HOST", "https://stg.api.sunnypilot.ai").c_str();
-
-class SunnylinkSponsorQRWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit SunnylinkSponsorQRWidget(bool sponsor_pair = false, QWidget* parent = 0);
-  void paintEvent(QPaintEvent*) override;
-
-private:
-  QPixmap img;
-  QTimer *timer;
-  void updateQrCode(const QString &text);
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-
-  bool sponsor_pair = false;
-
-private slots:
-  void refresh();
-};
-
-// sponsor popup widget
-class SunnylinkSponsorPopup : public DialogBase {
-  Q_OBJECT
-
-public:
-  explicit SunnylinkSponsorPopup(bool sponsor_pair = false, QWidget* parent = 0);
-
-private:
-  static QStringList getInstructions(bool sponsor_pair);
-  bool sponsor_pair = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
deleted file mode 100644
index 1358cbc959..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ /dev/null
@@ -1,271 +0,0 @@
-/**
- * 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/sunnylink_panel.h"
-
-#include "common/watchdog.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include <QtConcurrent>
-
-SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
-  sunnylink_client = new SunnylinkClient(this);
-  param_watcher = new ParamWatcher(this);
-  param_watcher->addParam("SunnylinkEnabled");
-  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
-    paramsRefresh(param_name, param_value);
-  });
-
-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
-  connect(uiStateSP(), &UIStateSP::sunnylinkRolesChanged, this, &SunnylinkPanel::updatePanel);
-  connect(uiStateSP(), &UIStateSP::sunnylinkDeviceUsersChanged, this, &SunnylinkPanel::updatePanel);
-  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
-    is_onroad = !offroad;
-    updatePanel();
-  });
-
-  sunnylinkScreen = new QWidget(this);
-  auto vlayout = new QVBoxLayout(sunnylinkScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
-
-  auto *list = new ListWidget(this, false);
-  QString sunnylinkEnabledBtnDesc = tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.");
-  sunnylinkEnabledBtn = new ParamControl(
-    "SunnylinkEnabled",
-    tr("Enable sunnylink"),
-    sunnylinkEnabledBtnDesc,
-    "");
-  list->addItem(sunnylinkEnabledBtn);
-
-  status_popup = new SunnylinkSponsorPopup(false, this);
-  sponsorBtn = new ButtonControlSP(
-    tr("Sponsor Status"), tr("SPONSOR"),
-    tr("Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."));
-  list->addItem(sponsorBtn);
-  connect(sponsorBtn, &ButtonControlSP::clicked, [=]() {
-    status_popup->exec();
-  });
-  list->addItem(horizontal_line());
-
-  pair_popup = new SunnylinkSponsorPopup(true, this);
-  pairSponsorBtn = new ButtonControlSP(
-    tr("Pair GitHub Account"), tr("PAIR"),
-    tr("Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.") + "🌟");
-  list->addItem(pairSponsorBtn);
-  connect(pairSponsorBtn, &ButtonControlSP::clicked, [=]() {
-    if (getSunnylinkDongleId().value_or(tr("N/A")) == "N/A") {
-      ConfirmationDialog::alert(tr("sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again."), this);
-    } else {
-      pair_popup->exec();
-    }
-  });
-  list->addItem(horizontal_line());
-
-  connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
-    // resets the description to the default one for the Easter egg
-    sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
-  });
-
-  connect(sunnylinkEnabledBtn, &ParamControl::toggleFlipped, [=](bool enabled) {
-    QString description;
-    if (enabled) {
-      description = "<font color='SeaGreen'>"+ tr("🎉Welcome back! We're excited to see you've enabled sunnylink again! 🚀")+ "</font>";
-    } else {
-      description = "<font color='orange'>"+ tr("👋Not going to lie, it's sad to see you disabled sunnylink 😢, but we'll be here when you're ready to come back 🎉.")+ "</font>";
-    }
-    sunnylinkEnabledBtn->showDescription();
-    sunnylinkEnabledBtn->setDescription(description);
-
-    updatePanel();
-  });
-
-  // Backup Settings
-  backupSettings = new PushButtonSP(tr("Backup Settings"), 750, this);
-  backupSettings->setObjectName("backup_btn");
-  connect(backupSettings, &QPushButton::clicked, [=]() {
-    backupSettings->setEnabled(false);
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to backup sunnypilot settings?"), tr("Back Up"), this)) {
-      params.putBool("BackupManager_CreateBackup", true);
-      backup_request_pending = true;
-    }
-  });
-
-  // Restore Settings
-  restoreSettings = new PushButtonSP(tr("Restore Settings"), 750, this);
-  restoreSettings->setObjectName("restore_btn");
-  connect(restoreSettings, &QPushButton::clicked, [=]() {
-    restoreSettings->setEnabled(false);
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to restore the last backed up sunnypilot settings?"), tr("Restore"), this)) {
-      params.put("BackupManager_RestoreVersion", "latest");
-      restore_request_pending = true;
-    }
-  });
-  // 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, 0, Qt::AlignLeft);
-  settings_layout->addSpacing(10);
-  settings_layout->addWidget(restoreSettings, 0, Qt::AlignRight);
-  list->addItem(settings_layout);
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SunnylinkPanel::updatePanel);
-
-  sunnylinkScroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(sunnylinkScroller);
-
-  main_layout->addWidget(sunnylinkScreen);
-
-  if (is_sunnylink_enabled) {
-    startSunnylink();
-  }
-}
-
-void SunnylinkPanel::updateBackupManagerState() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  backup_manager = sm["backupManagerSP"].getBackupManagerSP();
-}
-
-void SunnylinkPanel::handleBackupProgress() {
-  auto backup_status = backup_manager.getBackupStatus();
-  auto restore_status = backup_manager.getRestoreStatus();
-  auto backup_progress = backup_manager.getBackupProgress();
-  auto restore_progress = backup_manager.getRestoreProgress();
-
-  switch (backup_status) {
-    case cereal::BackupManagerSP::Status::IN_PROGRESS:
-      backup_request_pending = false;
-      backup_request_started = true;
-      backupSettings->setEnabled(false);
-      backupSettings->setText(QString(tr("Backup in progress %1%").arg(backup_progress)));
-    break;
-    case cereal::BackupManagerSP::Status::FAILED:
-      backup_request_pending = false;
-      backup_request_started = false;
-      backupSettings->setEnabled(!is_onroad);
-      backupSettings->setText(tr("Backup Failed"));
-    break;
-    case cereal::BackupManagerSP::Status::COMPLETED:
-      backup_request_pending = false;
-      break;
-    default:
-      if (!backup_request_pending && backup_request_started) {
-        backup_request_started = false;
-        ConfirmationDialog::alert(tr("Settings backup completed."), this);
-      } else {
-        backupSettings->setEnabled(!is_onroad && !backup_request_pending && is_sunnylink_enabled);
-      }
-      backupSettings->setText(tr("Backup Settings"));
-    break;
-  }
-
-  switch (restore_status) {
-    case cereal::BackupManagerSP::Status::IN_PROGRESS:
-      restore_request_pending = false;
-      restore_request_started = true;
-      restoreSettings->setEnabled(false);
-      restoreSettings->setText(QString(tr("Restore in progress %1%").arg(restore_progress)));
-      break;
-    case cereal::BackupManagerSP::Status::FAILED:
-      restore_request_pending = false;
-      restore_request_started = false;
-      restoreSettings->setEnabled(!is_onroad);
-      restoreSettings->setText(tr("Restore Failed"));
-      ConfirmationDialog::alert(tr("Unable to restore the settings, try again later."), this);
-      break;
-    case cereal::BackupManagerSP::Status::COMPLETED:
-      restore_request_pending = false;
-      break;
-    default:
-      if (!restore_request_pending && restore_request_started) {
-        restore_request_started = false;
-        if (ConfirmationDialog::alert(tr("Settings restored. Confirm to restart the interface."), this)) {
-          qApp->exit(18);
-          watchdog_kick(0);
-        }
-      } else {
-        restoreSettings->setEnabled(!is_onroad && !restore_request_pending && is_sunnylink_enabled);
-      }
-      restoreSettings->setText(tr("Restore Settings"));
-    break;
-  }
-}
-
-void SunnylinkPanel::paramsRefresh(const QString &param_name, const QString &param_value) {
-  // We do it on paramsRefresh because the toggleEvent happens before the value is updated
-  if (param_name == "SunnylinkEnabled" && param_value == "1") {
-    startSunnylink();
-  } else if (param_name == "SunnylinkEnabled" && param_value == "0") {
-    stopSunnylink();
-  }
-
-  updatePanel();
-}
-
-void SunnylinkPanel::startSunnylink() const {
-  if (!sunnylink_client->role_service->isCurrentyPolling()) {
-    sunnylink_client->role_service->startPolling();
-  } else {
-    sunnylink_client->role_service->load();
-  }
-
-  if (!sunnylink_client->user_service->isCurrentyPolling()) {
-    sunnylink_client->user_service->startPolling();
-  } else {
-    sunnylink_client->user_service->load();
-  }
-}
-
-void SunnylinkPanel::stopSunnylink() const {
-  sunnylink_client->role_service->stopPolling();
-  sunnylink_client->user_service->stopPolling();
-}
-
-void SunnylinkPanel::showEvent(QShowEvent *event) {
-  updatePanel();
-  if (is_sunnylink_enabled) {
-    startSunnylink();
-  }
-}
-
-void SunnylinkPanel::updatePanel() {
-  if (!isVisible()) {
-    return;
-  }
-
-  updateBackupManagerState();
-  handleBackupProgress();
-  const auto sunnylinkDongleId = getSunnylinkDongleId().value_or(tr("N/A"));
-  sunnylinkEnabledBtn->setEnabled(!is_onroad);
-
-  is_sunnylink_enabled = Params().getBool("SunnylinkEnabled");
-  bool is_sub = uiStateSP()->isSunnylinkSponsor() && is_sunnylink_enabled;
-  auto max_current_sponsor_rule = uiStateSP()->sunnylinkSponsorRole();
-  auto role_name = max_current_sponsor_rule.getSponsorTierString();
-  std::optional role_color = max_current_sponsor_rule.getSponsorTierColor();
-  bool is_paired = uiStateSP()->isSunnylinkPaired();
-  auto paired_users = uiStateSP()->sunnylinkDeviceUsers();
-
-  sunnylinkEnabledBtn->setEnabled(!is_onroad);
-  sunnylinkEnabledBtn->setValue(tr("Device ID") + " " + sunnylinkDongleId);
-
-  sponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
-  sponsorBtn->setText(is_sub ? tr("THANKS ♥") : tr("SPONSOR"));
-  sponsorBtn->setValue(is_sub ? tr(role_name.toStdString().c_str()) : tr("Not Sponsor"), role_color);
-
-  pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
-  pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
-
-  if (!is_sunnylink_enabled) {
-    sunnylinkEnabledBtn->setValue("");
-    sponsorBtn->setValue("");
-    pairSponsorBtn->setValue("");
-  }
-
-  update();
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
deleted file mode 100644
index e17c68d3a3..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/**
- * 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/qt/network/sunnylink/sunnylink_client.h"
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-class SunnylinkPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit SunnylinkPanel(QWidget *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-  void paramsRefresh(const QString &param_name, const QString &param_value);
-  void updateBackupManagerState();
-  void handleBackupProgress();
-
-public slots:
-  void updatePanel();
-
-private:
-  Params params;
-  QStackedLayout *main_layout = nullptr;
-  QWidget *sunnylinkScreen = nullptr;
-  ScrollViewSP *sunnylinkScroller = nullptr;
-  SunnylinkSponsorPopup *status_popup;
-  SunnylinkSponsorPopup *pair_popup;
-  ButtonControlSP *sponsorBtn;
-  ButtonControlSP *pairSponsorBtn;
-  SunnylinkClient *sunnylink_client;
-  cereal::BackupManagerSP::Reader backup_manager;
-
-  ParamControl *sunnylinkEnabledBtn;
-  bool is_onroad = false;
-  bool is_sunnylink_enabled = false;
-  bool backup_request_pending = false;
-  bool backup_request_started = false;
-  bool restore_request_pending = false;
-  bool restore_request_started = false;
-  ParamWatcher *param_watcher;
-  QString sunnylinkBtnDescription;
-  PushButtonSP *restoreSettings;
-  PushButtonSP *backupSettings;
-
-  void stopSunnylink() const;
-  void startSunnylink() const;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc
deleted file mode 100644
index dcb16d168d..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-/**
- * 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/trips_panel.h"
-
-TripsPanel::TripsPanel(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(0);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  driveStatsWidget = new DriveStats;
-  driveStatsWidget->setStyleSheet(R"(
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-  center_layout->addWidget(driveStatsWidget);
-
-  main_layout->addLayout(center_layout, 1);
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-    }
-    TripsPanel > QLabel {
-      font-size: 55px;
-    }
-  )");
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h
deleted file mode 100644
index 67a49e21a4..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/**
- * 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/qt/widgets/controls.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
-
-class TripsPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit TripsPanel(QWidget* parent = 0);
-
-private:
-  Params params;
-
-  QStackedLayout* center_layout;
-  DriveStats *driveStatsWidget;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
deleted file mode 100644
index bebc6c3032..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
+++ /dev/null
@@ -1,62 +0,0 @@
-/**
- * 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/vehicle/brand_settings_factory.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
-
-static const QStringList supportedBrands = {
-  "chrysler",
-  "ford",
-  "gm",
-  "honda",
-  "hyundai",
-  "mazda",
-  "nissan",
-  "rivian",
-  "subaru",
-  "tesla",
-  "toyota",
-  "volkswagen",
-};
-
-BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) {
-  if (brand == "chrysler")
-    return new ChryslerSettings(parent);
-  if (brand == "ford")
-    return new FordSettings(parent);
-  if (brand == "gm")
-    return new GMSettings(parent);
-  if (brand == "honda")
-    return new HondaSettings(parent);
-  if (brand == "hyundai")
-    return new HyundaiSettings(parent);
-  if (brand == "mazda")
-    return new MazdaSettings(parent);
-  if (brand == "nissan")
-    return new NissanSettings(parent);
-  if (brand == "rivian")
-    return new RivianSettings(parent);
-  if (brand == "subaru")
-    return new SubaruSettings(parent);
-  if (brand == "tesla")
-    return new TeslaSettings(parent);
-  if (brand == "toyota")
-    return new ToyotaSettings(parent);
-  if (brand == "volkswagen")
-    return new VolkswagenSettings(parent);
-
-  // Default empty settings if brand not supported
-  return nullptr;
-}
-
-bool BrandSettingsFactory::isBrandSupported(const QString& brand) {
-  return supportedBrands.contains(brand);
-}
-
-QStringList BrandSettingsFactory::getSupportedBrands() {
-  return supportedBrands;
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
deleted file mode 100644
index b4dc9fc81b..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-class BrandSettingsFactory {
-
-public:
-  static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr);
-  static bool isBrandSupported(const QString& brand);
-  static QStringList getSupportedBrands();
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
deleted file mode 100644
index 03921c01a3..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
+++ /dev/null
@@ -1,21 +0,0 @@
-/**
- * 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/vehicle/brand_settings_interface.h"
-
-BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  list = new ListWidget(this, false);
-  main_layout->addWidget(list);
-}
-
-void BrandSettingsInterface::updatePanel(bool _offroad) {
-  offroad = _offroad;
-  updateSettings();
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
deleted file mode 100644
index 4aff123177..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/**
- * 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 BrandSettingsInterface : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit BrandSettingsInterface(QWidget *parent = nullptr);
-  virtual ~BrandSettingsInterface() = default;
-
-  void updatePanel(bool _offroad);
-  virtual void updateSettings() = 0;
-
-protected:
-  ListWidget *list = nullptr;
-  Params params;
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
deleted file mode 100644
index 795dba5739..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/chrysler_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
deleted file mode 100644
index fd8fc423fe..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/chrysler_settings.h"
-
-ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void ChryslerSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
deleted file mode 100644
index ab84bec16a..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class ChryslerSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit ChryslerSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
deleted file mode 100644
index 96564cb8a9..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/ford_settings.h"
-
-FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void FordSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
deleted file mode 100644
index 468bd6b7dd..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class FordSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit FordSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
deleted file mode 100644
index 060a28424b..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/gm_settings.h"
-
-GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void GMSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
deleted file mode 100644
index 211563ab61..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class GMSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit GMSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
deleted file mode 100644
index ca18fa7240..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/honda_settings.h"
-
-HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void HondaSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
deleted file mode 100644
index e41602dc11..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class HondaSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit HondaSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
deleted file mode 100644
index 5f0010ac33..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
+++ /dev/null
@@ -1,57 +0,0 @@
-/**
- * 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/vehicle/hyundai_settings.h"
-
-HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
-  longitudinalTuningToggle = new ButtonParamControl(
-    "HyundaiLongitudinalTuning",
-    tr("Custom Longitudinal Tuning"),
-    "",
-    "",
-    tuning_texts,
-    500
-  );
-  QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonToggled, this, &HyundaiSettings::updateSettings);
-  list->addItem(longitudinalTuningToggle);
-  longitudinalTuningToggle->showDescription();
-}
-
-void HyundaiSettings::updateSettings() {
-  auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str());
-
-  auto cp_bytes = params.get("CarParamsPersistent");
-  if (!cp_bytes.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-    has_longitudinal_control = hasLongitudinalControl(CP);
-  } else {
-    has_longitudinal_control = false;
-  }
-
-  LongitudinalTuningOption longitudinal_tuning_option;
-  if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) {
-    longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE;
-  } else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) {
-    longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC;
-  } else {
-    longitudinal_tuning_option = LongitudinalTuningOption::OFF;
-  }
-
-  bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control;
-  QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option);
-  if (longitudinal_tuning_disabled) {
-    longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control);
-  }
-
-  longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
-  longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
-  longitudinalTuningToggle->showDescription();
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
deleted file mode 100644
index c94d40cfde..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-enum class LongitudinalTuningOption {
-  OFF,
-  DYNAMIC,
-  PREDICTIVE,
-};
-
-class HyundaiSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit HyundaiSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool has_longitudinal_control = false;
-  ButtonParamControl *longitudinalTuningToggle = nullptr;
-
-  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
-    if (!_has_longitudinal_control) {
-      return tr("This feature can only be used with openpilot longitudinal control enabled.");
-    }
-
-    if (!_offroad) {
-      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
-    }
-
-    return QString();
-  }
-
-  static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) {
-    QString off_str = tr("Off: Uses default tuning");
-    QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed");
-    QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments");
-
-    if (option == LongitudinalTuningOption::PREDICTIVE) {
-      predictive_str = "<font color='white'><b>" + predictive_str + "</b></font>";
-    } else if (option == LongitudinalTuningOption::DYNAMIC) {
-      dynamic_str = "<font color='white'><b>" + dynamic_str + "</b></font>";
-    } else {
-      off_str = "<font color='white'><b>" + off_str + "</b></font>";
-    }
-
-    return QString("%1<br><br>%2<br>%3<br>%4<br>")
-             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
-             .arg(off_str)
-             .arg(dynamic_str)
-             .arg(predictive_str);
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
deleted file mode 100644
index b8b8825f27..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/mazda_settings.h"
-
-MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void MazdaSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
deleted file mode 100644
index cbbc38de7f..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class MazdaSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit MazdaSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
deleted file mode 100644
index 3c21943622..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/nissan_settings.h"
-
-NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void NissanSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
deleted file mode 100644
index d6eabac0bf..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class NissanSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit NissanSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
deleted file mode 100644
index 21c9a44cb4..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ /dev/null
@@ -1,236 +0,0 @@
-/**
- * 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/vehicle/platform_selector.h"
-
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QMap>
-
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-
-QVariant PlatformSelector::getPlatformBundle(const QString &key) {
-  QString platform_bundle = QString::fromStdString(params.get("CarPlatformBundle"));
-  if (!platform_bundle.isEmpty()) {
-    QJsonDocument json = QJsonDocument::fromJson(platform_bundle.toUtf8());
-    if (!json.isNull() && json.isObject()) {
-      return json.object().value(key).toVariant();
-    }
-  }
-  return {};
-}
-
-PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
-  platforms = loadPlatformList();
-
-  QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == tr("SEARCH")) {
-      QString query = InputDialog::getText(tr("Search your vehicle"), this, tr("Enter model year (e.g., 2021) and model name (Toyota Corolla):"), false);
-      if (query.length() > 0) {
-        setText(tr("SEARCHING"));
-        setEnabled(false);
-        searchPlatforms(query);
-        refresh(offroad);
-      }
-    } else {
-      params.remove("CarPlatformBundle");
-      refresh(offroad);
-    }
-  });
-
-  main_layout->addStretch(0);
-  refresh(offroad);
-}
-
-void PlatformSelector::refresh(bool _offroad) {
-  QString name = getPlatformBundle("name").toString();
-  platform = unrecognized_str;
-  QString platform_color = YELLOW_PLATFORM;
-
-  if (!name.isEmpty()) {
-    platform = name;
-    platform_color = BLUE_PLATFORM;
-    brand = getPlatformBundle("brand").toString();
-    setText(tr("REMOVE"));
-  } else {
-    setText(tr("SEARCH"));
-
-    platform = unrecognized_str;
-    brand = "";
-    auto cp_bytes = params.get("CarParamsPersistent");
-    if (!cp_bytes.empty()) {
-      AlignedBuffer aligned_buf;
-      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
-      cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-
-      platform = QString::fromStdString(CP.getCarFingerprint().cStr());
-
-      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
-        if (it.value()["platform"].toString() == platform) {
-          platform = it.key();
-          brand = it.value()["brand"].toString();
-          break;
-        }
-      }
-
-      if (platform == "MOCK") {
-        platform = unrecognized_str;
-      } else {
-        platform_color = GREEN_PLATFORM;
-      }
-    }
-  }
-  setValue(platform, platform_color);
-  setEnabled(true);
-  emit refreshPanel();
-
-  offroad = _offroad;
-
-  FingerprintStatus cur_status;
-  if (platform_color == GREEN_PLATFORM) {
-    cur_status = FingerprintStatus::AUTO_FINGERPRINT;
-  } else if (platform_color == BLUE_PLATFORM) {
-    cur_status = FingerprintStatus::MANUAL_FINGERPRINT;
-  } else {
-    cur_status = FingerprintStatus::UNRECOGNIZED;
-  }
-
-  setDescription(platformDescription(cur_status));
-  showDescription();
-}
-
-void PlatformSelector::setPlatform(const QString &_platform) {
-  QVariantMap platform_data = platforms[_platform];
-
-  const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
-                                        tr("This setting will take effect once the device enters offroad state.");
-  const QString msg = QString("<b>%1</b><br><br>%2")
-                      .arg(_platform, offroad_msg);
-
-  QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
-                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
-
-  if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
-    QJsonObject json_bundle;
-    json_bundle["platform"] = platform_data["platform"].toString();
-    json_bundle["name"] = _platform;
-    json_bundle["make"] = platform_data["make"].toString();
-    json_bundle["brand"] = platform_data["brand"].toString();
-    json_bundle["model"] = platform_data["model"].toString();
-    json_bundle["package"] = platform_data["package"].toString();
-
-    QVariantList yearList = platform_data["year"].toList();
-    QJsonArray yearArray;
-    for (const QVariant &year : yearList) {
-      yearArray.append(year.toString());
-    }
-    json_bundle["year"] = yearArray;
-
-    QString json_bundle_str = QString::fromUtf8(QJsonDocument(json_bundle).toJson(QJsonDocument::Compact));
-
-    params.put("CarPlatformBundle", json_bundle_str.toStdString());
-  }
-}
-
-void PlatformSelector::searchPlatforms(const QString &query) {
-  if (query.isEmpty()) {
-    return;
-  }
-
-  QSet<QString> matched_cars;
-
-  QString normalized_query = query.simplified().toLower();
-  QStringList tokens = normalized_query.split(" ", QString::SkipEmptyParts);
-
-  int search_year = -1;
-  QStringList search_terms;
-
-  for (const QString &token : tokens) {
-    bool ok;
-    int year = token.toInt(&ok);
-    if (ok && year >= 1900 && year <= 2100) {
-      search_year = year;
-    } else {
-      search_terms << token;
-    }
-  }
-
-  for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
-    QString platform_name = it.key();
-    QVariantMap platform_data = it.value();
-
-    if (search_year != -1) {
-      QVariantList year_list = platform_data["year"].toList();
-      bool year_match = false;
-      for (const QVariant &year_var : year_list) {
-        int year = year_var.toString().toInt();
-        if (year == search_year) {
-          year_match = true;
-          break;
-        }
-      }
-      if (!year_match) continue;
-    }
-
-    QString normalized_make = platform_data["make"].toString().normalized(QString::NormalizationForm_KD).toLower();
-    QString normalized_model = platform_data["model"].toString().normalized(QString::NormalizationForm_KD).toLower();
-    normalized_make.remove(QRegExp("[^a-zA-Z0-9\\s]"));
-    normalized_model.remove(QRegExp("[^a-zA-Z0-9\\s]"));
-
-    bool all_terms_match = true;
-    for (const QString &term : search_terms) {
-      QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
-      normalized_term.remove(QRegExp("[^a-zA-Z0-9\\s]"));
-
-      bool term_matched = false;
-
-      if (normalized_make.contains(normalized_term, Qt::CaseInsensitive)) {
-        term_matched = true;
-      }
-
-      if (!term_matched) {
-        if (term.contains(QRegExp("[a-z]\\d|\\d[a-z]", Qt::CaseInsensitive))) {
-          QString clean_model = normalized_model;
-          QString clean_term = normalized_term;
-          clean_model.remove(" ");
-          clean_term.remove(" ");
-          if (clean_model.contains(clean_term, Qt::CaseInsensitive)) {
-            term_matched = true;
-          }
-        } else {
-          if (normalized_model.contains(normalized_term, Qt::CaseInsensitive)) {
-            term_matched = true;
-          }
-        }
-      }
-
-      if (!term_matched) {
-        all_terms_match = false;
-        break;
-      }
-    }
-
-    if (all_terms_match) {
-      matched_cars.insert(platform_name);
-    }
-  }
-
-  QStringList results = matched_cars.toList();
-  results.sort();
-
-  if (results.isEmpty()) {
-    ConfirmationDialog::alert(tr("No vehicles found for query: %1").arg(query), this);
-    return;
-  }
-
-  QString selected_platform = MultiOptionDialog::getSelection(tr("Select a vehicle"), results, "", this);
-
-  if (!selected_platform.isEmpty()) {
-    setPlatform(selected_platform);
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
deleted file mode 100644
index 9867371ef6..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**
- * 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/qt/offroad/settings/settings.h"
-
-static const QString GREEN_PLATFORM = "#00F100";
-static const QString BLUE_PLATFORM = "#0086E9";
-static const QString YELLOW_PLATFORM = "#FFD500";
-
-enum class FingerprintStatus {
-  AUTO_FINGERPRINT,
-  MANUAL_FINGERPRINT,
-  UNRECOGNIZED,
-};
-
-class PlatformSelector : public ButtonControl {
-  Q_OBJECT
-
-public:
-  PlatformSelector();
-  QVariant getPlatformBundle(const QString &key);
-
-  QString platform;
-  QString brand;
-
-public slots:
-  void refresh(bool _offroad);
-
-signals:
-  void refreshPanel();
-
-private:
-  void searchPlatforms(const QString &query);
-  void setPlatform(const QString &platform = "");
-  QMap<QString, QVariantMap> platforms;
-
-  Params params;
-  bool offroad;
-
-  QString unrecognized_str = tr("Unrecognized Vehicle");
-
-  static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) {
-    QString auto_str = "🟢 - " + tr("Fingerprinted automatically");
-    QString manual_str = "🔵 - " + tr("Manually selected");
-    QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected");
-
-    if (status == FingerprintStatus::AUTO_FINGERPRINT) {
-      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
-    } else if (status == FingerprintStatus::MANUAL_FINGERPRINT) {
-      manual_str = "<font color='white'><b>" + manual_str + "</b></font>";
-    } else {
-      unrecognized_str = "<font color='white'><b>" + unrecognized_str + "</b></font>";
-    }
-
-    return QString("%1<br>%2<br><br>%3<br>%4<br>%5")
-             .arg(tr("Select vehicle to force fingerprint manually."))
-             .arg(tr("Colors represent fingerprint status:"))
-             .arg(auto_str)
-             .arg(manual_str)
-             .arg(unrecognized_str);
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
deleted file mode 100644
index 92cf3dcd6c..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/rivian_settings.h"
-
-RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void RivianSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
deleted file mode 100644
index be25d01b37..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class RivianSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit RivianSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
deleted file mode 100644
index 47c4057f44..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/subaru_settings.h"
-
-SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void SubaruSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
deleted file mode 100644
index a715951ad9..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class SubaruSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit SubaruSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
deleted file mode 100644
index 50ab023021..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/tesla_settings.h"
-
-TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void TeslaSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
deleted file mode 100644
index 37f2936cdf..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class TeslaSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit TeslaSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
deleted file mode 100644
index c416177916..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/toyota_settings.h"
-
-ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void ToyotaSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
deleted file mode 100644
index 9fc18a2a65..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class ToyotaSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit ToyotaSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
deleted file mode 100644
index 59f0aab727..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
- * 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/vehicle/volkswagen_settings.h"
-
-VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
-}
-
-void VolkswagenSettings::updateSettings() {
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
deleted file mode 100644
index 25d3a07faf..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * 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/qt/offroad/settings/vehicle/brand_settings_interface.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-
-class VolkswagenSettings : public BrandSettingsInterface {
-  Q_OBJECT
-
-public:
-  explicit VolkswagenSettings(QWidget *parent = nullptr);
-  void updateSettings() override;
-
-private:
-  bool offroad = false;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
deleted file mode 100644
index 5c00e746f8..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
- * 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/vehicle_panel.h"
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-
-  ListWidget *list = new ListWidget(this);
-
-  platformSelector = new PlatformSelector();
-  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
-  list->addItem(platformSelector);
-
-  brandSettingsContainer = new QWidget(this);
-  brandSettingsContainerLayout = new QVBoxLayout(brandSettingsContainer);
-  brandSettingsContainerLayout->setContentsMargins(0, 0, 0, 0);
-  brandSettingsContainerLayout->setSpacing(0);
-  list->addItem(brandSettingsContainer);
-
-  ScrollViewSP *scroller = new ScrollViewSP(list, this);
-  main_layout->addWidget(scroller);
-
-  currentBrandSettings = nullptr;
-
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
-}
-
-void VehiclePanel::showEvent(QShowEvent *event) {
-  updatePanel(offroad);
-}
-
-void VehiclePanel::updatePanel(bool _offroad) {
-  offroad = _offroad;
-  platformSelector->refresh(_offroad);
-  updateBrandSettings();
-}
-
-void VehiclePanel::updateBrandSettings() {
-  if (!isVisible()) {
-    return;
-  }
-
-  if (currentBrandSettings) {
-    brandSettingsContainerLayout->removeWidget(currentBrandSettings);
-    delete currentBrandSettings;
-    currentBrandSettings = nullptr;
-  }
-
-  if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
-    currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
-    if (currentBrandSettings) {
-      currentBrandSettings->setContentsMargins(0, 0, 0, 0);
-      brandSettingsContainerLayout->addWidget(currentBrandSettings);
-      currentBrandSettings->updatePanel(offroad);
-    }
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
deleted file mode 100644
index a170aa87c3..0000000000
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ /dev/null
@@ -1,34 +0,0 @@
-/**
- * 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/qt/offroad/settings/settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
-
-class VehiclePanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit VehiclePanel(QWidget *parent = nullptr);
-  void showEvent(QShowEvent *event) override;
-
-public slots:
-  void updatePanel(bool _offroad);
-
-private:
-  PlatformSelector* platformSelector = nullptr;
-  BrandSettingsInterface* currentBrandSettings = nullptr;
-  QWidget* brandSettingsContainer = nullptr;
-  QVBoxLayout* brandSettingsContainerLayout = nullptr;
-  bool offroad = false;
-
-private slots:
-  void updateBrandSettings();
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
deleted file mode 100644
index 3721a3d198..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.cc
+++ /dev/null
@@ -1,16 +0,0 @@
-/**
- * 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/onroad/annotated_camera.h"
-
-AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent)
-    : AnnotatedCameraWidget(type, parent) {
-}
-
-void AnnotatedCameraWidgetSP::updateState(const UIState &s) {
-  AnnotatedCameraWidget::updateState(s);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
deleted file mode 100644
index 46ce7d4be3..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/annotated_camera.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/**
- * 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/qt/onroad/annotated_camera.h"
-
-class AnnotatedCameraWidgetSP : public AnnotatedCameraWidget {
-  Q_OBJECT
-
-public:
-  explicit AnnotatedCameraWidgetSP(VisionStreamType type, QWidget *parent = nullptr);
-  void updateState(const UIState &s) override;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/buttons.cc b/selfdrive/ui/sunnypilot/qt/onroad/buttons.cc
deleted file mode 100644
index 97f6a391ce..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/buttons.cc
+++ /dev/null
@@ -1,51 +0,0 @@
-/**
- * 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/onroad/buttons.h"
-
-#include <QPainter>
-
-ExperimentalButtonSP::ExperimentalButtonSP(QWidget *parent) : ExperimentalButton(parent) {
-  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &ExperimentalButton::updateState);
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &ExperimentalButtonSP::updateState);
-}
-
-void ExperimentalButtonSP::updateState(const UIState &s) {
-  ExperimentalButton::updateState(s);
-  const auto long_plan_sp = (*s.sm)["longitudinalPlanSP"].getLongitudinalPlanSP();
-
-  int mode = int(long_plan_sp.getDec().getState());
-  if ((long_plan_sp.getDec().getActive() != dynamic_experimental_control) || (mode != dec_mpc_mode)) {
-    dynamic_experimental_control = long_plan_sp.getDec().getActive();
-    dec_mpc_mode = mode;
-    update();
-  }
-}
-
-void ExperimentalButtonSP::drawButton(QPainter &p) {
-  if (dynamic_experimental_control) {
-    QPixmap left_half = engage_img.copy(0, 0, engage_img.width() / 2, engage_img.height());
-    QPixmap right_half = experimental_img.copy(experimental_img.width() / 2, 0, experimental_img.width() / 2, experimental_img.height());
-
-    QPixmap combined_img(engage_img.width(), engage_img.height());
-    combined_img.fill(Qt::transparent);
-
-    QPainter combined_painter(&combined_img);
-
-    combined_painter.setOpacity(dec_mpc_mode == 1 ? 0.1 : 1.0);
-    combined_painter.drawPixmap(0, 0, left_half);
-
-    combined_painter.setOpacity(dec_mpc_mode == 1 ? 1.0 : 0.1);
-    combined_painter.drawPixmap(engage_img.width() / 2, 0, right_half);
-
-    combined_painter.end();
-
-    drawIcon(p, QPoint(btn_size / 2, btn_size / 2), combined_img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
-  } else {
-    ExperimentalButton::drawButton(p);
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/buttons.h b/selfdrive/ui/sunnypilot/qt/onroad/buttons.h
deleted file mode 100644
index ce62a69e2d..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/buttons.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * 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/qt/onroad/buttons.h"
-
-class ExperimentalButtonSP : public ExperimentalButton {
-  Q_OBJECT
-
-public:
-  explicit ExperimentalButtonSP(QWidget *parent = nullptr);
-  void updateState(const UIState &s) override;
-
-private:
-  void drawButton(QPainter &p) override;
-
-  bool dynamic_experimental_control;
-  int dec_mpc_mode;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
deleted file mode 100644
index 233ca59f98..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ /dev/null
@@ -1,18 +0,0 @@
-/**
- * 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/onroad/hud.h"
-
-HudRendererSP::HudRendererSP() {}
-
-void HudRendererSP::updateState(const UIState &s) {
-  HudRenderer::updateState(s);
-}
-
-void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
-  HudRenderer::draw(p, surface_rect);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/hud.h b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
deleted file mode 100644
index 1e98cd3a52..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/**
- * 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 <QPainter>
-
-#include "selfdrive/ui/qt/onroad/hud.h"
-
-class HudRendererSP : public HudRenderer {
-  Q_OBJECT
-
-public:
-  HudRendererSP();
-  void updateState(const UIState &s) override;
-  void draw(QPainter &p, const QRect &surface_rect) override;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
deleted file mode 100644
index 617b64f58e..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ /dev/null
@@ -1,8 +0,0 @@
-/**
- * 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/onroad/model.h"
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
deleted file mode 100644
index e8594629cb..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ /dev/null
@@ -1,15 +0,0 @@
-/**
- * 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/qt/onroad/model.h"
-
-class ModelRendererSP : public ModelRenderer {
-public:
-  ModelRendererSP() {}
-};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
deleted file mode 100644
index b26d1b828a..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * 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/onroad/onroad_home.h"
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/util.h"
-
-OnroadWindowSP::OnroadWindowSP(QWidget *parent) : OnroadWindow(parent) {
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &OnroadWindowSP::updateState);
-  QObject::connect(uiStateSP(), &UIStateSP::offroadTransition, this, &OnroadWindowSP::offroadTransition);
-}
-
-void OnroadWindowSP::updateState(const UIStateSP &s) {
-  if (!s.scene.started) {
-    return;
-  }
-
-  OnroadWindow::updateState(s);
-}
-
-void OnroadWindowSP::mousePressEvent(QMouseEvent *e) {
-  OnroadWindow::mousePressEvent(e);
-}
-
-void OnroadWindowSP::offroadTransition(bool offroad) {
-  OnroadWindow::offroadTransition(offroad);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h b/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h
deleted file mode 100644
index 193fdae0dc..0000000000
--- a/selfdrive/ui/sunnypilot/qt/onroad/onroad_home.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * 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/qt/onroad/onroad_home.h"
-
-class OnroadWindowSP : public OnroadWindow {
-  Q_OBJECT
-
-public:
-  OnroadWindowSP(QWidget *parent = 0);
-
-private:
-  void mousePressEvent(QMouseEvent *e) override;
-
-protected slots:
-  void offroadTransition(bool offroad) override;
-  void updateState(const UIStateSP &s) override;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/request_repeater.cc b/selfdrive/ui/sunnypilot/qt/request_repeater.cc
deleted file mode 100644
index e137d56172..0000000000
--- a/selfdrive/ui/sunnypilot/qt/request_repeater.cc
+++ /dev/null
@@ -1,41 +0,0 @@
-/**
- * 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/request_repeater.h"
-
-RequestRepeaterSP::RequestRepeaterSP(QObject *parent, const QString &requestURL, const QString &cacheKey,
-                                 int period, bool whileOnroad, bool sunnylink) : HttpRequestSP(parent, true, 20000, sunnylink) {
-  request_url = requestURL;
-  while_onroad = whileOnroad;
-  timer = new QTimer(this);
-  timer->setTimerType(Qt::VeryCoarseTimer);
-  connect(timer, &QTimer::timeout, [=]() { this->timerTick(); });
-  timer->start(period * 1000);
-
-  if (!cacheKey.isEmpty()) {
-    prevResp = QString::fromStdString(params.get(cacheKey.toStdString()));
-    if (!prevResp.isEmpty()) {
-      QTimer::singleShot(500, [=]() { emit requestDone(prevResp, true, QNetworkReply::NoError); });
-    }
-    connect(this, &HttpRequest::requestDone, [=](const QString &resp, bool success) {
-      if (success && resp != prevResp) {
-        params.put(cacheKey.toStdString(), resp.toStdString());
-        prevResp = resp;
-      }
-    });
-  }
-
-  // Don't wait for the timer to fire to send the first request
-  ForceUpdate();
-}
-
-void RequestRepeaterSP::timerTick() {
-  if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) {
-    LOGD("Sending request for %s", qPrintable(request_url));
-    sendRequest(request_url);
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/request_repeater.h b/selfdrive/ui/sunnypilot/qt/request_repeater.h
deleted file mode 100644
index 0cdb370f9b..0000000000
--- a/selfdrive/ui/sunnypilot/qt/request_repeater.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/**
- * 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/qt/request_repeater.h"
-
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/api.h"
-
-class RequestRepeaterSP : public HttpRequestSP {
-
-private:
-  Params params;
-  QTimer *timer;
-  QString prevResp;
-  QString request_url;
-  bool while_onroad;
-  void timerTick();
-
-public:
-  RequestRepeaterSP(QObject *parent, const QString &requestURL, const QString &cacheKey = "", int period = 0, bool whileOnroad=false, bool sunnylink = false);
-  void ForceUpdate() {
-    LOGD("Forcing update for %s", qPrintable(request_url));
-    timerTick();
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/sidebar.cc b/selfdrive/ui/sunnypilot/qt/sidebar.cc
deleted file mode 100644
index a4dc1d6763..0000000000
--- a/selfdrive/ui/sunnypilot/qt/sidebar.cc
+++ /dev/null
@@ -1,54 +0,0 @@
-/**
- * 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/sidebar.h"
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/qt/util.h"
-#include "common/params.h"
-
-SidebarSP::SidebarSP(QWidget *parent) : Sidebar(parent) {
-  // Redirect uiUpdate signal to SidebarSP::updateState instead of Sidebar::updateState
-  QObject::disconnect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SidebarSP::updateState);
-}
-
-void SidebarSP::updateState(const UIStateSP &s) {
-  if (!isVisible()) return;
-  Sidebar::updateState(s);
-
-  ItemStatus sunnylinkStatus;
-  auto sl_dongle_id = getSunnylinkDongleId();
-  auto last_sunnylink_ping_str = params.get("LastSunnylinkPingTime");
-  auto last_sunnylink_ping = std::stoull(last_sunnylink_ping_str.empty() ? "0" : last_sunnylink_ping_str);
-  auto elapsed_sunnylink_ping = nanos_since_boot() - last_sunnylink_ping;
-  auto sunnylink_enabled = params.getBool("SunnylinkEnabled");
-
-  QString status = tr("DISABLED");
-  QColor color = disabled_color;
-
-  if (sunnylink_enabled && last_sunnylink_ping == 0) {
-    // If sunnylink is enabled, but we don't have a dongle id, and we haven't received a ping yet, we are registering
-    status = sl_dongle_id.has_value() ? tr("OFFLINE") : tr("REGIST...");
-    color = sl_dongle_id.has_value() ? warning_color : progress_color;
-  } else if (sunnylink_enabled) {
-    // If sunnylink is enabled, we are considered online if we have received a ping in the last 80 seconds, else error.
-    status = elapsed_sunnylink_ping < 80000000000ULL ? tr("ONLINE") : tr("ERROR");
-    color = elapsed_sunnylink_ping < 80000000000ULL ? good_color : danger_color;
-  }
-  sunnylinkStatus = ItemStatus{{tr("SUNNYLINK"), status}, color};
-  setProperty("sunnylinkStatus", QVariant::fromValue(sunnylinkStatus));
-}
-
-void SidebarSP::drawSidebar(QPainter &p) {
-  Sidebar::drawSidebar(p);
-  // metrics
-  drawMetric(p, temp_status.first, temp_status.second, 310);
-  drawMetric(p, panda_status.first, panda_status.second, 440);
-  drawMetric(p, connect_status.first, connect_status.second, 570);
-  drawMetric(p, sunnylink_status.first, sunnylink_status.second, 700);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/sidebar.h b/selfdrive/ui/sunnypilot/qt/sidebar.h
deleted file mode 100644
index 133106cfdf..0000000000
--- a/selfdrive/ui/sunnypilot/qt/sidebar.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/**
- * 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 <memory>
-
-#include "selfdrive/ui/qt/sidebar.h"
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-class SidebarSP : public Sidebar {
-  Q_OBJECT
-  Q_PROPERTY(ItemStatus sunnylinkStatus MEMBER sunnylink_status NOTIFY valueChanged);
-  Q_PROPERTY(QString sidebarTemp MEMBER sidebar_temp_str NOTIFY valueChanged);
-
-public slots:
-  void updateState(const UIStateSP &s);
-
-public:
-  explicit SidebarSP(QWidget *parent = 0);
-
-private:
-  void drawSidebar(QPainter &p) override;
-
-  Params params;
-  QString sidebar_temp = "0";
-  QString sidebar_temp_str = "0";
-
-protected:
-  const QColor progress_color = QColor(3, 132, 252);
-  const QColor disabled_color = QColor(128, 128, 128);
-
-  ItemStatus sunnylink_status;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
deleted file mode 100644
index c729eaafd5..0000000000
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
- * 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/util.h"
-#include "selfdrive/ui/qt/util.h"
-
-#include <string>
-#include <vector>
-
-#include <QDir>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QLayoutItem>
-#include <QPainterPath>
-#include <QVariant>
-
-#include "system/hardware/hw.h"
-
-std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value) {
-  std::string value = Params().get(param_name);
-
-  if (!value.empty() && value != default_value)
-    return QString::fromStdString(value);
-
-  return {};
-}
-
-QString getUserAgent(bool sunnylink) {
-  return (sunnylink ? "sunnypilot-" : "openpilot-") + getVersion();
-}
-
-std::optional<QString> getSunnylinkDongleId() {
-  return getParamIgnoringDefault("SunnylinkDongleId", "UnregisteredDevice");
-}
-
-QMap<QString, QVariantMap> loadPlatformList() {
-  QMap<QString, QVariantMap> _platforms;
-
-  std::string json_data = util::read_file("../../sunnypilot/selfdrive/car/car_list.json");
-
-  if (json_data.empty()) {
-    return _platforms;
-  }
-
-  QJsonParseError json_error{};
-  QJsonDocument doc = QJsonDocument::fromJson(QString::fromStdString(json_data).toUtf8(), &json_error);
-  if (doc.isNull()) {
-    return _platforms;
-  }
-
-  if (doc.isObject()) {
-    QJsonObject obj = doc.object();
-    for (const QString &key : obj.keys()) {
-      QJsonObject attributes = obj.value(key).toObject();
-      QVariantMap platform_data;
-
-      QJsonArray yearArray = attributes.value("year").toArray();
-      QVariantList yearList;
-      for (const QJsonValue &year : yearArray) {
-        yearList.append(year.toString());
-      }
-
-      platform_data["year"] = yearList;
-      platform_data["make"] = attributes.value("make").toString();
-      platform_data["brand"] = attributes.value("brand").toString();
-      platform_data["model"] = attributes.value("model").toString();
-      platform_data["platform"] = attributes.value("platform").toString();
-      platform_data["package"] = attributes.value("package").toString();
-
-      _platforms[key] = platform_data;
-    }
-  }
-
-  return _platforms;
-}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
deleted file mode 100644
index 0a581579e2..0000000000
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * 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 <optional>
-#include <vector>
-
-#include <QMap>
-#include <QPainter>
-#include <QWidget>
-
-QString getUserAgent(bool sunnylink = false);
-std::optional<QString> getSunnylinkDongleId();
-std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
-QMap<QString, QVariantMap> loadPlatformList();
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
deleted file mode 100644
index 551907c612..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ /dev/null
@@ -1,256 +0,0 @@
-/**
- * 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/widgets/controls.h"
-
-#include <QPainter>
-#include <QStyleOption>
-
-QFrame *horizontal_line(QWidget *parent) {
-  QFrame *line = new QFrame(parent);
-  line->setFrameShape(QFrame::StyledPanel);
-  line->setStyleSheet(R"(
-    border-width: 2px;
-    border-bottom-style: solid;
-    border-color: gray;
-  )");
-  line->setFixedHeight(10);
-  return line;
-}
-
-QFrame *vertical_space(int height, QWidget *parent) {
-  QFrame *v_space = new QFrame(parent);
-  v_space->setFrameShape(QFrame::StyledPanel);
-  v_space->setFixedHeight(height);
-  return v_space;
-}
-
-// AbstractControlSP
-
-AbstractControlSP::AbstractControlSP(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControl(title, desc, icon, parent) {
-
-  main_layout = new QVBoxLayout(this);
-  main_layout->setMargin(0);
-
-  hlayout = new QHBoxLayout;
-  hlayout->setMargin(0);
-  hlayout->setSpacing(20);
-
-  // title
-  title_label = new QPushButton(title);
-  title_label->setFixedHeight(120);
-  title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none;");
-  hlayout->addWidget(title_label, 1);
-
-  // value next to control button
-  value = new ElidedLabelSP();
-  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-  value->setStyleSheet("color: #aaaaaa");
-  hlayout->addWidget(value);
-
-  main_layout->addLayout(hlayout);
-
-  // description
-  description = new QLabel(desc);
-  description->setContentsMargins(40, 20, 40, 20);
-  description->setStyleSheet("font-size: 40px; color: grey");
-  description->setWordWrap(true);
-  description->setVisible(false);
-  main_layout->addWidget(description);
-
-  connect(title_label, &QPushButton::clicked, [=]() {
-    if (!description->isVisible()) {
-      emit showDescriptionEvent();
-    }
-
-    if (!description->text().isEmpty()) {
-      description->setVisible(!description->isVisible());
-    }
-  });
-
-  main_layout->addStretch();
-}
-
-void AbstractControlSP::hideEvent(QHideEvent *e) {
-  if (description != nullptr) {
-    description->hide();
-  }
-}
-
-AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : AbstractControlSP(title, desc, icon, parent) {
-
-  if (title_label != nullptr) {
-    delete title_label;
-    title_label = nullptr;
-  }
-
-  if (description != nullptr) {
-    delete description;
-    description = nullptr;
-  }
-
-  if (value != nullptr) {
-    ReplaceWidget(value, new QWidget());
-    value = nullptr;
-  }
-
-  QLayoutItem *item;
-  while ((item = main_layout->takeAt(0)) != nullptr) {
-    if (item->widget()) {
-      delete item->widget();
-    }
-    delete item;
-  }
-
-  main_layout->setMargin(0);
-
-  hlayout = new QHBoxLayout;
-  hlayout->setMargin(0);
-  hlayout->setSpacing(0);
-
-  // title
-  if (!title.isEmpty()) {
-    title_label = new QPushButton(title);
-    title_label->setFixedHeight(120);
-    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 0 0 0 0");
-    main_layout->addWidget(title_label, 1);
-
-    connect(title_label, &QPushButton::clicked, [=]() {
-      if (!description->isVisible()) {
-        emit showDescriptionEvent();
-      }
-
-      if (!description->text().isEmpty()) {
-        bool isVisible = !description->isVisible();
-        description->setVisible(isVisible);
-
-        if (isVisible && spacingItem) {
-          main_layout->removeItem(spacingItem);
-        } else if (!isVisible && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
-          main_layout->insertItem(main_layout->indexOf(description), spacingItem);
-        }
-      }
-    });
-  } else {
-    main_layout->addSpacing(20);
-  }
-
-  main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
-    main_layout->insertItem(main_layout->count(), spacingItem);
-  }
-
-  // description
-  description = new QLabel(desc);
-  description->setContentsMargins(0, 20, 40, 20);
-  description->setStyleSheet("font-size: 40px; color: grey");
-  description->setWordWrap(true);
-  description->setVisible(false);
-  main_layout->addWidget(description);
-
-  main_layout->addStretch();
-}
-
-void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
-  if (description != nullptr) {
-    description->hide();
-  }
-
-  if (spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
-    main_layout->insertItem(main_layout->indexOf(description), spacingItem);
-  }
-}
-
-// controls
-
-ButtonControlSP::ButtonControlSP(const QString &title, const QString &text, const QString &desc, QWidget *parent)
-    : AbstractControlSP(title, desc, "", parent) {
-
-  btn.setText(text);
-  btn.setStyleSheet(R"(
-    QPushButton {
-      padding: 0;
-      border-radius: 50px;
-      font-size: 35px;
-      font-weight: 500;
-      color: #E4E4E4;
-      background-color: #393939;
-    }
-    QPushButton:pressed {
-      background-color: #4a4a4a;
-    }
-    QPushButton:disabled {
-      color: #33E4E4E4;
-    }
-  )");
-  btn.setFixedSize(250, 100);
-  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControlSP::clicked);
-  hlayout->addWidget(&btn);
-}
-
-// ElidedLabelSP
-
-ElidedLabelSP::ElidedLabelSP(QWidget *parent) : ElidedLabelSP({}, parent) {
-}
-
-ElidedLabelSP::ElidedLabelSP(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
-  setMinimumWidth(1);
-}
-
-void ElidedLabelSP::resizeEvent(QResizeEvent *event) {
-  QLabel::resizeEvent(event);
-  lastText_ = elidedText_ = "";
-}
-
-void ElidedLabelSP::paintEvent(QPaintEvent *event) {
-  const QString curText = text();
-  if (curText != lastText_) {
-    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
-    lastText_ = curText;
-  }
-
-  QPainter painter(this);
-  drawFrame(&painter);
-  QStyleOption opt;
-  opt.initFrom(this);
-  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
-}
-
-// ParamControlSP
-
-ParamControlSP::ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
-    : ToggleControlSP(title, desc, icon, false, parent) {
-
-  key = param.toStdString();
-  QObject::connect(this, &ParamControlSP::toggleFlipped, this, &ParamControlSP::toggleClicked);
-
-  hlayout->removeWidget(&toggle);
-  hlayout->insertWidget(0, &toggle);
-
-  hlayout->removeWidget(this->icon_label);
-  hlayout->insertWidget(1, this->icon_label);
-}
-
-void ParamControlSP::toggleClicked(bool state) {
-  auto do_confirm = [this]() {
-    QString content("<body><h2 style=\"text-align: center;\">" + title_label->text() + "</h2><br>"
-                    "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + getDescription() + "</p></body>");
-    return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec();
-  };
-
-  bool confirmed = store_confirm && params.getBool(key + "Confirmed");
-  if (!confirm || confirmed || !state || do_confirm()) {
-    if (store_confirm && state) params.putBool(key + "Confirmed", true);
-    params.putBool(key, state);
-    setIcon(state);
-  } else {
-    toggle.togglePosition();
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
deleted file mode 100644
index 2a1bc20ac1..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ /dev/null
@@ -1,688 +0,0 @@
-/**
- * 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 <map>
-#include <optional>
-#include <string>
-#include <vector>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/input.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/toggle.h"
-
-QFrame *horizontal_line(QWidget *parent = nullptr);
-QFrame *vertical_space(int height = 10, QWidget *parent = nullptr);
-
-inline void ReplaceWidget(QWidget *old_widget, QWidget *new_widget) {
-  if (old_widget && old_widget->parentWidget() && old_widget->parentWidget()->layout()) {
-    old_widget->parentWidget()->layout()->replaceWidget(old_widget, new_widget);
-    old_widget->hide();
-    old_widget->deleteLater();
-  }
-}
-
-class ElidedLabelSP : public QLabel {
-  Q_OBJECT
-
-public:
-  explicit ElidedLabelSP(QWidget *parent = 0);
-  explicit ElidedLabelSP(const QString &text, QWidget *parent = 0);
-
-  void setColor(const QString &color) {
-    setStyleSheet("QLabel { color : " + color + "; }");
-  }
-
-signals:
-  void clicked();
-
-protected:
-  void paintEvent(QPaintEvent *event) override;
-  void resizeEvent(QResizeEvent *event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (rect().contains(event->pos())) {
-      emit clicked();
-    }
-  }
-  QString lastText_, elidedText_;
-};
-
-class AbstractControlSP : public AbstractControl {
-  Q_OBJECT
-
-public:
-  void setDescription(const QString &desc) override {
-    if (description) description->setText(desc);
-  }
-
-  void setValue(const QString &val, std::optional<QString> color = std::nullopt) {
-    value->setText(val);
-    if (color.has_value()) {
-      value->setColor(color.value());
-    }
-  }
-
-  const QString getDescription() override {
-    return description->text();
-  }
-
-  void hideDescription() {
-    description->setVisible(false);
-  }
-
-public slots:
-  void showDescription() override {
-    description->setVisible(true);
-  }
-
-protected:
-  AbstractControlSP(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
-  void hideEvent(QHideEvent *e) override;
-
-  QVBoxLayout *main_layout;
-  ElidedLabelSP *value;
-  QLabel *description = nullptr;
-};
-
-// AbstractControlSP_SELECTOR
-
-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;
-
-};
-
-// widget to display a value
-class LabelControlSP : public AbstractControlSP {
-  Q_OBJECT
-
-public:
-  LabelControlSP(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControlSP(title, desc, "", parent) {
-    label.setText(text);
-    label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
-    hlayout->addWidget(&label);
-  }
-  void setText(const QString &text) { label.setText(text); }
-
-private:
-  ElidedLabelSP label;
-};
-
-// widget for a button with a label
-class ButtonControlSP : public AbstractControlSP {
-  Q_OBJECT
-
-public:
-  ButtonControlSP(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr);
-  inline void setText(const QString &text) { btn.setText(text); }
-  inline QString text() const { return btn.text(); }
-  inline void click() { btn.click(); }
-
-signals:
-  void clicked();
-
-public slots:
-  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
-
-private:
-  QPushButton btn;
-};
-
-class ToggleControlSP : public AbstractControlSP {
-  Q_OBJECT
-
-public:
-  ToggleControlSP(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControlSP(title, desc, icon, parent) {
-    // space between toggle and title
-    icon_label = new QLabel(this);
-    hlayout->addWidget(icon_label);
-
-    toggle.setFixedSize(150, 100);
-    if (state) {
-      toggle.togglePosition();
-    }
-    hlayout->insertWidget(0, &toggle);
-    hlayout->insertWidget(1, this->icon_label);
-    QObject::connect(&toggle, &ToggleSP::stateChanged, this, &ToggleControlSP::toggleFlipped);
-  }
-
-  void setEnabled(bool enabled) {
-    toggle.setEnabled(enabled);
-    toggle.update();
-  }
-
-signals:
-  void toggleFlipped(bool state);
-
-protected:
-  ToggleSP toggle;
-};
-
-// widget to toggle params
-class ParamControlSP : public ToggleControlSP {
-  Q_OBJECT
-
-public:
-  ParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
-  void setConfirmation(bool _confirm, bool _store_confirm) {
-    confirm = _confirm;
-    store_confirm = _store_confirm;
-  }
-
-  void setActiveIcon(const QString &icon) {
-    active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
-  }
-
-  void refresh() {
-    bool state = params.getBool(key);
-    if (state != toggle.on) {
-      toggle.togglePosition();
-      setIcon(state);
-    }
-  }
-
-  void showEvent(QShowEvent *event) override {
-    refresh();
-  }
-
-  bool isToggled() { return params.getBool(key); }
-
-private:
-  void toggleClicked(bool state);
-  void setIcon(bool state) {
-    if (state && !active_icon_pixmap.isNull()) {
-      icon_label->setPixmap(active_icon_pixmap);
-    } else if (!icon_pixmap.isNull()) {
-      icon_label->setPixmap(icon_pixmap);
-    }
-  }
-
-  std::string key;
-  Params params;
-  QPixmap active_icon_pixmap;
-  bool confirm = false;
-  bool store_confirm = false;
-};
-
-class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
-  Q_OBJECT
-
-public:
-  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                       const std::vector<QString> &button_texts, const int minimum_button_width = 300, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
-    const QString style = R"(
-      QPushButton {
-        border-radius: 20px;
-        font-size: 50px;
-        font-weight: 450;
-        height:150px;
-        padding: 0 25 0 25;
-        color: #FFFFFF;
-      }
-      QPushButton:pressed {
-        background-color: #4a4a4a;
-      }
-      QPushButton:checked:enabled {
-        background-color: #696868;
-      }
-      QPushButton:disabled {
-        color: #33FFFFFF;
-      }
-      QPushButton:checked:disabled {
-        background-color: #121212;
-        color: #33FFFFFF;
-      }
-    )";
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
-
-    if (inline_layout) {
-      button_param_layout->setMargin(0);
-      button_param_layout->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;
-      }
-    }
-
-    button_group = new QButtonGroup(this);
-    button_group->setExclusive(true);
-    for (int i = 0; i < button_texts.size(); i++) {
-      QPushButton *button = new QPushButton(button_texts[i], this);
-      button->setCheckable(true);
-      button->setChecked(i == value);
-      button->setStyleSheet(style);
-      button->setMinimumWidth(minimum_button_width);
-      if (i == 0) button_param_layout->addSpacing(2);
-      button_param_layout->addWidget(button);
-      button_group->addButton(button, i);
-    }
-
-    button_param_layout->setAlignment(Qt::AlignLeft);
-    if (is_inline_layout) {
-      QFrame *container = new QFrame;
-      container->setLayout(button_param_layout);
-      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
-      hlayout->addWidget(container);
-    }
-
-    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
-      params.put(key, std::to_string(id));
-      emit buttonToggled(id);
-    });
-  }
-
-  void setEnabled(bool enable) {
-    for (auto btn: button_group->buttons()) {
-      btn->setEnabled(enable);
-    }
-    button_group_enabled = enable;
-
-    update();
-  }
-
-  void setCheckedButton(int id) {
-    button_group->button(id)->setChecked(true);
-  }
-
-  void refresh() {
-    int value = atoi(params.get(key).c_str());
-
-    if (value >= button_texts.size()) {
-      value = button_texts.size() - 1;
-    }
-    if (value < 0) {
-      value = 0;
-    }
-
-    button_group->button(value)->setChecked(true);
-  }
-
-  void showEvent(QShowEvent *event) override {
-    refresh();
-  }
-
-  void setButton(QString param) {
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
-    for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setChecked(i == value);
-    }
-  }
-
-  void setDisabledSelectedButton(std::string val) {
-    int value = atoi(val.c_str());
-    for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setEnabled(i != value);
-    }
-  }
-
-protected:
-  void paintEvent(QPaintEvent *event) override {
-    if (is_inline_layout) {
-      return;
-    }
-
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-
-    // Calculate the total width and height for the background rectangle
-    int w = 0;
-    int h = 150;
-
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QPushButton *button = qobject_cast<QPushButton *>(hlayout->itemAt(i)->widget());
-      if (button) {
-        w += button->width();
-      }
-    }
-
-    // Draw the rectangle
-#ifdef __APPLE__
-    QRect rect(0 + 2, h - 16, w, h);
-#else
-    QRect rect(0 + 2, h - 24, w, h);
-#endif
-    p.setPen(QPen(QColor(button_group_enabled ? "#696868" : "#121212"), 3));
-    p.drawRoundedRect(rect, 20, 20);
-  }
-
-signals:
-  void buttonToggled(int btn_id);
-
-private:
-  std::string key;
-  Params params;
-  QButtonGroup *button_group;
-  std::vector<QString> button_texts;
-
-  bool button_group_enabled = true;
-  bool is_inline_layout;
-  QHBoxLayout *button_param_layout = is_inline_layout ? new QHBoxLayout() : hlayout;
-};
-
-class ListWidgetSP : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit ListWidgetSP(QWidget *parent = 0, const bool split_line = true) : QWidget(parent), _split_line(split_line), outer_layout(this) {
-    outer_layout.setMargin(0);
-    outer_layout.setSpacing(0);
-    outer_layout.addLayout(&inner_layout);
-    inner_layout.setMargin(0);
-    inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch(1);
-  }
-  inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
-  inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
-  inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); }
-
-  inline void AddWidgetAt(const int index, QWidget *new_widget) { inner_layout.insertWidget(index, new_widget); }
-  inline void RemoveWidgetAt(const int index) {
-    if (QLayoutItem *item; (item = inner_layout.takeAt(index)) != nullptr) {
-      if (item->widget()) delete item->widget();
-      delete item;
-    }
-  }
-
-  inline void ReplaceOrAddWidget(QWidget *old_widget, QWidget *new_widget) {
-    if (const int index = inner_layout.indexOf(old_widget); index != -1) {
-      RemoveWidgetAt(index);
-      AddWidgetAt(index, new_widget);
-    } else {
-      addItem(new_widget);
-    }
-  }
-
-private:
-  void paintEvent(QPaintEvent *) override {
-    QPainter p(this);
-    p.setPen(Qt::gray);
-    for (int i = 0; i < inner_layout.count() - 1; ++i) {
-      QWidget *widget = inner_layout.itemAt(i)->widget();
-      if ((widget == nullptr || widget->isVisible()) && _split_line) {
-        QRect r = inner_layout.itemAt(i)->geometry();
-        int bottom = r.bottom() + inner_layout.spacing() / 2;
-        p.drawLine(r.left(), bottom, r.right(), bottom);
-      }
-    }
-  }
-  QVBoxLayout outer_layout;
-  QVBoxLayout inner_layout;
-
-  bool _split_line;
-};
-
-// convenience class for wrapping layouts
-class LayoutWidgetSP : public QWidget {
-  Q_OBJECT
-
-public:
-  LayoutWidgetSP(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
-    setLayout(l);
-  }
-};
-
-class OptionControlSP : public AbstractControlSP_SELECTOR {
-  Q_OBJECT
-
-private:
-  bool is_inline_layout;
-  QHBoxLayout *optionSelectorLayout = is_inline_layout ? 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, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
-    const QString style = R"(
-      QPushButton {
-        border-radius: 20px;
-        font-size: 60px;
-        font-weight: 500;
-        width: 150px;
-        height: 150px;
-        padding: -3 25 3 25;
-        color: #FFFFFF;
-        font-weight: bold;
-      }
-      QPushButton:pressed {
-        color: #5C5C5C;
-      }
-      QPushButton:disabled {
-        color: #5C5C5C;
-      }
-    )";
-
-    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(inline_layout ? 350 : 300);
-    label.setAlignment(Qt::AlignCenter);
-
-    const std::vector<QString> button_texts{"－", "＋"};
-
-    key = param.toStdString();
-    value = getParamValue();
-
-    button_group = new QButtonGroup(this);
-    button_group->setExclusive(true);
-    for (int i = 0; i < button_texts.size(); i++) {
-      QPushButton *button = new QPushButton(button_texts[i], this);
-      button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
-                                                "QPushButton { text-align: right; }"));
-      optionSelectorLayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
-      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, [=]() {
-        int change_value = (i == 0) ? -per_value_change : per_value_change;
-        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);
-        setParamValue(value);
-
-        button_group->button(0)->setEnabled(!(value <= range.min_value));
-        button_group->button(1)->setEnabled(!(value >= range.max_value));
-
-        updateLabels();
-
-        if (request_update) {
-          emit updateOtherToggles();
-        }
-      });
-    }
-
-    optionSelectorLayout->setAlignment(Qt::AlignLeft);
-    if (is_inline_layout) {
-      QFrame *container = new QFrame;
-      container->setLayout(optionSelectorLayout);
-      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
-      hlayout->addWidget(container);
-    }
-  }
-
-  void setUpdateOtherToggles(bool _update) {
-    request_update = _update;
-  }
-
-  inline void setLabel(const QString &text) { label.setText(text); }
-
-  void setEnabled(bool enabled) {
-    for (auto btn: button_group->buttons()) {
-      btn->setEnabled(enabled);
-    }
-    label.setEnabled(enabled);
-    label.setStyleSheet(enabled ? label_enabled_style : label_disabled_style);
-    button_enabled = enabled;
-
-    update();
-  }
-
-protected:
-  void paintEvent(QPaintEvent *event) override {
-    if (is_inline_layout) {
-      return;
-    }
-
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-
-    // Calculate the total width and height for the background rectangle
-    int w = 0;
-    int h = 150;
-
-    for (int i = 0; i < optionSelectorLayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(optionSelectorLayout->itemAt(i)->widget());
-      if (widget) {
-        w += widget->width();
-      }
-    }
-
-    // Draw the rectangle
-#ifdef __APPLE__
-    QRect rect(0, !_title.isEmpty() ? (h - 16) : 20, w, h);
-#else
-    QRect rect(0, !_title.isEmpty() ? (h - 24) : 20, w, h);
-#endif
-    p.setBrush(QColor(button_enabled ? "#b24a4a4a" : "#121212")); // Background color
-    p.setPen(QPen(Qt::NoPen));
-    p.drawRoundedRect(rect, 20, 20);
-  }
-
-signals:
-  void updateLabels();
-  void updateOtherToggles();
-
-private:
-  std::string key;
-  int value;
-  QButtonGroup *button_group;
-  QLabel label;
-  Params params;
-  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;";
-
-  bool button_enabled = true;
-};
-
-class PushButtonSP : public QPushButton {
-  Q_OBJECT
-
-public:
-  PushButtonSP(const QString &text, const int minimum_button_width = 800, QWidget *parent = nullptr, const QString &param = "") : QPushButton(text, parent) {
-    buttonStyle = R"(
-      QPushButton {
-        border-radius: 20px;
-        font-size: 50px;
-        font-weight: 450;
-        height: 150px;
-        padding: 0 25px 0 25px;
-        color: #FFFFFF;
-      }
-    )";
-
-    if (!param.isEmpty()) {
-      key = param.toStdString();
-      refresh();
-    } else {
-      updateStyle(false);
-    }
-
-    setFixedWidth(minimum_button_width);
-  }
-
-  void refresh() {
-    if (!key.empty()) {
-      bool state = params.getBool(key);
-      if (state != is_enabled) {
-        is_enabled = state;
-      }
-      updateStyle(is_enabled);
-    }
-  }
-
-  void updateButton() {
-    if (!key.empty()) {
-      params.putBool(key, !is_enabled);
-      refresh();
-    }
-  }
-
-private:
-  std::string key = "";
-  Params params;
-  bool is_enabled;
-  QString buttonStyle;
-
-  QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
-  QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
-  QString btn_off_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
-  QString btn_on_pressed_style = "QPushButton:pressed { background-color: #1E8FFF; }";
-  QString btn_disabled_style = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
-
-  void updateStyle(bool enabled) {
-    QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
-    QString pressed_style = enabled ? btn_on_pressed_style : btn_off_pressed_style;
-    setStyleSheet(buttonStyle + enabled_style + pressed_style + btn_disabled_style);
-  }
-};
-
-class PanelBackButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  PanelBackButton(const QString &label = "Back", QWidget *parent = nullptr) : QPushButton(label, parent) {
-    setObjectName("back_btn");
-    setFixedSize(400, 100);
-  }
-};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
deleted file mode 100644
index 032abdbbfb..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
+++ /dev/null
@@ -1,103 +0,0 @@
-/**
- * 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/widgets/drive_stats.h"
-
-#include <QDebug>
-#include <QGridLayout>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/util.h"
-
-static QLabel* newLabel(const QString& text, const QString &type) {
-  QLabel* label = new QLabel(text);
-  label->setProperty("type", type);
-  return label;
-}
-
-DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
-  metric_ = Params().getBool("IsMetric");
-
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 50, 50, 60);
-
-  auto add_stats_layouts = [=](const QString &title, StatsLabels& labels) {
-    QGridLayout* grid_layout = new QGridLayout;
-    grid_layout->setVerticalSpacing(10);
-    grid_layout->setContentsMargins(0, 10, 0, 10);
-
-    int row = 0;
-    grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
-
-    grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
-    grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
-
-    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
-    grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
-
-    main_layout->addLayout(grid_layout);
-  };
-
-  add_stats_layouts(tr("ALL TIME"), all_);
-  main_layout->addStretch();
-  add_stats_layouts(tr("PAST WEEK"), week_);
-
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
-    RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse);
-  }
-
-  setStyleSheet(R"(
-    DriveStats {
-      background-color: #333333;
-      border-radius: 10px;
-    }
-
-    QLabel[type="title"] { font-size: 51px; font-weight: 500; }
-    QLabel[type="number"] { font-size: 78px; font-weight: 500; }
-    QLabel[type="unit"] { font-size: 51px; font-weight: 300; color: #A0A0A0; }
-  )");
-}
-
-void DriveStats::updateStats() {
-  auto update = [=](const QJsonObject& obj, StatsLabels& labels) {
-    labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
-    labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric_ ? MILE_TO_KM : 1))));
-    labels.distance_unit->setText(getDistanceUnit());
-    labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
-  };
-
-  QJsonObject json = stats_.object();
-  update(json["all"].toObject(), all_);
-  update(json["week"].toObject(), week_);
-}
-
-void DriveStats::parseResponse(const QString& response, bool success) {
-  if (!success) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting past drives statistics";
-    return;
-  }
-  stats_ = doc;
-  updateStats();
-}
-
-void DriveStats::showEvent(QShowEvent* event) {
-  bool metric = Params().getBool("IsMetric");
-  if (metric_ != metric) {
-    metric_ = metric;
-    updateStats();
-  }
-}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h
deleted file mode 100644
index 0b2802ed8c..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/**
- * 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 <QJsonDocument>
-#include <QLabel>
-
-class DriveStats : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit DriveStats(QWidget* parent = 0);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
-
-  bool metric_;
-  QJsonDocument stats_;
-  struct StatsLabels {
-    QLabel *routes, *distance, *distance_unit, *hours;
-  } all_, week_;
-
-private slots:
-  void parseResponse(const QString &response, bool success);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/prime.cc b/selfdrive/ui/sunnypilot/qt/widgets/prime.cc
deleted file mode 100644
index a1bb85c787..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/prime.cc
+++ /dev/null
@@ -1,19 +0,0 @@
-/**
- * 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/widgets/prime.h"
-
-SetupWidgetSP::SetupWidgetSP(QWidget *parent) : SetupWidget(parent) {
-  PrimeUserWidget *primeUser = new PrimeUserWidget;
-  content_layout->insertWidget(0, primeUser);
-
-  primeUser->setVisible(uiState()->prime_state->isSubscribed());
-
-  QObject::connect(uiState()->prime_state, &PrimeState::changed, [=]() {
-    primeUser->setVisible(uiState()->prime_state->isSubscribed());
-  });
-}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/prime.h b/selfdrive/ui/sunnypilot/qt/widgets/prime.h
deleted file mode 100644
index 598b0e62eb..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/prime.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/**
- * 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/qt/widgets/prime.h"
-
-#include "selfdrive/ui/sunnypilot/ui.h"
-
-class SetupWidgetSP : public SetupWidget {
-  Q_OBJECT
-
-public:
-  explicit SetupWidgetSP(QWidget *parent = nullptr);
-};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
deleted file mode 100644
index ba9a367b0e..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.cc
+++ /dev/null
@@ -1,18 +0,0 @@
-/**
- * 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/widgets/scrollview.h"
-
-#include <QScrollBar>
-
-void ScrollViewSP::setLastScrollPosition() {
-  lastScrollPosition = verticalScrollBar()->value();
-}
-
-void ScrollViewSP::restoreScrollPosition() {
-  verticalScrollBar()->setValue(lastScrollPosition);
-}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.h b/selfdrive/ui/sunnypilot/qt/widgets/scrollview.h
deleted file mode 100644
index 5c20bce2f2..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/scrollview.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * 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/qt/widgets/scrollview.h"
-
-class ScrollViewSP : public ScrollView {
-  Q_OBJECT
-
-public:
-  explicit ScrollViewSP(QWidget *w = nullptr, QWidget *parent = nullptr) : ScrollView(w, parent) {}
-
-public slots:
-  void setLastScrollPosition();
-  void restoreScrollPosition();
-
-private:
-  int lastScrollPosition = 0;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/toggle.cc b/selfdrive/ui/sunnypilot/qt/widgets/toggle.cc
deleted file mode 100644
index 601c8f94c1..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/toggle.cc
+++ /dev/null
@@ -1,30 +0,0 @@
-/**
- * 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/widgets/toggle.h"
-
-#include <QPainter>
-
-ToggleSP::ToggleSP(QWidget *parent) : Toggle(parent) {
-  _height_rect = 80;
-}
-
-void ToggleSP::paintEvent(QPaintEvent *e) {
-  this->setFixedHeight(100);
-  QPainter p(this);
-  p.setPen(Qt::NoPen);
-  p.setRenderHint(QPainter::Antialiasing, true);
-
-  // Draw toggle background
-  enabled ? green.setRgb(0x1e79e8) : green.setRgb(0x125db8);
-  p.setBrush(on ? green : QColor(0x292929));
-  p.drawRoundedRect(QRect(0, 10, width(), _height_rect), _height_rect / 2, _height_rect / 2);
-
-  // Draw toggle circle
-  p.setBrush(circleColor);
-  p.drawEllipse(QRectF(_x_circle - _radius + 6, 16, 68, 68));
-}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/toggle.h b/selfdrive/ui/sunnypilot/qt/widgets/toggle.h
deleted file mode 100644
index e98dea39af..0000000000
--- a/selfdrive/ui/sunnypilot/qt/widgets/toggle.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * 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/qt/widgets/toggle.h"
-
-class ToggleSP : public Toggle {
-  Q_OBJECT
-
-public:
-  explicit ToggleSP(QWidget *parent = nullptr);
-
-protected:
-  void paintEvent(QPaintEvent *) override;
-};
diff --git a/selfdrive/ui/sunnypilot/qt/window.cc b/selfdrive/ui/sunnypilot/qt/window.cc
deleted file mode 100644
index f332e1ed8e..0000000000
--- a/selfdrive/ui/sunnypilot/qt/window.cc
+++ /dev/null
@@ -1,19 +0,0 @@
-/**
- * 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/window.h"
-
-MainWindowSP::MainWindowSP(QWidget *parent)
-    : MainWindow(parent, new HomeWindowSP(parent), new SettingsWindowSP(parent)) {
-
-  homeWindow = dynamic_cast<HomeWindowSP *>(MainWindow::homeWindow);
-  settingsWindow = dynamic_cast<SettingsWindowSP *>(MainWindow::settingsWindow);
-}
-
-void MainWindowSP::closeSettings() {
-  MainWindow::closeSettings();
-}
diff --git a/selfdrive/ui/sunnypilot/qt/window.h b/selfdrive/ui/sunnypilot/qt/window.h
deleted file mode 100644
index d4c0900901..0000000000
--- a/selfdrive/ui/sunnypilot/qt/window.h
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * 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/qt/window.h"
-#include "selfdrive/ui/sunnypilot/qt/home.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-
-class MainWindowSP : public MainWindow {
-  Q_OBJECT
-
-public:
-  explicit MainWindowSP(QWidget *parent = 0);
-
-private:
-  HomeWindowSP *homeWindow;
-  SettingsWindowSP *settingsWindow;
-  void closeSettings() override;
-};
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
deleted file mode 100644
index 586a03b1dd..0000000000
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-/**
- * 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/ui.h"
-
-#include "common/watchdog.h"
-
-void UIStateSP::updateStatus() {
-  UIState::updateStatus();
-}
-
-UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
-  sm = std::make_unique<SubMaster>(std::vector<const char*>{
-    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP"
-  });
-
-  // update timer
-  timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, this, &UIStateSP::update);
-  timer->start(1000 / UI_FREQ);
-}
-
-// This method overrides completely the update method from the parent class intentionally.
-void UIStateSP::update() {
-  update_sockets(this);
-  update_state(this);
-  updateStatus();
-
-  if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick(nanos_since_boot());
-  }
-  emit uiUpdate(*this);
-}
-
-DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
-}
-
-UIStateSP *uiStateSP() {
-  static UIStateSP ui_state;
-  return &ui_state;
-}
-
-void UIStateSP::setSunnylinkRoles(const std::vector<RoleModel>& roles) {
-  sunnylinkRoles = roles;
-  emit sunnylinkRolesChanged(roles);
-}
-
-void UIStateSP::setSunnylinkDeviceUsers(const std::vector<UserModel>& users) {
-  sunnylinkUsers = users;
-  emit sunnylinkDeviceUsersChanged(users);
-}
-
-DeviceSP *deviceSP() {
-  static DeviceSP _device;
-  return &_device;
-}
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
deleted file mode 100644
index 08e1d37b0f..0000000000
--- a/selfdrive/ui/sunnypilot/ui.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**
- * 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 <optional>
-
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/user_model.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/role_model.h"
-#include "selfdrive/ui/sunnypilot/qt/network/sunnylink/models/sponsor_role_model.h"
-#include "selfdrive/ui/ui.h"
-
-class UIStateSP : public UIState {
-  Q_OBJECT
-
-public:
-  UIStateSP(QObject *parent = 0);
-  void updateStatus() override;
-  void setSunnylinkRoles(const std::vector<RoleModel> &roles);
-  void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
-
-  inline std::vector<RoleModel> sunnylinkDeviceRoles() const { return sunnylinkRoles; }
-  inline bool isSunnylinkAdmin() const {
-    return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
-      return role.roleType == RoleType::Admin;
-    });
-  }
-  inline bool isSunnylinkSponsor() const {
-    return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
-      return role.roleType == RoleType::Sponsor && role.as<SponsorRoleModel>().roleTier != SponsorTier::Free;
-    });
-  }
-  inline SponsorRoleModel sunnylinkSponsorRole() const {
-    std::optional<SponsorRoleModel> sponsorRoleWithHighestTier = std::nullopt;
-    for (const auto &role : sunnylinkRoles) {
-      if(role.roleType != RoleType::Sponsor)
-        continue;
-
-      if (auto sponsorRole = role.as<SponsorRoleModel>(); !sponsorRoleWithHighestTier.has_value() || sponsorRoleWithHighestTier->roleTier < sponsorRole.roleTier) {
-        sponsorRoleWithHighestTier = sponsorRole;
-      }
-    }
-    return sponsorRoleWithHighestTier.value_or(SponsorRoleModel(RoleType::Sponsor, SponsorTier::Free));
-  }
-  inline SponsorTier sunnylinkSponsorTier() const {
-    return sunnylinkSponsorRole().roleTier;
-  }
-  inline std::vector<UserModel> sunnylinkDeviceUsers() const { return sunnylinkUsers; }
-  inline bool isSunnylinkPaired() const {
-    return std::any_of(sunnylinkUsers.begin(), sunnylinkUsers.end(), [](const UserModel &user) {
-      return user.user_id.toLower() != "unregisteredsponsor" && user.user_id.toLower() != "temporarysponsor";
-    });
-  }
-
-signals:
-  void sunnylinkRoleChanged(bool subscriber);
-  void sunnylinkRolesChanged(std::vector<RoleModel> roles);
-  void sunnylinkDeviceUsersChanged(std::vector<UserModel> users);
-  void uiUpdate(const UIStateSP &s);
-
-private slots:
-  void update() override;
-
-private:
-  std::vector<RoleModel> sunnylinkRoles = {};
-  std::vector<UserModel> sunnylinkUsers = {};
-};
-
-UIStateSP *uiStateSP();
-inline UIStateSP *uiState() { return uiStateSP(); };
-
-// device management class
-class DeviceSP : public Device {
-  Q_OBJECT
-
-public:
-  DeviceSP(QObject *parent = 0);
-};
-
-DeviceSP *deviceSP();
-inline DeviceSP *device() { return deviceSP(); }
diff --git a/selfdrive/ui/sunnypilot/ui_state.py b/selfdrive/ui/sunnypilot/ui_state.py
new file mode 100644
index 0000000000..7766c353ad
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -0,0 +1,192 @@
+"""
+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.
+"""
+from enum import Enum
+
+from cereal import messaging, log, custom
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.display import OnroadBrightness
+from openpilot.sunnypilot.sunnylink.sunnylink_state import SunnylinkState
+from openpilot.system.ui.lib.application import gui_app
+
+OpenpilotState = log.SelfdriveState.OpenpilotState
+MADSState = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
+
+ONROAD_BRIGHTNESS_TIMER_PAUSED = -1
+
+
+class OnroadTimerStatus(Enum):
+  NONE = 0
+  PAUSE = 1
+  RESUME = 2
+
+
+class UIStateSP:
+  def __init__(self):
+    self.CP_SP: custom.CarParamsSP | None = None
+    self.params = Params()
+    self.sm_services_ext = [
+      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
+      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
+    ]
+
+    self.sunnylink_state = SunnylinkState()
+    self.update_params()
+
+    self.onroad_brightness_timer: int = 0
+    self.custom_interactive_timeout: int = self.params.get("InteractivityTimeout", return_default=True)
+    self.reset_onroad_sleep_timer()
+    self.CP_SP: custom.CarParamsSP | None = None
+    self.has_icbm: bool = False
+    self.is_sp_release: bool = self.params.get_bool("IsReleaseSpBranch")
+
+  def update(self) -> None:
+    if self.sunnylink_enabled:
+      self.sunnylink_state.start()
+    else:
+      self.sunnylink_state.stop()
+
+  def onroad_brightness_handle_alerts(self, _ui_state, alert):
+    if _ui_state.sm.recv_frame["carState"] < _ui_state.started_frame:
+      return
+
+    has_alert = _ui_state.started and self.onroad_brightness != OnroadBrightness.AUTO and alert is not None
+
+    self.update_onroad_brightness(has_alert)
+    if has_alert:
+      self.reset_onroad_sleep_timer()
+
+  def update_onroad_brightness(self, has_alert: bool) -> None:
+    if has_alert:
+      return
+
+    if self.onroad_brightness_timer > 0:
+      self.onroad_brightness_timer -= 1
+
+  def reset_onroad_sleep_timer(self, timer_status: OnroadTimerStatus = OnroadTimerStatus.NONE) -> None:
+    # Toggling from active state to inactive
+    if timer_status == OnroadTimerStatus.PAUSE and self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED:
+      self.onroad_brightness_timer = ONROAD_BRIGHTNESS_TIMER_PAUSED
+    # Toggling from a previously inactive state or resetting an active timer
+    elif (self.onroad_brightness_timer_param >= 0 and self.onroad_brightness != OnroadBrightness.AUTO and
+          self.onroad_brightness_timer != ONROAD_BRIGHTNESS_TIMER_PAUSED) or timer_status == OnroadTimerStatus.RESUME:
+      if self.onroad_brightness == OnroadBrightness.AUTO_DARK:
+        self.onroad_brightness_timer = 15 * gui_app.target_fps
+      else:
+        self.onroad_brightness_timer = self.onroad_brightness_timer_param * gui_app.target_fps
+
+  @property
+  def onroad_brightness_timer_expired(self) -> bool:
+    return self.onroad_brightness != OnroadBrightness.AUTO and self.onroad_brightness_timer == 0
+
+  @property
+  def auto_onroad_brightness(self) -> bool:
+    return self.onroad_brightness in (OnroadBrightness.AUTO, OnroadBrightness.AUTO_DARK)
+
+  @staticmethod
+  def update_status(ss, ss_sp, onroad_evt) -> str:
+    state = ss.state
+    mads = ss_sp.mads
+    mads_state = mads.state
+
+    if state == OpenpilotState.preEnabled:
+      return "override"
+
+    if state == OpenpilotState.overriding:
+      if not mads.available:
+        return "override"
+
+      if any(e.overrideLongitudinal for e in onroad_evt):
+        return "override"
+
+    if mads_state in (MADSState.paused, MADSState.overriding):
+      return "override"
+
+    # MADS specific statuses
+    if not mads.available:
+      return "engaged" if ss.enabled else "disengaged"
+
+    if not mads.enabled and not ss.enabled:
+      return "disengaged"
+
+    if mads.enabled and ss.enabled:
+      return "engaged"
+
+    if mads.enabled:
+      return "lat_only"
+
+    if ss.enabled:
+      return "long_only"
+
+    return "disengaged"
+
+  def update_params(self) -> None:
+    CP_SP_bytes = self.params.get("CarParamsSPPersistent")
+    if CP_SP_bytes is not None:
+      self.CP_SP = messaging.log_from_bytes(CP_SP_bytes, custom.CarParamsSP)
+      self.has_icbm = self.CP_SP.intelligentCruiseButtonManagementAvailable and self.params.get_bool("IntelligentCruiseButtonManagement")
+    self.active_bundle = self.params.get("ModelManager_ActiveBundle")
+    self.blindspot = self.params.get_bool("BlindSpot")
+    self.chevron_metrics = self.params.get("ChevronInfo")
+    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
+    self.developer_ui = self.params.get("DevUIInfo")
+    self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
+    self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
+    self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
+    self.rainbow_path = self.params.get_bool("RainbowMode")
+    self.road_name_toggle = self.params.get_bool("RoadNameToggle")
+    self.rocket_fuel = self.params.get_bool("RocketFuel")
+    self.speed_limit_mode = self.params.get("SpeedLimitMode", return_default=True)
+    self.standstill_timer = self.params.get_bool("StandstillTimer")
+    self.sunnylink_enabled = self.params.get_bool("SunnylinkEnabled")
+    self.torque_bar = self.params.get_bool("TorqueBar")
+    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
+    self.turn_signals = self.params.get_bool("ShowTurnSignals")
+    self.boot_offroad_mode = self.params.get("DeviceBootMode", return_default=True)
+
+
+class DeviceSP:
+  @staticmethod
+  def _set_awake(on: bool, _ui_state):
+    if _ui_state.boot_offroad_mode == 1 and not on:
+      _ui_state.params.put_bool("OffroadMode", True)
+
+  @staticmethod
+  def set_onroad_brightness(_ui_state, awake: bool, cur_brightness: float) -> float:
+    if not awake or not _ui_state.started:
+      return cur_brightness
+
+    if _ui_state.onroad_brightness_timer != 0:
+      if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+        return max(30.0, cur_brightness)
+      # For AUTO (Default) and Manual modes (while timer running), use standard brightness
+      return cur_brightness
+
+    # 0: Auto (Default), 1: Auto (Dark), 2: Screen Off
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO:
+      return cur_brightness
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+      return cur_brightness
+    if _ui_state.onroad_brightness == OnroadBrightness.SCREEN_OFF:
+      return 0.0
+
+    # 3-22: 5% - 100%
+    return float((_ui_state.onroad_brightness - 2) * 5)
+
+  @staticmethod
+  def set_min_onroad_brightness(_ui_state, min_brightness: int) -> int:
+    if _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK:
+      min_brightness = 10
+
+    return min_brightness
+
+  @staticmethod
+  def wake_from_dimmed_onroad_brightness(_ui_state, evs) -> None:
+    if _ui_state.started and (_ui_state.onroad_brightness_timer_expired or _ui_state.onroad_brightness == OnroadBrightness.AUTO_DARK):
+      if any(ev.left_down for ev in evs):
+        if _ui_state.onroad_brightness_timer_expired:
+          gui_app.mouse_events.clear()
+        _ui_state.reset_onroad_sleep_timer()
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 91898ac59a..74ab2675db 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,3 +1,2 @@
 test
 test_translations
-test_ui/report_1
\ No newline at end of file
diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh
deleted file mode 100755
index ed0890d946..0000000000
--- a/selfdrive/ui/tests/create_test_translations.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/..
-TEST_TEXT="(WRAPPED_SOURCE_TEXT)"
-TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts
-TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm
-
-# translation strings
-UNFINISHED="<translation type=\"unfinished\"><\/translation>"
-TRANSLATED="<translation>$TEST_TEXT<\/translation>"
-
-mkdir -p $UI_DIR/translations
-rm -f $TEST_TS_FILE $TEST_QM_FILE
-lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE
-sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE
-lrelease $TEST_TS_FILE
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index e468d88e0e..b577b74b00 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -7,6 +7,7 @@ import json
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.system.updated.updated import parse_release_notes
 
 if __name__ == "__main__":
   params = Params()
@@ -18,9 +19,7 @@ if __name__ == "__main__":
   while True:
     print("setting alert update")
     params.put_bool("UpdateAvailable", True)
-    r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
-    r = r[:r.find('\n\n')]  # Slice latest release notes
-    params.put("UpdaterNewReleaseNotes", r + "\n")
+    params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
 
     time.sleep(t)
     params.put_bool("UpdateAvailable", False)
diff --git a/selfdrive/ui/tests/diff/.gitignore b/selfdrive/ui/tests/diff/.gitignore
new file mode 100644
index 0000000000..e21a8d896e
--- /dev/null
+++ b/selfdrive/ui/tests/diff/.gitignore
@@ -0,0 +1,2 @@
+report
+.coverage
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
new file mode 100755
index 0000000000..974edb42a3
--- /dev/null
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import webbrowser
+import argparse
+from pathlib import Path
+from openpilot.common.basedir import BASEDIR
+
+DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+HTML_TEMPLATE_PATH = Path(__file__).with_name("diff_template.html")
+
+
+def extract_framehashes(video_path):
+  cmd = ['ffmpeg', '-i', video_path, '-map', '0:v:0', '-vsync', '0', '-f', 'framehash', '-hash', 'md5', '-']
+  result = subprocess.run(cmd, capture_output=True, text=True, check=True)
+  hashes = []
+  for line in result.stdout.splitlines():
+    if not line or line.startswith('#'):
+      continue
+    parts = line.split(',')
+    if len(parts) < 4:
+      continue
+    hashes.append(parts[-1].strip())
+  return hashes
+
+
+def create_diff_video(video1, video2, output_path):
+  """Create a diff video using ffmpeg blend filter with difference mode."""
+  print("Creating diff video...")
+  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_differences(video1, video2) -> tuple[list[int], tuple[int, int]]:
+  print(f"Hashing frames from {video1}...")
+  hashes1 = extract_framehashes(video1)
+
+  print(f"Hashing frames from {video2}...")
+  hashes2 = extract_framehashes(video2)
+
+  print(f"Comparing {len(hashes1)} frames...")
+  different_frames = []
+
+  for i, (h1, h2) in enumerate(zip(hashes1, hashes2, strict=False)):
+    if h1 != h2:
+      different_frames.append(i)
+
+  return different_frames, (len(hashes1), len(hashes2))
+
+
+def generate_html_report(videos: tuple[str, str], basedir: str, different_frames: list[int], frame_counts: tuple[int, int], diff_video_name):
+  chunks = []
+  if different_frames:
+    current_chunk = [different_frames[0]]
+    for i in range(1, len(different_frames)):
+      if different_frames[i] == different_frames[i - 1] + 1:
+        current_chunk.append(different_frames[i])
+      else:
+        chunks.append(current_chunk)
+        current_chunk = [different_frames[i]]
+    chunks.append(current_chunk)
+
+  total_frames = max(frame_counts)
+  frame_delta = frame_counts[1] - frame_counts[0]
+  different_total = len(different_frames) + abs(frame_delta)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if different_total == 0
+    else f"❌ Found {different_total} different frames out of {total_frames} total ({different_total / total_frames * 100:.1f}%)."
+    + (f" Video {'2' if frame_delta > 0 else '1'} is longer by {abs(frame_delta)} frames." if frame_delta != 0 else "")
+  )
+
+  # Load HTML template and replace placeholders
+  html = HTML_TEMPLATE_PATH.read_text()
+  placeholders = {
+    "VIDEO1_SRC": os.path.join(basedir, os.path.basename(videos[0])),
+    "VIDEO2_SRC": os.path.join(basedir, os.path.basename(videos[1])),
+    "DIFF_SRC": os.path.join(basedir, diff_video_name),
+    "RESULT_TEXT": result_text,
+  }
+  for key, value in placeholders.items():
+    html = html.replace(f"${key}", value)
+
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  if not args.output.lower().endswith('.html'):
+    args.output += '.html'
+
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  print("=" * 60)
+  print("VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1: {args.video1}")
+  print(f"Video 2: {args.video2}")
+  print(f"Output: {args.output}")
+  print()
+
+  # Create diff video with name derived from output HTML
+  diff_video_name = Path(args.output).stem + '.mp4'
+  diff_video_path = str(DIFF_OUT_DIR / diff_video_name)
+  create_diff_video(args.video1, args.video2, diff_video_path)
+
+  different_frames, frame_counts = find_differences(args.video1, args.video2)
+
+  if different_frames is None:
+    sys.exit(1)
+
+  print()
+  print("Generating HTML report...")
+  html = generate_html_report((args.video1, args.video2), args.basedir, different_frames, frame_counts, diff_video_name)
+
+  with open(DIFF_OUT_DIR / args.output, 'w') as f:
+    f.write(html)
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
+
+  extra_frames = abs(frame_counts[0] - frame_counts[1])
+  return 0 if (len(different_frames) + extra_frames) == 0 else 1
+
+
+if __name__ == "__main__":
+  sys.exit(main())
diff --git a/selfdrive/ui/tests/diff/diff_template.html b/selfdrive/ui/tests/diff/diff_template.html
new file mode 100644
index 0000000000..3f1de10512
--- /dev/null
+++ b/selfdrive/ui/tests/diff/diff_template.html
@@ -0,0 +1,80 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>UI Diff Report</title>
+  <style>
+    h1, h2, h3, h4 {
+      margin: 0.5em 0 0.25em;
+    }
+    #videoTable {
+      width: 100%;
+    }
+    @media (max-width: 800px) {
+      #videoTable tr {
+        display: flex;
+        flex-direction: column;
+      }
+      #videoTable td {
+        width: 100% !important;
+      }
+    }
+  </style>
+</head>
+<body>
+  <h2>UI Diff</h2>
+  <table id='videoTable'></table>
+  <hr>
+  <p><strong>Results:</strong> $RESULT_TEXT</p>
+  <script>
+    const videoDefs = [
+      { id: 'video1', title: 'Video 1', src: '$VIDEO1_SRC', sync: true },
+      { id: 'video2', title: 'Video 2', src: '$VIDEO2_SRC', sync: true },
+      { id: 'diffVideo', title: 'Pixel Diff', src: '$DIFF_SRC', sync: false },
+    ];
+
+    const row = document.getElementById('videoTable').insertRow();
+    videoDefs.forEach(({ id, title, src, sync }) => {
+      const td = row.insertCell();
+      td.width = '33%';
+      td.innerHTML = `<h4>${title}</h4>
+        <video id='${id}' width='100%' autoplay muted ${sync ? "onplay='syncVideos()'" : ''}>
+          <source src='${src}' type='video/mp4'>
+          Your browser does not support the video tag.
+        </video>`;
+    });
+
+    const videos = videoDefs.map(({ id }) => document.getElementById(id));
+
+    const isEnded = (v) => v.ended || (Number.isFinite(v.duration) && v.currentTime >= (v.duration - 0.05));
+    const playAll = () => videos.forEach((v) => v.play());
+
+    function syncVideos() {
+      const t = Math.min(...videos.map((v) => v.currentTime));
+      videos.forEach((v) => { v.currentTime = t; });
+      playAll();
+    }
+
+    function handleEnded(endedVideo) {
+      endedVideo.pause();
+      if (videos.every(isEnded)) {
+        videos.forEach((v) => { v.currentTime = 0; });
+        playAll();
+      }
+    }
+
+    videos.forEach((v) => {
+      v.addEventListener('timeupdate', () => {
+        videos.forEach((other) => {
+          if (other !== v && !isEnded(other) && Math.abs(v.currentTime - other.currentTime) > 0.1) {
+            other.currentTime = v.currentTime;
+            if (other.paused) other.play();
+          }
+        });
+      });
+      v.addEventListener('ended', () => handleEnded(v));
+    });
+  </script>
+</body>
+</html>
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
new file mode 100755
index 0000000000..08c45b7b7f
--- /dev/null
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+import os
+import argparse
+import coverage
+import pyray as rl
+
+from typing import Literal
+from collections.abc import Callable
+from cereal.messaging import PubMaster
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+from openpilot.system.version import terms_version, training_version, terms_version_sp, sunnylink_consent_version
+
+LayoutVariant = Literal["mici", "tizi"]
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") != "1"
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put("DongleId", "test123456789")
+  # Combined description for layouts that still use it (BIG home, settings/software)
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  params.put("HasAcceptedTermsSP", terms_version_sp)
+  params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+
+  # Params for mici home
+  params.put("Version", "0.10.1")
+  params.put("GitBranch", "test-branch")
+  params.put("GitCommit", "abc12340ff9131237ba23a1d0fbd8edf9c80e87")
+  params.put("GitCommitDate", "'1732924800 2024-11-30 00:00:00 +0000'")
+
+
+def run_replay(variant: LayoutVariant) -> None:
+  if HEADLESS:
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
+    os.environ["OFFSCREEN"] = "1"  # Run UI without FPS limit (set before importing gui_app)
+
+  setup_state()
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  from openpilot.selfdrive.ui.ui_state import ui_state  # Import within OpenpilotPrefix context so param values are setup correctly
+  from openpilot.system.ui.lib.application import gui_app  # Import here for accurate coverage
+  from openpilot.selfdrive.ui.tests.diff.replay_script import build_script
+
+  gui_app.init_window("ui diff test", fps=FPS)
+
+  # Dynamically import main layout based on variant
+  if variant == "mici":
+    from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout as MainLayout
+  else:
+    from openpilot.selfdrive.ui.layouts.main import MainLayout
+  main_layout = MainLayout()
+
+  pm = PubMaster(["deviceState", "pandaStates", "driverStateV2", "selfdriveState"])
+  script = build_script(pm, main_layout, variant)
+  script_index = 0
+
+  send_fn: Callable | None = None
+  frame = 0
+  # Override raylib timing functions to return deterministic values based on frame count instead of real time
+  rl.get_frame_time = lambda: 1.0 / FPS
+  rl.get_time = lambda: frame / FPS
+
+  # Main loop to replay events and render frames
+  for _ in gui_app.render():
+    # Handle all events for the current frame
+    while script_index < len(script) and script[script_index][0] == frame:
+      _, event = script[script_index]
+      # Call setup function, if any
+      if event.setup:
+        event.setup()
+      # Send mouse events to the application
+      if event.mouse_events:
+        with gui_app._mouse._lock:
+          gui_app._mouse._events.extend(event.mouse_events)
+      # Update persistent send function
+      if event.send_fn is not None:
+        send_fn = event.send_fn
+      # Move to next script event
+      script_index += 1
+
+    # Keep sending cereal messages for persistent states (onroad, alerts)
+    if send_fn:
+      send_fn()
+
+    ui_state.update()
+
+    frame += 1
+
+    if script_index >= len(script):
+      break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--big', action='store_true', help='Use big UI layout (tizi/tici) instead of mici layout')
+  args = parser.parse_args()
+
+  variant: LayoutVariant = 'tizi' if args.big else 'mici'
+
+  if args.big:
+    os.environ["BIG"] = "1"
+  os.environ["RECORD"] = "1"
+  os.environ["RECORD_QUALITY"] = "0"  # Use CRF 0 ("lossless" encode) for deterministic output across different machines
+  os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ.get("RECORD_OUTPUT", f"{variant}_ui_replay.mp4"))
+
+  print(f"Running {variant} UI replay...")
+  with OpenpilotPrefix():
+    sources = ["openpilot.system.ui"]
+    if variant == "mici":
+      sources.append("openpilot.selfdrive.ui.mici")
+      omit = ["**/*tizi*", "**/*tici*"]  # exclude files containing "tizi" or "tici"
+    else:
+      sources.extend(["openpilot.selfdrive.ui.layouts", "openpilot.selfdrive.ui.onroad", "openpilot.selfdrive.ui.widgets"])
+      omit = ["**/*mici*"]  # exclude files containing "mici"
+    cov = coverage.Coverage(source=sources, omit=omit)
+    with cov.collect():
+      run_replay(variant)
+    cov.save()
+    cov.report()
+    directory = os.path.join(DIFF_OUT_DIR, f"htmlcov-{variant}")
+    cov.html_report(directory=directory)
+    print(f"HTML report: {directory}/index.html")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/tests/diff/replay_script.py b/selfdrive/ui/tests/diff/replay_script.py
new file mode 100644
index 0000000000..9f2104ec49
--- /dev/null
+++ b/selfdrive/ui/tests/diff/replay_script.py
@@ -0,0 +1,249 @@
+from __future__ import annotations
+from typing import TYPE_CHECKING
+from collections.abc import Callable
+from dataclasses import dataclass
+
+from cereal import car, log, messaging
+from cereal.messaging import PubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.selfdrive.ui.tests.diff.replay import FPS, LayoutVariant
+from openpilot.system.updated.updated import parse_release_notes
+
+WAIT = int(FPS * 0.5)  # Default frames to wait after events
+
+AlertSize = log.SelfdriveState.AlertSize
+AlertStatus = log.SelfdriveState.AlertStatus
+
+BRANCH_NAME = "this-is-a-really-super-mega-ultra-max-extreme-ultimate-long-branch-name"
+
+
+@dataclass
+class ScriptEvent:
+  if TYPE_CHECKING:
+    # Only import for type checking to avoid excluding the application code from coverage
+    from openpilot.system.ui.lib.application import MouseEvent
+
+  setup: Callable | None = None  # Setup function to run prior to adding mouse events
+  mouse_events: list[MouseEvent] | None = None  # Mouse events to send to the application on this event's frame
+  send_fn: Callable | None = None  # When set, the main loop uses this as the new persistent sender
+
+
+ScriptEntry = tuple[int, ScriptEvent]  # (frame, event)
+
+
+class Script:
+  def __init__(self, fps: int) -> None:
+    self.fps = fps
+    self.frame = 0
+    self.entries: list[ScriptEntry] = []
+
+  def get_frame_time(self) -> float:
+    return self.frame / self.fps
+
+  def add(self, event: ScriptEvent, before: int = 0, after: int = 0) -> None:
+    """Add event to the script, optionally with the given number of frames to wait before or after the event."""
+    self.frame += before
+    self.entries.append((self.frame, event))
+    self.frame += after
+
+  def end(self) -> None:
+    """Add a final empty event to mark the end of the script."""
+    self.add(ScriptEvent())  # Without this, it will just end on the last event without waiting for any specified delay after it
+
+  def wait(self, frames: int) -> None:
+    """Add a delay for the given number of frames followed by an empty event."""
+    self.add(ScriptEvent(), before=frames)
+
+  def setup(self, fn: Callable, wait_after: int = WAIT) -> None:
+    """Add a setup function to be called immediately followed by a delay of the given number of frames."""
+    self.add(ScriptEvent(setup=fn), after=wait_after)
+
+  def set_send(self, fn: Callable, wait_after: int = WAIT) -> None:
+    """Set a new persistent send function to be called every frame."""
+    self.add(ScriptEvent(send_fn=fn), after=wait_after)
+
+  # TODO: Also add more complex gestures, like swipe or drag
+  def click(self, x: int, y: int, wait_after: int = WAIT, wait_between: int = 2) -> None:
+    """Add a click event to the script for the given position and specify frames to wait between mouse events or after the click."""
+    # NOTE: By default we wait a couple frames between mouse events so pressed states will be rendered
+    from openpilot.system.ui.lib.application import MouseEvent, MousePos
+
+    # TODO: Add support for long press (left_down=True)
+    mouse_down = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_down]), after=wait_between)
+    mouse_up = MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=self.get_frame_time())
+    self.add(ScriptEvent(mouse_events=[mouse_up]), after=wait_after)
+
+
+# --- Setup functions ---
+
+def put_update_params(params: Params | None = None) -> None:
+  if params is None:
+    params = Params()
+  params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
+  params.put("UpdaterNewReleaseNotes", parse_release_notes(BASEDIR))
+  params.put("UpdaterTargetBranch", BRANCH_NAME)
+
+
+def setup_offroad_alerts() -> None:
+  put_update_params(Params())
+  set_offroad_alert("Offroad_TemperatureTooHigh", True, extra_text='99C')
+  set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text='longitudinal')
+  set_offroad_alert("Offroad_IsTakingSnapshot", True)
+
+
+def setup_update_available() -> None:
+  params = Params()
+  params.put_bool("UpdateAvailable", True)
+  params.put("UpdaterNewDescription", f"0.10.2 / {BRANCH_NAME} / 0a1b2c3 / Jan 01")
+  put_update_params(params)
+
+
+def setup_developer_params() -> None:
+  CP = car.CarParams()
+  CP.alphaLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+
+
+# --- Send functions ---
+
+def send_onroad(pm: PubMaster) -> None:
+  ds = messaging.new_message('deviceState')
+  ds.deviceState.started = True
+  ds.deviceState.networkType = log.DeviceState.NetworkType.wifi
+
+  ps = messaging.new_message('pandaStates', 1)
+  ps.pandaStates[0].pandaType = log.PandaState.PandaType.dos
+  ps.pandaStates[0].ignitionLine = True
+
+  pm.send('deviceState', ds)
+  pm.send('pandaStates', ps)
+
+
+def make_network_state_setup(pm: PubMaster, network_type) -> Callable:
+  def _send() -> None:
+    ds = messaging.new_message('deviceState')
+    ds.deviceState.networkType = network_type
+    pm.send('deviceState', ds)
+  return _send
+
+
+def make_alert_setup(pm: PubMaster, size, text1, text2, status) -> Callable:
+  def _send() -> None:
+    send_onroad(pm)
+    alert = messaging.new_message('selfdriveState')
+    ss = alert.selfdriveState
+    ss.alertSize = size
+    ss.alertText1 = text1
+    ss.alertText2 = text2
+    ss.alertStatus = status
+    pm.send('selfdriveState', alert)
+  return _send
+
+
+# --- Script builders ---
+
+def build_mici_script(pm: PubMaster, main_layout, script: Script) -> None:
+  """Build the replay script for the mici layout."""
+  from openpilot.system.ui.lib.application import gui_app
+
+  center = (gui_app.width // 2, gui_app.height // 2)
+
+  # TODO: Explore more
+  script.wait(FPS)
+  script.click(*center, FPS)  # Open settings
+  script.click(*center, FPS)  # Open toggles
+  script.end()
+
+
+def build_tizi_script(pm: PubMaster, main_layout, script: Script) -> None:
+  """Build the replay script for the tizi layout."""
+
+  def make_home_refresh_setup(fn: Callable) -> Callable:
+    """Return setup function that calls the given function to modify state and forces an immediate refresh on the home layout."""
+    from openpilot.selfdrive.ui.layouts.main import MainState
+
+    def setup():
+      fn()
+      main_layout._layouts[MainState.HOME].last_refresh = 0
+
+    return setup
+
+  # TODO: Better way of organizing the events
+
+  # === Homescreen ===
+  script.set_send(make_network_state_setup(pm, log.DeviceState.NetworkType.wifi))
+
+  # === Offroad Alerts (auto-transitions via HomeLayout refresh) ===
+  script.setup(make_home_refresh_setup(setup_offroad_alerts))
+
+  # === Update Available (auto-transitions via HomeLayout refresh) ===
+  script.setup(make_home_refresh_setup(setup_update_available))
+
+  # === Settings - Device (click sidebar settings button) ===
+  script.click(150, 90)
+  script.click(1985, 790)  # reset calibration confirmation
+  script.click(650, 750)  # cancel
+
+  # === Settings - Network ===
+  script.click(278, 450)
+  script.click(1880, 100)  # advanced network settings
+  script.click(630, 80)  # back
+
+  # === Settings - Toggles ===
+  script.click(278, 600)
+  script.click(1200, 280)  # experimental mode description
+
+  # === Settings - Software ===
+  script.setup(put_update_params, wait_after=0)
+  script.click(278, 720)
+
+  # === Settings - Firehose ===
+  script.click(278, 845)
+
+  # === Settings - Developer (set CarParamsPersistent first) ===
+  script.setup(setup_developer_params, wait_after=0)
+  script.click(278, 950)
+  script.click(2000, 960)  # toggle alpha long
+  script.click(1500, 875)  # confirm
+
+  # === Keyboard modal (SSH keys button in developer panel) ===
+  script.click(1930, 470)  # click SSH keys
+  script.click(1930, 115)  # click cancel on keyboard
+
+  # === Close settings ===
+  script.click(250, 160)
+
+  # === Onroad ===
+  script.set_send(lambda: send_onroad(pm))
+  script.click(1000, 500)  # click onroad to toggle sidebar
+
+  # === Onroad alerts ===
+  # Small alert (normal)
+  script.set_send(make_alert_setup(pm, AlertSize.small, "Small Alert", "This is a small alert", AlertStatus.normal))
+  # Medium alert (userPrompt)
+  script.set_send(make_alert_setup(pm, AlertSize.mid, "Medium Alert", "This is a medium alert", AlertStatus.userPrompt))
+  # Full alert (critical)
+  script.set_send(make_alert_setup(pm, AlertSize.full, "DISENGAGE IMMEDIATELY", "Driver Distracted", AlertStatus.critical))
+  # Full alert multiline
+  script.set_send(make_alert_setup(pm, AlertSize.full, "Reverse\nGear", "", AlertStatus.normal))
+  # Full alert long text
+  script.set_send(make_alert_setup(pm, AlertSize.full, "TAKE CONTROL IMMEDIATELY", "Calibration Invalid: Remount Device & Recalibrate", AlertStatus.userPrompt))
+
+  # End
+  script.end()
+
+
+def build_script(pm: PubMaster, main_layout, variant: LayoutVariant) -> list[ScriptEntry]:
+  """Build the replay script for the appropriate layout variant and return list of script entries."""
+  print(f"Building {variant} replay script...")
+
+  script = Script(FPS)
+  builder = build_tizi_script if variant == 'tizi' else build_mici_script
+  builder(pm, main_layout, script)
+
+  print(f"Built replay script with {len(script.entries)} events and {script.frame} frames ({script.get_frame_time():.2f} seconds)")
+
+  return script.entries
diff --git a/selfdrive/ui/tests/profile_onroad.py b/selfdrive/ui/tests/profile_onroad.py
new file mode 100755
index 0000000000..18194d7363
--- /dev/null
+++ b/selfdrive/ui/tests/profile_onroad.py
@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+import os
+import time
+import cProfile
+import pyray as rl
+import numpy as np
+
+from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.tools.lib.logreader import LogReader
+
+FPS = 60
+
+
+def chunk_messages_by_time(messages):
+  dt_ns = 1e9 / FPS
+  chunks = []
+  current_services = {}
+  next_time = messages[0].logMonoTime + dt_ns if messages else 0
+
+  for msg in messages:
+    if msg.logMonoTime >= next_time:
+      chunks.append(current_services)
+      current_services = {}
+      next_time += dt_ns * ((msg.logMonoTime - next_time) // dt_ns + 1)
+    current_services[msg.which()] = msg
+
+  if current_services:
+    chunks.append(current_services)
+  return chunks
+
+
+def patch_submaster(message_chunks):
+  def mock_update(timeout=None):
+    sm = ui_state.sm
+    sm.updated = dict.fromkeys(sm.services, False)
+    current_time = time.monotonic()
+    for service, msg in message_chunks[sm.frame].items():
+      if service in sm.data:
+        sm.seen[service] = True
+        sm.updated[service] = True
+
+        msg_builder = msg.as_builder()
+        sm.data[service] = getattr(msg_builder, service)
+        sm.logMonoTime[service] = msg.logMonoTime
+        sm.recv_time[service] = current_time
+        sm.recv_frame[service] = sm.frame
+        sm.valid[service] = True
+    sm.frame += 1
+  ui_state.sm.update = mock_update
+
+
+if __name__ == "__main__":
+  import argparse
+  parser = argparse.ArgumentParser(description='Profile openpilot UI rendering and state updates')
+  parser.add_argument('route', type=str, nargs='?', default="302bab07c1511180/00000006--0b9a7005f1/3",
+                      help='Route to use for profiling')
+  parser.add_argument('--loop', type=int, default=1,
+                      help='Number of times to loop the log (default: 1)')
+  parser.add_argument('--output', type=str, default='cachegrind.out.ui',
+                      help='Output file prefix (default: cachegrind.out.ui)')
+  parser.add_argument('--max-seconds', type=float, default=None,
+                      help='Maximum seconds of messages to process (default: all)')
+  parser.add_argument('--headless', action='store_true',
+                      help='Run in headless mode without GPU (for CI/testing)')
+  args = parser.parse_args()
+
+  print(f"Loading log from {args.route}...")
+  lr = LogReader(args.route, sort_by_time=True)
+  messages = list(lr) * args.loop
+
+  print("Chunking messages...")
+  message_chunks = chunk_messages_by_time(messages)
+  if args.max_seconds:
+    message_chunks = message_chunks[:int(args.max_seconds * FPS)]
+
+  print("Initializing UI with GPU rendering...")
+
+  if args.headless:
+    os.environ['SDL_VIDEODRIVER'] = 'dummy'
+
+  gui_app.init_window("UI Profiling", fps=600)
+  main_layout = MiciMainLayout()
+
+  print("Running...")
+  patch_submaster(message_chunks)
+
+  W, H = 2048, 1216
+  vipc = VisionIpcServer("camerad")
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
+  vipc.start_listener()
+  yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
+  yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
+  with cProfile.Profile() as pr:
+    for _ in gui_app.render():
+      if ui_state.sm.frame >= len(message_chunks):
+        break
+      if ui_state.sm.frame % 3 == 0:
+        eof = int((ui_state.sm.frame % 3) * 0.05 * 1e9)
+        vipc.send(VisionStreamType.VISION_STREAM_ROAD, yuv_data, ui_state.sm.frame % 3, eof, eof)
+      ui_state.update()
+    pr.dump_stats(f'{args.output}_deterministic.stats')
+
+  rl.close_window()
+  print("\nProfiling complete!")
+  print(f"  run: python -m pstats {args.output}_deterministic.stats")
diff --git a/selfdrive/ui/tests/test_feedbackd.py b/selfdrive/ui/tests/test_feedbackd.py
new file mode 100644
index 0000000000..6b7ec44863
--- /dev/null
+++ b/selfdrive/ui/tests/test_feedbackd.py
@@ -0,0 +1,53 @@
+import pytest
+import cereal.messaging as messaging
+from cereal import car
+from openpilot.common.params import Params
+from openpilot.system.manager.process_config import managed_processes
+
+
+@pytest.mark.skip("tmp disabled")
+class TestFeedbackd:
+  def setup_method(self):
+    self.pm = messaging.PubMaster(['carState', 'rawAudioData'])
+    self.sm = messaging.SubMaster(['audioFeedback'])
+
+  def _send_lkas_button(self, pressed: bool):
+    msg = messaging.new_message('carState')
+    msg.carState.canValid = True
+    msg.carState.buttonEvents = [{'type': car.CarState.ButtonEvent.Type.lkas, 'pressed': pressed}]
+    self.pm.send('carState', msg)
+
+  def _send_audio_data(self, count: int = 5):
+    for _ in range(count):
+      audio_msg = messaging.new_message('rawAudioData')
+      audio_msg.rawAudioData.data = bytes(1600)  # 800 samples of int16
+      audio_msg.rawAudioData.sampleRate = 16000
+      self.pm.send('rawAudioData', audio_msg)
+      self.sm.update(timeout=100)
+
+  @pytest.mark.parametrize("record_feedback", [False, True])
+  def test_audio_feedback(self, record_feedback):
+    Params().put_bool("RecordAudioFeedback", record_feedback)
+
+    managed_processes["feedbackd"].start()
+    assert self.pm.wait_for_readers_to_update('carState', timeout=5)
+    assert self.pm.wait_for_readers_to_update('rawAudioData', timeout=5)
+
+    self._send_lkas_button(pressed=True)
+    self._send_audio_data()
+    self._send_lkas_button(pressed=False)
+    self._send_audio_data()
+
+    if record_feedback:
+      assert self.sm.updated['audioFeedback'], "audioFeedback should be published when enabled"
+    else:
+      assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published when disabled"
+
+    self._send_lkas_button(pressed=True)
+    self._send_audio_data()
+    self._send_lkas_button(pressed=False)
+    self._send_audio_data()
+
+    assert not self.sm.updated['audioFeedback'], "audioFeedback should not be published after second press"
+
+    managed_processes["feedbackd"].stop()
diff --git a/selfdrive/ui/tests/test_raylib_ui.py b/selfdrive/ui/tests/test_raylib_ui.py
new file mode 100644
index 0000000000..69ba946dcd
--- /dev/null
+++ b/selfdrive/ui/tests/test_raylib_ui.py
@@ -0,0 +1,8 @@
+import time
+from openpilot.selfdrive.test.helpers import with_processes
+
+
+@with_processes(["ui"])
+def test_raylib_ui():
+  """Test initialization of the UI widgets is successful."""
+  time.sleep(1)
diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc
deleted file mode 100644
index c8cc0d3e05..0000000000
--- a/selfdrive/ui/tests/test_runner.cc
+++ /dev/null
@@ -1,26 +0,0 @@
-#define CATCH_CONFIG_RUNNER
-#include "catch2/catch.hpp"
-
-#include <QApplication>
-#include <QDebug>
-#include <QDir>
-#include <QTranslator>
-
-int main(int argc, char **argv) {
-  // unit tests for Qt
-  QApplication app(argc, argv);
-
-  QString language_file = "main_test_en";
-  // FIXME: pytest-cpp considers this print as a test case
-  qDebug() << "Loading language:" << language_file;
-
-  QTranslator translator;
-  QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations");
-  if (!translator.load(language_file, translationsPath)) {
-    qDebug() << "Failed to load translation file!";
-  }
-  app.installTranslator(&translator);
-
-  const int res = Catch::Session().run(argc, argv);
-  return (res < 0xff ? res : 0xff);
-}
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index a9da8455eb..226117ae8f 100644
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -10,8 +10,8 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
 class TestSoundd:
   def test_check_selfdrive_timeout_alert(self):
-    sm = SubMaster(['selfdriveState'])
-    pm = PubMaster(['selfdriveState'])
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
 
     for _ in range(100):
       cs = messaging.new_message('selfdriveState')
@@ -31,5 +31,31 @@ class TestSoundd:
 
     assert check_selfdrive_timeout_alert(sm)
 
+  def test_check_selfdrive_timeout_alert_mads_lateral_only(self):
+    sm = SubMaster(['selfdriveState', 'selfdriveStateSP'])
+    pm = PubMaster(['selfdriveState', 'selfdriveStateSP'])
+
+    for _ in range(100):
+      cs = messaging.new_message('selfdriveState')
+      cs.selfdriveState.enabled = False
+
+      ss_sp = messaging.new_message('selfdriveStateSP')
+      ss_sp.selfdriveStateSP.mads.enabled = True
+
+      pm.send("selfdriveState", cs)
+      pm.send("selfdriveStateSP", ss_sp)
+
+      time.sleep(0.01)
+
+      sm.update(0)
+
+      assert not check_selfdrive_timeout_alert(sm)
+
+    for _ in range(SELFDRIVE_STATE_TIMEOUT * 110):
+      sm.update(0)
+      time.sleep(0.01)
+
+    assert check_selfdrive_timeout_alert(sm)
+
   # TODO: add test with micd for checking that soundd actually outputs sounds
 
diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
deleted file mode 100644
index fcefc5784f..0000000000
--- a/selfdrive/ui/tests/test_translations.cc
+++ /dev/null
@@ -1,48 +0,0 @@
-#include "catch2/catch.hpp"
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/window.h"
-
-const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)";  // what each string should be translated to
-QRegExp RE_NUM("\\d*");
-
-QStringList getParentWidgets(QWidget* widget){
-  QStringList parentWidgets;
-  while (widget->parentWidget() != Q_NULLPTR) {
-    widget = widget->parentWidget();
-    parentWidgets.append(widget->metaObject()->className());
-  }
-  return parentWidgets;
-}
-
-template <typename T>
-void checkWidgetTrWrap(MainWindow &w) {
-  for (auto widget : w.findChildren<T>()) {
-  const QString text = widget->text();
-    bool isNumber = RE_NUM.exactMatch(text);
-    bool wrapped = text.contains(TEST_TEXT);
-    QString parentWidgets = getParentWidgets(widget).join("->");
-
-    if (!text.isEmpty() && !isNumber && !wrapped) {
-      FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
-    }
-
-    // warn if source string wrapped, but UI adds text
-    // TODO: add way to ignore this
-    if (wrapped && text != TEST_TEXT) {
-      WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
-    }
-  }
-}
-
-// Tests all strings in the UI are wrapped with tr()
-TEST_CASE("UI: test all strings wrapped") {
-  Params().remove("LanguageSetting");
-  Params().remove("HardwareSerial");
-  Params().remove("DongleId");
-  qputenv("TICI", "1");
-
-  MainWindow w;
-  checkWidgetTrWrap<QPushButton*>(w);
-  checkWidgetTrWrap<QLabel*>(w);
-}
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 09dd7c5d8b..599c99013c 100644
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -5,11 +5,10 @@ import re
 import xml.etree.ElementTree as ET
 import string
 import requests
-from parameterized import parameterized_class
+from openpilot.common.parameterized import parameterized_class
+from openpilot.system.ui.lib.multilang import TRANSLATIONS_DIR, LANGUAGES_FILE
 
-from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE
-
-with open(LANGUAGES_FILE) as f:
+with open(str(LANGUAGES_FILE)) as f:
   translation_files = json.load(f)
 
 UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""  # non-empty translations can be marked unfinished
@@ -17,6 +16,7 @@ LOCATION_TAG = "<location "
 FORMAT_ARG = re.compile("%[0-9]+")
 
 
+@pytest.mark.skip("TODO: update for raylib")
 @parameterized_class(("name", "file"), translation_files.items())
 class TestTranslations:
   name: str
@@ -29,7 +29,7 @@ class TestTranslations:
       return f.read()
 
   def test_missing_translation_files(self):
-    assert os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), \
+    assert os.path.exists(os.path.join(str(TRANSLATIONS_DIR), f"{self.file}.ts")), \
                     f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py"
 
   @pytest.mark.skip("Only test unfinished translations before going to release")
@@ -93,11 +93,18 @@ class TestTranslations:
   def test_bad_language(self):
     IGNORED_WORDS = {'pédale'}
 
-    match = re.search(r'_([a-zA-Z]{2,3})', self.file)
+    match = re.search(r'([a-zA-Z]{2,3})', self.file)
     assert match, f"{self.name} - could not parse language"
 
-    response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}")
-    response.raise_for_status()
+    try:
+      response = requests.get(
+        f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
+      )
+      response.raise_for_status()
+    except requests.exceptions.HTTPError as e:
+      if e.response is not None and e.response.status_code == 429:
+        pytest.skip("word list rate limited")
+      raise
 
     banned_words = {line.strip() for line in response.text.splitlines()}
 
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
deleted file mode 100755
index 9d078fdd9e..0000000000
--- a/selfdrive/ui/tests/test_ui/run.py
+++ /dev/null
@@ -1,404 +0,0 @@
-#!/usr/bin/env python3
-import capnp
-import json
-import pathlib
-import shutil
-import sys
-import os
-import pywinctl
-import pyautogui
-import pickle
-import time
-from collections import namedtuple
-
-from cereal import car, log, custom
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from cereal.messaging import PubMaster, log_from_bytes, sub_sock
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
-from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.common.transformations.camera import CameraConfig, DEVICE_CAMERAS
-from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_controlsState, migrate_carState
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.route import Route
-from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
-
-UI_DELAY = 0.1 # may be slower on CI?
-TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-
-STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
-OFFROAD_ALERTS = ['Offroad_StorageMissing', 'Offroad_IsTakingSnapshot']
-DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
-  ["carParams", "deviceState", "pandaStates", "controlsState", "selfdriveState",
-  "liveCalibration", "modelV2", "radarState", "driverMonitoringState", "carState",
-  "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
-
-def setup_homescreen(click, pm: PubMaster, scroll=None):
-  time.sleep(UI_DELAY)
-
-def setup_settings_device(click, pm: PubMaster, scroll=None):
-  click(100, 100)
-
-def setup_settings_network(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(278, 405)
-
-def setup_settings_network_advanced(click, pm: PubMaster, scroll=None):
-  setup_settings_network(click, pm)
-  click(1913, 90)
-
-def setup_settings_toggles(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(278, 632)
-  time.sleep(UI_DELAY)
-
-def setup_settings_software(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(278, 742)
-  time.sleep(UI_DELAY)
-
-def setup_settings_firehose(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  scroll(-400, 278, 962)
-  click(278, 862)
-
-def setup_settings_developer(click, pm: PubMaster, scroll=None):
-  CP = car.CarParams()
-  CP.alphaLongitudinalAvailable = True
-  Params().put("CarParamsPersistent", CP.to_bytes())
-
-  setup_settings_device(click, pm)
-  scroll(-400, 278, 962)
-  click(278, 970)
-  time.sleep(UI_DELAY)
-
-def setup_onroad(click, pm: PubMaster, scroll=None):
-  vipc_server = VisionIpcServer("camerad")
-  for stream_type, cam, _ in STREAMS:
-    vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
-  vipc_server.start_listener()
-
-  uidebug_received_cnt = 0
-  packet_id = 0
-  uidebug_sock = sub_sock('uiDebug')
-
-  # Condition check for uiDebug processing
-  check_uidebug = DATA['deviceState'].deviceState.started and not DATA['carParams'].carParams.notCar
-
-  # Loop until 20 'uiDebug' messages are received
-  while uidebug_received_cnt <= 20:
-    for service, data in DATA.items():
-      if data:
-        data.clear_write_flag()
-        pm.send(service, data)
-
-    for stream_type, _, image in STREAMS:
-      vipc_server.send(stream_type, image, packet_id, packet_id, packet_id)
-
-    if check_uidebug:
-      while uidebug_sock.receive(non_blocking=True):
-        uidebug_received_cnt += 1
-    else:
-      uidebug_received_cnt += 1
-
-    packet_id += 1
-    time.sleep(0.05)
-
-def setup_onroad_disengaged(click, pm: PubMaster, scroll=None):
-  DATA['selfdriveState'].selfdriveState.enabled = False
-  setup_onroad(click, pm)
-  DATA['selfdriveState'].selfdriveState.enabled = True
-
-def setup_onroad_override(click, pm: PubMaster, scroll=None):
-  DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.overriding
-  setup_onroad(click, pm)
-  DATA['selfdriveState'].selfdriveState.state = log.SelfdriveState.OpenpilotState.enabled
-
-
-def setup_onroad_wide(click, pm: PubMaster, scroll=None):
-  DATA['selfdriveState'].selfdriveState.experimentalMode = True
-  DATA["carState"].carState.vEgo = 1
-  setup_onroad(click, pm)
-
-def setup_onroad_sidebar(click, pm: PubMaster, scroll=None):
-  setup_onroad(click, pm)
-  click(500, 500)
-  setup_onroad(click, pm)
-
-def setup_onroad_wide_sidebar(click, pm: PubMaster, scroll=None):
-  setup_onroad_wide(click, pm)
-  click(500, 500)
-  setup_onroad_wide(click, pm)
-
-def setup_body(click, pm: PubMaster, scroll=None):
-  DATA['carParams'].carParams.brand = "body"
-  DATA['carParams'].carParams.notCar = True
-  DATA['carState'].carState.charging = True
-  DATA['carState'].carState.fuelGauge = 50.0
-  setup_onroad(click, pm)
-
-def setup_keyboard(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  scroll(-400, 278, 962)
-  click(278, 970)
-  click(1930, 390)
-
-def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
-  setup_keyboard(click, pm, scroll)
-  click(200, 800)
-
-def setup_driver_camera(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(1720, 825)
-  DATA['deviceState'].deviceState.started = False
-  setup_onroad(click, pm)
-  DATA['deviceState'].deviceState.started = True
-
-def setup_onroad_alert(click, pm: PubMaster, text1, text2, size, status=log.SelfdriveState.AlertStatus.normal):
-  print(f'setup onroad alert, size: {size}')
-  state = DATA['selfdriveState']
-  origin_state_bytes = state.to_bytes()
-  cs = state.selfdriveState
-  cs.alertText1 = text1
-  cs.alertText2 = text2
-  cs.alertSize = size
-  cs.alertStatus = status
-  cs.alertType = "test_onroad_alert"
-  setup_onroad(click, pm)
-  DATA['selfdriveState'] = log_from_bytes(origin_state_bytes).as_builder()
-
-def setup_onroad_alert_small(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, 'This is a small alert message', '', log.SelfdriveState.AlertSize.small)
-
-def setup_onroad_alert_mid(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, 'Medium Alert', 'This is a medium alert message', log.SelfdriveState.AlertSize.mid)
-
-def setup_onroad_alert_full(click, pm: PubMaster, scroll=None):
-  setup_onroad_alert(click, pm, 'Full Alert', 'This is a full alert message', log.SelfdriveState.AlertSize.full)
-
-def setup_offroad_alert(click, pm: PubMaster, scroll=None):
-  for alert in OFFROAD_ALERTS:
-    set_offroad_alert(alert, True)
-
-  # Toggle between settings and home to refresh the offroad alert widget
-  setup_settings_device(click, pm)
-  click(100, 100)
-
-def setup_update_available(click, pm: PubMaster, scroll=None):
-  Params().put_bool("UpdateAvailable", True)
-  release_notes_path = os.path.join(BASEDIR, "RELEASES.md")
-  with open(release_notes_path) as file:
-    release_notes = file.read().split('\n\n', 1)[0]
-  Params().put("UpdaterNewReleaseNotes", release_notes + "\n")
-
-  setup_settings_device(click, pm)
-  click(100, 100)
-
-def setup_pair_device(click, pm: PubMaster, scroll=None):
-  click(1950, 435)
-  click(1800, 900)
-
-def setup_settings_sunnylink(click, pm: PubMaster, scroll=None):
-  Params().put_bool("SunnylinkEnabled", True)
-
-  setup_settings_device(click, pm)
-  click(278, 522)
-  time.sleep(UI_DELAY)
-
-def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
-  setup_settings_sunnylink(click, pm)
-  click(1967, 225)
-  time.sleep(UI_DELAY)
-
-def setup_settings_steering(click, pm: PubMaster, scroll=None):
-  CP = car.CarParams()
-  CP.carFingerprint = "HONDA_CIVIC"
-  CP_SP = custom.CarParamsSP()
-  CP_SP.neuralNetworkLateralControl.model.name = CP.carFingerprint
-  CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = True
-  Params().put("CarParamsPersistent", CP.to_bytes())
-  Params().put("CarParamsSPPersistent", CP_SP.to_bytes())
-
-  setup_settings_device(click, pm)
-  click(278, 852)
-  time.sleep(UI_DELAY)
-
-def setup_settings_steering_mads(click, pm: PubMaster, scroll=None):
-  Params().put_bool("Mads", True)
-
-  setup_settings_device(click, pm)
-  click(278, 852)
-  click(970, 250)
-  time.sleep(UI_DELAY)
-
-def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(278, 852)
-  click(970, 534)
-  time.sleep(UI_DELAY)
-
-def setup_settings_driving(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  click(278, 962)
-  time.sleep(UI_DELAY)
-
-def setup_settings_trips(click, pm: PubMaster, scroll=None):
-  setup_settings_device(click, pm)
-  scroll(-400, 278, 962)
-  click(278, 646)
-  time.sleep(UI_DELAY)
-
-def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
-  Params().put("CarPlatformBundle", json.dumps(
-    {
-      "platform": "HONDA_CIVIC_2022",
-      "name": "Honda Civic 2022-24"
-    }
-  ))
-
-  setup_settings_device(click, pm)
-  scroll(-400, 278, 962)
-  click(278, 754)
-  time.sleep(UI_DELAY)
-
-CASES = {
-  "homescreen": setup_homescreen,
-  "prime": setup_homescreen,
-  "pair_device": setup_pair_device,
-  "settings_device": setup_settings_device,
-  "settings_network": setup_settings_network,
-  "settings_network_advanced": setup_settings_network_advanced,
-  "settings_toggles": setup_settings_toggles,
-  "settings_software": setup_settings_software,
-  "settings_firehose": setup_settings_firehose,
-  "settings_developer": setup_settings_developer,
-  "onroad": setup_onroad,
-  "onroad_disengaged": setup_onroad_disengaged,
-  "onroad_override": setup_onroad_override,
-  "onroad_sidebar": setup_onroad_sidebar,
-  "onroad_alert_small": setup_onroad_alert_small,
-  "onroad_alert_mid": setup_onroad_alert_mid,
-  "onroad_alert_full": setup_onroad_alert_full,
-  "onroad_wide": setup_onroad_wide,
-  "onroad_wide_sidebar": setup_onroad_wide_sidebar,
-  "driver_camera": setup_driver_camera,
-  "body": setup_body,
-  "offroad_alert": setup_offroad_alert,
-  "update_available": setup_update_available,
-  "keyboard": setup_keyboard,
-  "keyboard_uppercase": setup_keyboard_uppercase
-}
-
-CASES.update({
-  "settings_sunnylink": setup_settings_sunnylink,
-  "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
-  "settings_steering": setup_settings_steering,
-  "settings_steering_mads": setup_settings_steering_mads,
-  "settings_steering_alc": setup_settings_steering_alc,
-  "settings_driving": setup_settings_driving,
-  "settings_trips": setup_settings_trips,
-  "settings_vehicle": setup_settings_vehicle,
-})
-
-TEST_DIR = pathlib.Path(__file__).parent
-
-TEST_OUTPUT_DIR = TEST_DIR / "report_1"
-SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
-
-
-class TestUI:
-  def __init__(self):
-    os.environ["SCALE"] = "1"
-    sys.modules["mouseinfo"] = False
-
-  def setup(self):
-    self.pm = PubMaster(list(DATA.keys()))
-    DATA['deviceState'].deviceState.networkType = log.DeviceState.NetworkType.wifi
-    DATA['deviceState'].deviceState.lastAthenaPingTime = 0
-    for _ in range(10):
-      self.pm.send('deviceState', DATA['deviceState'])
-      DATA['deviceState'].clear_write_flag()
-      time.sleep(0.05)
-    try:
-      self.ui = pywinctl.getWindowsWithTitle("ui")[0]
-    except Exception as e:
-      print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}")
-      self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080)
-
-  def screenshot(self, name):
-    im = pyautogui.screenshot(SCREENSHOTS_DIR / f"{name}.png", region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height))
-    assert im.width == 2160
-    assert im.height == 1080
-
-  def click(self, x, y, *args, **kwargs):
-    pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs)
-    time.sleep(UI_DELAY) # give enough time for the UI to react
-
-  def scroll(self, clicks, x, y, *args, **kwargs):
-    pyautogui.scroll(clicks, self.ui.left + x, self.ui.top + y, *args, **kwargs)
-    time.sleep(UI_DELAY)
-
-  @with_processes(["ui"])
-  def test_ui(self, name, setup_case):
-    self.setup()
-    setup_case(self.click, self.pm, self.scroll)
-    self.screenshot(name)
-
-def create_screenshots():
-  if TEST_OUTPUT_DIR.exists():
-    shutil.rmtree(TEST_OUTPUT_DIR)
-
-  SCREENSHOTS_DIR.mkdir(parents=True)
-
-  route = Route(TEST_ROUTE)
-
-  segnum = 2
-  lr = LogReader(route.qlog_paths()[segnum])
-  DATA['carParams'] = next((event.as_builder() for event in lr if event.which() == 'carParams'), None)
-  for event in migrate(lr, [migrate_controlsState, migrate_carState]):
-    if event.which() in DATA:
-      DATA[event.which()] = event.as_builder()
-
-    if all(DATA.values()):
-      break
-
-  cam = DEVICE_CAMERAS[("tici", "ar0231")]
-
-  frames_cache = f'{DEFAULT_CACHE_DIR}/ui_frames'
-  if os.path.isfile(frames_cache):
-    with open(frames_cache, 'rb') as f:
-      frames = pickle.load(f)
-      road_img = frames[0]
-      wide_road_img = frames[1]
-      driver_img = frames[2]
-  else:
-    with open(frames_cache, 'wb') as f:
-      road_img = FrameReader(route.camera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-      wide_road_img = FrameReader(route.ecamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-      driver_img = FrameReader(route.dcamera_paths()[segnum]).get(0, pix_fmt="nv12")[0]
-      pickle.dump([road_img, wide_road_img, driver_img], f)
-
-  STREAMS.append((VisionStreamType.VISION_STREAM_ROAD, cam.fcam, road_img.flatten().tobytes()))
-  STREAMS.append((VisionStreamType.VISION_STREAM_WIDE_ROAD, cam.ecam, wide_road_img.flatten().tobytes()))
-  STREAMS.append((VisionStreamType.VISION_STREAM_DRIVER, cam.dcam, driver_img.flatten().tobytes()))
-
-  t = TestUI()
-
-  for name, setup in CASES.items():
-    with OpenpilotPrefix():
-      params = Params()
-      params.put("DongleId", "123456789012345")
-      params.put("SunnylinkDongleId", "123456789012345")
-      if name == 'prime':
-        params.put('PrimeType', '1')
-      elif name == 'pair_device':
-        params.put('ApiCache_Device', '{"is_paired":0, "prime_type":-1}')
-
-      t.test_ui(name, setup)
-
-if __name__ == "__main__":
-  print("creating test screenshots")
-  create_screenshots()
diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html
deleted file mode 100644
index 68df5879e6..0000000000
--- a/selfdrive/ui/tests/test_ui/template.html
+++ /dev/null
@@ -1,34 +0,0 @@
-<html>
-
-<style>
- .column {
-  float: left;
-  width: 50%;
-  padding: 5px;
-}
-
-.row::after {
-  content: "";
-  clear: both;
-  display: table;
-} 
-
-.image {
-  width: 100%;
-}
-
-</style>
-
-{% for name, (image, ref_image) in cases.items() %}
-
-<h1>{{name}}</h1>
-<div class="row">
-  <div class="column">
-    <img class="image" src="{{ image }}"  />
-  </div>
-</div>
-
-<br>
-
-{% endfor %}
-</html>
\ No newline at end of file
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 4f11fe3388..433eb7d64a 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -1,71 +1,3 @@
 # Multilanguage
 
 [![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#)
-
-## Contributing
-
-Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md).
-
-### Policy
-
-Most of the languages supported by openpilot come from and are maintained by the community via pull requests. A pull request likely to be merged is one that [fixes a translation or adds missing translations.](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/README.md#improving-an-existing-language)
-
-We also generally merge pull requests adding support for a new language if there are community members willing to maintain it. Maintaining a language is ensuring quality and completion of translations before each openpilot release.
-
-comma may remove or hide language support from releases depending on translation quality and completeness.
-
-### Adding a New Language
-
-openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started:
-
-1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Traditional Chinese is `中文（繁體）`).
-2. Generate the XML translation file (`*.ts`):
-   ```shell
-   selfdrive/ui/update_translations.py
-   ```
-3. Edit the translation file, marking each translation as completed:
-   ```shell
-   linguist selfdrive/ui/translations/your_language_file.ts
-   ```
-4. View your finished translations by compiling and starting the UI, then find it in the language selector:
-   ```shell
-   scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui
-   ```
-5. Read [Checking the UI](#checking-the-ui) to double-check your translations fit in the UI.
-
-### Improving an Existing Language
-
-Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot.
-
-### Checking the UI
-Different languages use varying space to convey the same message, so it's a good idea to double-check that your translations do not overlap and fit into each widget. Start the UI (step 4. above) and view each page, making adjustments to translations as needed.
-
-#### To view offroad alerts:
-
-With the UI started, you can view the offroad alerts with:
-```shell
-selfdrive/ui/tests/cycle_offroad_alerts.py
-```
-
-### Updating the UI
-
-Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above).
-
-### Testing
-
-openpilot has a few unit tests to make sure all translations are up-to-date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally.
-
-Tests translation files up to date:
-
-```shell
-selfdrive/ui/tests/test_translations.py
-```
-
-Tests all static source strings are wrapped:
-
-```shell
-selfdrive/ui/tests/create_test_translations.sh && selfdrive/ui/tests/test_translations
-```
-
----
-![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png)
diff --git a/selfdrive/ui/translations/app.pot b/selfdrive/ui/translations/app.pot
new file mode 100644
index 0000000000..abb6940a54
--- /dev/null
+++ b/selfdrive/ui/translations/app.pot
@@ -0,0 +1,1130 @@
+# SOME DESCRIPTIVE TITLE.
+# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
+#
+#, fuzzy
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:51-0700\n"
+"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
+"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
+"Language-Team: LANGUAGE <LL@li.org>\n"
+"Language: \n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr ""
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr ""
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr ""
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr ""
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr ""
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr ""
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr ""
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr ""
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr ""
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr ""
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr ""
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr ""
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr ""
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr ""
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr ""
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr ""
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr ""
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr ""
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr ""
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr ""
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr ""
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr ""
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr ""
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr ""
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr ""
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr ""
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr ""
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr ""
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr ""
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr ""
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr ""
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr ""
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr ""
diff --git a/selfdrive/ui/translations/app_de.po b/selfdrive/ui/translations/app_de.po
new file mode 100644
index 0000000000..f32c27a9ef
--- /dev/null
+++ b/selfdrive/ui/translations/app_de.po
@@ -0,0 +1,1221 @@
+# German translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-20 16:35-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: de\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Die Lenkmoment-Reaktionskalibrierung ist abgeschlossen."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Die Lenkmoment-Reaktionskalibrierung ist zu {}% abgeschlossen."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Ihr Gerät ist um {:.1f}° {} und {:.1f}° {} ausgerichtet."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 Jahr Fahrtdatenspeicherung"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "24/7 LTE‑Verbindung"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>WARNUNG: Die Längsregelung von openpilot befindet sich für dieses "
+"Fahrzeug in der Alpha-Phase und deaktiviert das automatische Notbremssystem "
+"(AEB).</b><br><br>Auf diesem Fahrzeug verwendet openpilot standardmäßig den "
+"integrierten ACC statt der openpilot-Längsregelung. Aktivieren Sie dies, um "
+"auf die openpilot-Längsregelung umzuschalten. Das Aktivieren des "
+"Experimentalmodus wird empfohlen, wenn Sie die openpilot-Längsregelung "
+"(Alpha) aktivieren."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Kalibrierung der Lenkverzögerung abgeschlossen."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Kalibrierung der Lenkverzögerung zu {}% abgeschlossen."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "AKTIV"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge) ermöglicht die Verbindung mit Ihrem Gerät über "
+"USB oder über das Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-"
+"comma für weitere Informationen."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "HINZUFÜGEN"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "APN‑Einstellung"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Übermäßige Betätigung bestätigen"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Erweitert"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Aggressiv"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Zustimmen"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Immer aktive Fahrerüberwachung"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"Eine Alpha-Version der openpilot-Längsregelung kann zusammen mit dem "
+"Experimentalmodus auf Nicht-Release-Zweigen getestet werden."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Sind Sie sicher, dass Sie ausschalten möchten?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Sind Sie sicher, dass Sie neu starten möchten?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Sind Sie sicher, dass Sie die Kalibrierung zurücksetzen möchten?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Sind Sie sicher, dass Sie deinstallieren möchten?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Zurück"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Werden Sie comma prime Mitglied auf connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"Fügen Sie connect.comma.ai Ihrem Startbildschirm hinzu, um es wie eine App "
+"zu verwenden"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "ÄNDERN"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "PRÜFEN"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "CHILL‑MODUS AKTIV"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "VERBINDUNG"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "VERBINDUNG"
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "Abbrechen"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Getaktete Mobilfunkverbindung"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Sprache ändern"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+" Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto "
+"eingeschaltet ist."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Klicken Sie auf \"add new device\" und scannen Sie den QR‑Code rechts"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Schließen"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Aktuelle Version"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "HERUNTERLADEN"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Ablehnen"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Ablehnen, openpilot deinstallieren"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "Entwickler"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "Gerät"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Beim Gaspedal deaktivieren"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Zum Ausschalten deaktivieren"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Zum Neustart deaktivieren"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Zum Zurücksetzen der Kalibrierung deaktivieren"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Geschwindigkeit in km/h statt mph anzeigen."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "Dongle-ID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Herunterladen"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Fahrerkamera"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Fahrstil"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "BEARBEITEN"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "FEHLER"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "EXPERIMENTALMODUS AKTIV"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "Aktivieren"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "ADB aktivieren"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Spurverlassenswarnungen aktivieren"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "openpilot aktivieren"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "SSH aktivieren"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Spurverlassenswarnungen aktivieren"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "openpilot aktivieren"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Den Schalter für die openpilot-Längsregelung (Alpha) aktivieren, um den "
+"Experimentalmodus zu erlauben."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "APN eingeben"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "SSID eingeben"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Neues Tethering‑Passwort eingeben"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Passwort eingeben"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Geben Sie Ihren GitHub‑Benutzernamen ein"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Fehler"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Experimentalmodus"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"Der Experimentalmodus ist derzeit auf diesem Fahrzeug nicht verfügbar, da "
+"der serienmäßige ACC für die Längsregelung verwendet wird."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "WIRD VERGESSEN..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Einrichtung abschließen"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Firehose‑Modus"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Für maximale Wirksamkeit bringen Sie Ihr Gerät regelmäßig ins Haus und "
+"verbinden es wöchentlich mit einem guten USB‑C‑Adapter und WLAN.\n"
+"\n"
+"Der Firehose‑Modus kann auch während der Fahrt funktionieren, wenn eine "
+"Verbindung zu einem Hotspot oder einer unbegrenzten SIM besteht.\n"
+"\n"
+"\n"
+"Häufig gestellte Fragen\n"
+"\n"
+"Spielt es eine Rolle, wie oder wo ich fahre? Nein, fahren Sie einfach wie "
+"gewöhnlich.\n"
+"\n"
+"Werden alle meine Segmente im Firehose‑Modus abgeholt? Nein, wir ziehen "
+"selektiv eine Teilmenge Ihrer Segmente.\n"
+"\n"
+"Was ist ein guter USB‑C‑Adapter? Jeder schnelle Telefon‑ oder Laptoplader "
+"sollte ausreichen.\n"
+"\n"
+"Spielt es eine Rolle, welche Software ich verwende? Ja, nur "
+"Upstream‑openpilot (und bestimmte Forks) können für das Training verwendet "
+"werden."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Vergessen"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "WLAN‑Netz „{}“ vergessen?"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "GUT"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Gehen Sie auf Ihrem Telefon zu https://connect.comma.ai"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "HOCH"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Netzwerk"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "INAKTIV: Mit einem unlimitierten Netzwerk verbinden"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "INSTALLIEREN"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP‑Adresse"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Update installieren"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Joystick‑Debugmodus"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "LADEN"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Längsmanövermodus"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "MAX"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Maximieren Sie Ihre Trainingsdaten‑Uploads, um die Fahrmodelle von openpilot "
+"zu verbessern."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "k. A."
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "KEIN"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "Netzwerk"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "Keine SSH‑Schlüssel gefunden"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "Keine SSH‑Schlüssel für Benutzer '{username}' gefunden"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Keine Versionshinweise verfügbar."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "OFFLINE"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ONLINE"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "Öffnen"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "KOPPELN"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "VORSCHAU"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "PRIME‑FUNKTIONEN:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Gerät koppeln"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Gerät koppeln"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Koppeln Sie Ihr Gerät mit Ihrem comma‑Konto"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Koppeln Sie Ihr Gerät mit comma connect (connect.comma.ai) und lösen Sie Ihr "
+"comma‑prime‑Angebot ein."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Bitte mit WLAN verbinden, um das erste Koppeln abzuschließen"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Ausschalten"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Vorschau der Fahrer‑Kamera, um sicherzustellen, dass die Fahrerüberwachung "
+"gute Sicht hat. (Fahrzeug muss ausgeschaltet sein)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "QR‑Code‑Fehler"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "ENTFERNEN"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "ZURÜCKSETZEN"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "ANSEHEN"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Neustart"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Gerät neu starten"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Neustarten und aktualisieren"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Erhalten Sie Warnungen, um zurück in die Spur zu lenken, wenn Ihr Fahrzeug "
+"ohne Blinker über eine erkannte Spurlinie driftet und über 31 mph (50 km/h) "
+"fährt."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Fahrerkamera aufzeichnen und hochladen"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Mikrofonton aufzeichnen und hochladen"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Mikrofonton während der Fahrt aufzeichnen und speichern. Die Audiospur wird "
+"im Dashcam‑Video in comma connect enthalten sein."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Vorschriften"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Entspannt"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Fernzugriff"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Remote‑Schnappschüsse"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Zeitüberschreitung bei der Anfrage"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Zurücksetzen"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Kalibrierung zurücksetzen"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Trainingsanleitung ansehen"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr ""
+"Überprüfen Sie die Regeln, Funktionen und Einschränkungen von openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH‑Schlüssel"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "WLAN‑Netzwerke werden gesucht..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Auswählen"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Sprache auswählen"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Seriennummer"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Update verschieben"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "Software"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Standard"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Standard wird empfohlen. Im aggressiven Modus folgt openpilot "
+"vorausfahrenden Fahrzeugen näher und ist beim Gasgeben und Bremsen "
+"aggressiver. Im entspannten Modus bleibt openpilot weiter entfernt. Bei "
+"unterstützten Fahrzeugen können Sie mit der Abstandstaste am Lenkrad "
+"zwischen diesen Profilen wechseln."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "System reagiert nicht"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "SOFORT DIE KONTROLLE ÜBERNEHMEN"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "TEMP"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr ""
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Tethering‑Passwort"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "Schalter"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "DEINSTALLIEREN"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "UPDATE"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "Deinstallieren"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Unbekannt"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Updates werden nur heruntergeladen, wenn das Auto aus ist."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Jetzt abonnieren"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Daten von der Fahrer‑Kamera hochladen und den Fahrerüberwachungs‑Algorithmus "
+"verbessern."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Metersystem verwenden"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Verwenden Sie openpilot für adaptive Geschwindigkeitsregelung und "
+"Spurhalteassistenz. Ihre Aufmerksamkeit ist jederzeit erforderlich, um diese "
+"Funktion zu nutzen."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "FAHRZEUG"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "ANSEHEN"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Warten auf Start"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Warnung: Dies gewährt SSH‑Zugriff auf alle öffentlichen Schlüssel in Ihren "
+"GitHub‑Einstellungen. Geben Sie niemals einen anderen GitHub‑Benutzernamen "
+"als Ihren eigenen ein. Ein comma‑Mitarbeiter wird Sie NIEMALS bitten, seinen "
+"GitHub‑Benutzernamen hinzuzufügen."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Willkommen bei openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "Wenn aktiviert, deaktiviert das Drücken des Gaspedals openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "WLAN"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Getaktetes WLAN‑Netzwerk"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Falsches Passwort"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr ""
+"Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Sie müssen die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. "
+"Lesen Sie die aktuellen Bedingungen unter https://comma.ai/terms, bevor Sie "
+"fortfahren."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "Kamera startet"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "Standard"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "unten"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "Überprüfung auf Updates fehlgeschlagen"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "für „{}“"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "für automatische Konfiguration leer lassen"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "links"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "getaktet"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "nie"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "jetzt"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot Längsregelung (Alpha)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot nicht verfügbar"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot fährt standardmäßig im Chill‑Modus. Der Experimentalmodus "
+"aktiviert Funktionen im Alpha‑Status, die für den Chill‑Modus noch nicht "
+"bereit sind. Die experimentellen Funktionen sind unten aufgeführt:"
+"<br><h4>End-to‑End‑Längsregelung</h4><br>Das Fahrmodell steuert Gas und "
+"Bremse. openpilot fährt so, wie es einen Menschen einschätzt, einschließlich "
+"Anhalten an roten Ampeln und Stoppschildern. Da das Modell die "
+"Geschwindigkeit bestimmt, dient die eingestellte Geschwindigkeit nur als "
+"Obergrenze. Dies ist eine Alpha‑Funktion; Fehler sind zu erwarten."
+"<br><h4>Neue Fahrvisualisierung</h4><br>Die Visualisierung wechselt bei "
+"niedriger Geschwindigkeit auf die nach vorn gerichtete Weitwinkelkamera, um "
+"manche Kurven besser zu zeigen. Das Experimentalmodus‑Logo wird außerdem "
+"oben rechts angezeigt."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+" Durch Ändern dieser Einstellung wird openpilot neu gestartet, wenn das Auto "
+"eingeschaltet ist."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot lernt das Fahren, indem es Menschen wie Sie beobachtet.\n"
+"\n"
+"Der Firehose‑Modus ermöglicht es Ihnen, Ihre Trainingsdaten‑Uploads zu "
+"maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten "
+"bedeuten größere Modelle – und damit einen besseren Experimentalmodus."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "Die openpilot‑Längsregelung könnte in einem zukünftigen Update kommen."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"openpilot erfordert, dass das Gerät innerhalb von 4° nach links oder rechts "
+"und innerhalb von 5° nach oben oder 9° nach unten montiert ist."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "rechts"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "unbegrenzt"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "oben"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "Aktuell, zuletzt geprüft: nie"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "Aktuell, zuletzt geprüft: {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "Update verfügbar"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} WARNUNG"
+msgstr[1] "{} WARNUNGEN"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "vor {} Tag"
+msgstr[1] "vor {} Tagen"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "vor {} Stunde"
+msgstr[1] "vor {} Stunden"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "vor {} Minute"
+msgstr[1] "vor {} Minuten"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} Segment Ihrer Fahrten ist bisher im Trainingsdatensatz."
+msgstr[1] "{} Segmente Ihrer Fahrten sind bisher im Trainingsdatensatz."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ABONNIERT"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose‑Modus 🔥"
diff --git a/selfdrive/ui/translations/app_en.po b/selfdrive/ui/translations/app_en.po
new file mode 100644
index 0000000000..6fbb537aff
--- /dev/null
+++ b/selfdrive/ui/translations/app_en.po
@@ -0,0 +1,1207 @@
+# English translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-21 18:18-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: en\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Steering torque response calibration is complete."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Steering torque response calibration is {}% complete."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 year of drive storage"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "24/7 LTE connectivity"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Steering lag calibration is complete."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Steering lag calibration is {}% complete."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "ACTIVE"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"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."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "ADD"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "APN Setting"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Acknowledge Excessive Actuation"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Advanced"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Aggressive"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Agree"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Always-On Driver Monitoring"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Are you sure you want to power off?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Are you sure you want to reboot?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Are you sure you want to reset calibration?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Are you sure you want to uninstall?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Back"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Become a comma prime member at connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Bookmark connect.comma.ai to your home screen to use it like an app"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "CHANGE"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "CHECK"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "CHILL MODE ON"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "CONNECTING..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "Cancel"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Cellular Metered"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Change Language"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr "Changing this setting will restart openpilot if the car is powered on."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Click \"add new device\" and scan the QR code on the right"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Close"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Current Version"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "DOWNLOAD"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Decline"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Decline, uninstall openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "Developer"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "Device"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Disengage on Accelerator Pedal"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Disengage to Power Off"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Disengage to Reboot"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Disengage to Reset Calibration"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Display speed in km/h instead of mph."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "Dongle ID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Download"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Driver Camera"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Driving Personality"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "EDIT"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ERROR"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "EXPERIMENTAL MODE ON"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "Enable"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Enable ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Enable Lane Departure Warnings"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Enable Roaming"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Enable SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Enable Tethering"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "Enable driver monitoring even when openpilot is not engaged."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Enable openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "Enter APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "Enter SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Enter new tethering password"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Enter password"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Enter your GitHub username"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Error"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Experimental Mode"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "FORGETTING..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Finish Setup"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Firehose Mode"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Forget"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Forget Wi-Fi Network \"{}\"?"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "GOOD"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Go to https://connect.comma.ai on your phone"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "HIGH"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Hidden Network"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "INACTIVE: connect to an unmetered network"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "INSTALL"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP Address"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Install Update"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Joystick Debug Mode"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "LOADING"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Longitudinal Maneuver Mode"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "MAX"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Maximize your training data uploads to improve openpilot's driving models."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "N/A"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "NO"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "Network"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "No SSH keys found"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "No SSH keys found for user '{}'"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "No release notes available."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "OFFLINE"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ONLINE"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "Open"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "PAIR"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "PREVIEW"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "PRIME FEATURES:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Pair Device"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Pair device"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Pair your device to your comma account"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Please connect to Wi-Fi to complete initial pairing"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Power Off"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Prevent large data uploads when on a metered Wi-Fi connection"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Prevent large data uploads when on a metered cellular connection"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "QR Code Error"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "REMOVE"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "RESET"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "REVIEW"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Reboot"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Reboot Device"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Reboot and Update"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Record and Upload Driver Camera"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Record and Upload Microphone Audio"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Regulatory"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Relaxed"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Remote access"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Remote snapshots"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Request timed out"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Reset"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Reset Calibration"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Review Training Guide"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Review the rules, features, and limitations of openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH Keys"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Scanning Wi-Fi networks..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Select"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Select a language"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Serial"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Snooze Update"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "Software"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Standard"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"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."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "System Unresponsive"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "TAKE CONTROL IMMEDIATELY"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "TEMP"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr ""
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Tethering Password"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "Toggles"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "UNINSTALL"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "UPDATE"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "Uninstall"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Unknown"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Updates are only downloaded while the car is off."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Upgrade Now"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Use Metric System"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "VEHICLE"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "VIEW"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Waiting to start"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Welcome to openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "When enabled, pressing the accelerator pedal will disengage openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi-Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Wi-Fi Network Metered"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Wrong password"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "You must accept the Terms and Conditions in order to use openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "camera starting"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "default"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "down"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "failed to check for update"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "for \"{}\""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "leave blank for automatic configuration"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "left"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "metered"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "never"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "now"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot Longitudinal Control (Alpha)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot Unavailable"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "openpilot longitudinal control may come in a future update."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "right"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "unmetered"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "up"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "up to date, last checked never"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "up to date, last checked {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "update available"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERT"
+msgstr[1] "{} ALERTS"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} day ago"
+msgstr[1] "{} days ago"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} hour ago"
+msgstr[1] "{} hours ago"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} minute ago"
+msgstr[1] "{} minutes ago"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segment of your driving is in the training dataset so far."
+msgstr[1] "{} segments of your driving is in the training dataset so far."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ SUBSCRIBED"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose Mode 🔥"
diff --git a/selfdrive/ui/translations/app_es.po b/selfdrive/ui/translations/app_es.po
new file mode 100644
index 0000000000..59b9e6dfdb
--- /dev/null
+++ b/selfdrive/ui/translations/app_es.po
@@ -0,0 +1,1225 @@
+# Spanish translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-20 16:35-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: es\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " La calibración de respuesta de par de dirección está completa."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " La calibración de respuesta de par de dirección está {}% completa."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Tu dispositivo está orientado {:.1f}° {} y {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 año de almacenamiento de conducción"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "Conectividad LTE 24/7"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>ADVERTENCIA: el control longitudinal de openpilot está en alpha para este "
+"coche y deshabilitará el Frenado Automático de Emergencia (AEB).</"
+"b><br><br>En este coche, openpilot usa por defecto el ACC integrado del "
+"coche en lugar del control longitudinal de openpilot. Activa esto para "
+"cambiar al control longitudinal de openpilot. Se recomienda activar el modo "
+"Experimental al habilitar el control longitudinal de openpilot (alpha)."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "ACTIVO"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge) permite conectar tu dispositivo por USB o por la "
+"red. Consulta https://docs.comma.ai/how-to/connect-to-comma para más "
+"información."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "AÑADIR"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Reconocer actuación excesiva"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Agresivo"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Aceptar"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Supervisión del conductor siempre activa"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"Se puede probar una versión alpha del control longitudinal de openpilot, "
+"junto con el modo Experimental, en ramas que no son de lanzamiento."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "¿Seguro que quieres apagar?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "¿Seguro que quieres reiniciar?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "¿Seguro que quieres restablecer la calibración?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "¿Seguro que quieres desinstalar?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Atrás"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Hazte miembro de comma prime en connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"Añade connect.comma.ai a tu pantalla de inicio para usarlo como una app"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "CAMBIAR"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "COMPROBAR"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "MODO CHILL ACTIVADO"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONECTAR"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "CONECTAR"
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr ""
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Cambiar idioma"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+" Cambiar esta configuración reiniciará openpilot si el coche está encendido."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr ""
+"Haz clic en \"añadir nuevo dispositivo\" y escanea el código QR de la derecha"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Cerrar"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Versión actual"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "DESCARGAR"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Rechazar"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Rechazar, desinstalar openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "Desarrollador"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "Dispositivo"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Desactivar con el pedal del acelerador"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Desactivar para apagar"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Desactivar para reiniciar"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Desactivar para restablecer la calibración"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Mostrar la velocidad en km/h en lugar de mph."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ID del dongle"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Descargar"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Cámara del conductor"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Estilo de conducción"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ERROR"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "MODO EXPERIMENTAL ACTIVADO"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "Activar"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Activar ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Activar advertencias de salida de carril"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Activar openpilot"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Activar SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Activar advertencias de salida de carril"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr ""
+"Activar la supervisión del conductor incluso cuando openpilot no esté "
+"activado."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Activar openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Activa el interruptor de control longitudinal de openpilot (alpha) para "
+"permitir el modo Experimental."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr ""
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr ""
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr ""
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Introduce tu nombre de usuario de GitHub"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Modo experimental"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"El modo experimental no está disponible actualmente en este coche, ya que se "
+"usa el ACC de fábrica para el control longitudinal."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Finalizar configuración"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Modo Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Para la máxima efectividad, lleva tu dispositivo al interior y conéctalo "
+"semanalmente a un buen adaptador USB‑C y Wi‑Fi.\n"
+"\n"
+"El Modo Firehose también puede funcionar mientras conduces si está conectado "
+"a un hotspot o a una SIM ilimitada.\n"
+"\n"
+"\n"
+"Preguntas frecuentes\n"
+"\n"
+"¿Importa cómo o dónde conduzco? No, conduce como normalmente lo harías.\n"
+"\n"
+"¿Se suben todos mis segmentos en el Modo Firehose? No, seleccionamos un "
+"subconjunto de tus segmentos.\n"
+"\n"
+"¿Qué es un buen adaptador USB‑C? Cualquier cargador rápido de teléfono o "
+"laptop sirve.\n"
+"\n"
+"¿Importa qué software ejecuto? Sí, solo openpilot upstream (y forks "
+"particulares) pueden usarse para entrenamiento."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr ""
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "BUENO"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Ve a https://connect.comma.ai en tu teléfono"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "ALTO"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Red"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "INACTIVO: conéctate a una red sin límites"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "INSTALAR"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Instalar actualización"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Modo de depuración de joystick"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "CARGANDO"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Modo de maniobra longitudinal"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "MÁX"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Maximiza tus cargas de datos de entrenamiento para mejorar los modelos de "
+"conducción de openpilot."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "NO"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "Red"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "No se encontraron claves SSH"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "No se encontraron claves SSH para el usuario '{username}'"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "No hay notas de versión disponibles."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "SIN CONEXIÓN"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "EN LÍNEA"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "Abrir"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "EMPAREJAR"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "VISTA PREVIA"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "FUNCIONES PRIME:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Emparejar dispositivo"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Emparejar dispositivo"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Empareja tu dispositivo con tu cuenta de comma"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu "
+"oferta de comma prime."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Conéctate a Wi‑Fi para completar el emparejamiento inicial"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Apagar"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Previsualiza la cámara hacia el conductor para asegurarte de que la "
+"supervisión del conductor tenga buena visibilidad. (el vehículo debe estar "
+"apagado)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "Error de código QR"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "ELIMINAR"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "RESTABLECER"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "REVISAR"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Reiniciar"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Reiniciar dispositivo"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Reiniciar y actualizar"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Recibe alertas para volver al carril cuando tu vehículo se desvíe sobre una "
+"línea de carril detectada sin la direccional activada mientras conduces a "
+"más de 31 mph (50 km/h)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Grabar y subir cámara del conductor"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Grabar y subir audio del micrófono"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Grabar y almacenar audio del micrófono mientras conduces. El audio se "
+"incluirá en el video de la dashcam en comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Reglamentario"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Relajado"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Acceso remoto"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Capturas remotas"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Se agotó el tiempo de espera de la solicitud"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Restablecer"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Restablecer calibración"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Revisar guía de entrenamiento"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Revisa las reglas, funciones y limitaciones de openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr ""
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Selecciona un idioma"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Número de serie"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Posponer actualización"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "Software"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Estándar"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Se recomienda Estándar. En modo agresivo, openpilot seguirá más de cerca a "
+"los coches delanteros y será más agresivo con el acelerador y el freno. En "
+"modo relajado, openpilot se mantendrá más lejos de los coches delanteros. En "
+"coches compatibles, puedes cambiar entre estas personalidades con el botón "
+"de distancia del volante."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Sistema sin respuesta"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "TOME EL CONTROL INMEDIATAMENTE"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "TEMP"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr ""
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "Interruptores"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "DESINSTALAR"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "ACTUALIZAR"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "Desinstalar"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Desconocido"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Las actualizaciones solo se descargan cuando el coche está apagado."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Mejorar ahora"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Sube datos de la cámara orientada al conductor y ayuda a mejorar el "
+"algoritmo de supervisión del conductor."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Usar sistema métrico"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Usa el sistema openpilot para control de crucero adaptativo y asistencia de "
+"mantenimiento de carril. Tu atención se requiere en todo momento para usar "
+"esta función."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "VEHÍCULO"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "VER"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Esperando para iniciar"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Advertencia: Esto otorga acceso SSH a todas las claves públicas en tu "
+"configuración de GitHub. Nunca introduzcas un nombre de usuario de GitHub "
+"que no sea el tuyo. Un empleado de comma NUNCA te pedirá que agregues su "
+"nombre de usuario de GitHub."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Bienvenido a openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr ""
+"Cuando está activado, al presionar el pedal del acelerador se desactivará "
+"openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "Debes aceptar los Términos y Condiciones para poder usar openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Debes aceptar los Términos y Condiciones para usar openpilot. Lee los "
+"términos más recientes en https://comma.ai/terms antes de continuar."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "iniciando cámara"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "abajo"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "Error al buscar actualizaciones"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "izquierda"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "nunca"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "ahora"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "Control longitudinal de openpilot (Alpha)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot no disponible"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot conduce por defecto en modo chill. El modo Experimental habilita "
+"funciones de nivel alpha que no están listas para el modo chill. Las "
+"funciones experimentales se enumeran a continuación:<br><h4>Control "
+"longitudinal de extremo a extremo</h4><br>Deja que el modelo de conducción "
+"controle el acelerador y los frenos. openpilot conducirá como piensa que lo "
+"haría un humano, incluyendo detenerse en luces rojas y señales de alto. Dado "
+"que el modelo decide la velocidad a la que conducir, la velocidad "
+"establecida solo actuará como límite superior. Esta es una función de "
+"calidad alpha; se deben esperar errores.<br><h4>Nueva visualización de "
+"conducción</h4><br>La visualización de conducción hará la transición a la "
+"cámara gran angular orientada a la carretera a bajas velocidades para "
+"mostrar mejor algunos giros. El logotipo del modo Experimental también se "
+"mostrará en la esquina superior derecha."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+" Cambiar esta configuración reiniciará openpilot si el coche está encendido."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot aprende a conducir observando a humanos, como tú, conducir.\n"
+"\n"
+"El Modo Firehose te permite maximizar tus cargas de datos de entrenamiento "
+"para mejorar los modelos de conducción de openpilot. Más datos significan "
+"modelos más grandes, lo que significa un mejor Modo Experimental."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr ""
+"El control longitudinal de openpilot podría llegar en una actualización "
+"futura."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"openpilot requiere que el dispositivo esté montado dentro de 4° a izquierda "
+"o derecha y dentro de 5° hacia arriba o 9° hacia abajo."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "derecha"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "arriba"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "actualizado, última comprobación: nunca"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "actualizado, última comprobación: {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "actualización disponible"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERTA"
+msgstr[1] "{} ALERTAS"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "hace {} día"
+msgstr[1] "hace {} días"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "hace {} hora"
+msgstr[1] "hace {} horas"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "hace {} minuto"
+msgstr[1] "hace {} minutos"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"{} segmento de tu conducción está en el conjunto de entrenamiento hasta "
+"ahora."
+msgstr[1] ""
+"{} segmentos de tu conducción están en el conjunto de entrenamiento hasta "
+"ahora."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ SUSCRITO"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Modo Firehose 🔥"
diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po
new file mode 100644
index 0000000000..ed9900a6ba
--- /dev/null
+++ b/selfdrive/ui/translations/app_fr.po
@@ -0,0 +1,2777 @@
+# French translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: \n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2026-01-24 12:37+0100\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: fr\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=2; plural=(n > 1);\n"
+"X-Generator: Poedit 3.8\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Calibration de la réponse du couple de direction terminée."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Calibration du couple de direction : {}% effectué."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 an de stockage de trajets"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "Connexion LTE 24/7"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will"
+" disable Automatic Emergency Braking (AEB).</b><br><br>On this car, "
+"openpilot defaults to the car's built-in ACC instead of openpilot's "
+"longitudinal control. Enable this to switch to openpilot longitudinal "
+"control. Enabling Experimental mode is recommended when enabling openpilot "
+"longitudinal control alpha. Changing this setting will restart openpilot if "
+"the car is powered on."
+msgstr ""
+"<b>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette "
+"voiture et désactivera le freinage d'urgence automatique "
+"(AEB).</b><br><br>Sur cette voiture, openpilot utilise par défaut le "
+"régulateur de vitesse adaptatif intégré au véhicule plutôt que le contrôle "
+"longitudinal d'openpilot. Activez ceci pour passer au contrôle longitudinal "
+"openpilot. Il est recommandé d'activer le mode expérimental lors de "
+"l'activation du contrôle longitudinal openpilot alpha."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>La calibration du délai de direction est terminée."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Calibration du délai de direction : {}% effectué."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "ACTIF"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge) permet de connecter votre appareil via USB ou via"
+" le réseau. Voir https://docs.comma.ai/how-to/connect-to-comma pour plus "
+"d'informations."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "AJOUTER"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "Paramètre APN"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Accuser réception d'actionnement excessif"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Avancé"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Agressif"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Accepter"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Surveillance continue du conducteur"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with"
+" Experimental mode, on non-release branches."
+msgstr ""
+"Une version alpha du contrôle longitudinal openpilot peut être testée, avec "
+"le mode expérimental, sur des branches non publiées."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Êtes-vous sûr de vouloir éteindre ?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Êtes-vous sûr de vouloir redémarrer ?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Êtes-vous sûr de vouloir réinitialiser la calibration ?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Êtes-vous sûr de vouloir désinstaller ?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Retour"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Devenez membre comma prime sur connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"Ajoutez connect.comma.ai à votre écran d'accueil pour l'utiliser comme une "
+"application"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "CHANGER"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "VÉRIFIER"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "MODE CHILL ACTIVÉ"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECTER"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "CONNEXION..."
+
+#: system/ui/widgets/confirm_dialog.py:23
+#: system/ui/widgets/option_dialog.py:35 system/ui/widgets/keyboard.py:81
+#: system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "Annuler"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Données cellulaires limitées"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Changer la langue"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+"La modification de ce réglage redémarrera openpilot si la voiture est sous "
+"tension."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Cliquez sur \"add new device\" et scannez le code QR à droite"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Fermer"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Version actuelle"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "TÉLÉCHARGER"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Refuser"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Refuser, désinstaller openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "Développeur"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "Appareil"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Désengager à l'appui sur l'accélérateur"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Désengager pour éteindre"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Désengager pour redémarrer"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Désengager pour réinitialiser la calibration"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Afficher la vitesse en km/h au lieu de mph."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ID du dongle"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Télécharger"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Caméra conducteur"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Personnalité de conduite"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "MODIFIER"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ERREUR"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "MODE EXPÉRIMENTAL ACTIVÉ"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "Activer"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Activer ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Activer les alertes de sortie de voie"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Activer l'itinérance"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Activer SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Activer le partage de connexion"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr ""
+"Activer la surveillance du conducteur même lorsque openpilot n'est pas "
+"engagé."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Activer openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Activez l'option de contrôle longitudinal openpilot (alpha) pour autoriser "
+"le mode expérimental."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "Entrez l'APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "Entrez le SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Entrez un nouveau mot de passe de partage"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Entrez le mot de passe"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Entrez votre nom d'utilisateur GitHub"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Erreur"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Mode expérimental"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock"
+" ACC is used for longitudinal control."
+msgstr ""
+"Le mode expérimental est actuellement indisponible sur cette voiture car "
+"l'ACC d'origine est utilisé pour le contrôle longitudinal."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "SUPPRESSION..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Finir la config."
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Mode Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training."
+msgstr ""
+"Pour une efficacité maximale, rentrez votre appareil et connectez-le chaque semaine à un bon adaptateur USB-C et au Wi‑Fi.\n"
+"\n"
+"Le Mode Firehose peut aussi fonctionner pendant que vous conduisez si vous êtes connecté à un hotspot ou à une carte SIM illimitée.\n"
+"\n"
+"\n"
+"Foire aux questions\n"
+"\n"
+"Est-ce que la manière ou l'endroit où je conduis compte ? Non, conduisez normalement.\n"
+"\n"
+"Tous mes segments sont-ils récupérés en Mode Firehose ? Non, nous récupérons de façon sélective un sous-ensemble de vos segments.\n"
+"\n"
+"Quel est un bon adaptateur USB-C ? Tout chargeur rapide de téléphone ou d'ordinateur portable convient.\n"
+"\n"
+"Le logiciel utilisé importe-t-il ? Oui, seul openpilot amont (et certains forks) peut être utilisé pour l'entraînement."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Oublier"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Oublier le réseau Wi‑Fi \"{}\" ?"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "BONNE"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Allez sur https://connect.comma.ai sur votre téléphone"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "ÉLEVÉ"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Réseau masqué"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "INACTIF : connectez-vous à un réseau non limité"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "INSTALLER"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "Adresse IP"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Installer la mise à jour"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Mode débogage joystick"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "CHARGEMENT"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Mode de manœuvre longitudinale"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "MAX"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Maximisez vos envois de données d'entraînement pour améliorer les modèles de"
+" conduite d'openpilot."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "N/A"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "NON"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "Réseau"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "Aucune clé SSH trouvée"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Aucune note de version disponible."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "HORS LIGNE"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "EN LIGNE"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "Ouvrir"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "ASSOCIER"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "APERÇU"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "FONCTIONNALITÉS PRIME :"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Associer l'appareil"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Associer l'appareil"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Associez votre appareil à votre compte comma"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Associez votre appareil à comma connect (connect.comma.ai) et réclamez votre"
+" offre comma prime."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Veuillez vous connecter au Wi‑Fi pour terminer l'association initiale"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Éteindre"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+"Empêcher les téléversements volumineux sur une connexion Wi‑Fi limitée"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+"Empêcher les téléversements volumineux sur une connexion cellulaire limitée"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Prévisualisez la caméra orientée conducteur pour vous assurer que la "
+"surveillance du conducteur a une bonne visibilité. (le véhicule doit être "
+"éteint)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "Erreur de code QR"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "SUPPRIMER"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "RÉINITIALISER"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "CONSULTER"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Redémarrer"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Redémarrer l'appareil"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Redémarrer et mettre à jour"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph"
+" (50 km/h)."
+msgstr ""
+"Recevez des alertes pour revenir dans la voie lorsque votre véhicule dépasse"
+" une ligne de voie détectée sans clignotant activé en roulant au-delà de 31 "
+"mph (50 km/h)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Enregistrer et téléverser la caméra conducteur"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Enregistrer et téléverser l'audio du microphone"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Enregistrer et stocker l'audio du microphone pendant la conduite. L'audio "
+"sera inclus dans la vidéo dashcam dans comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Réglementaire"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Détendu"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Accès à distance"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Captures à distance"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Délai de la requête dépassé"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Réinitialiser"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Réinitialiser la calibration"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Consulter le guide d'entraînement"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "CHOISIR"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "Clés SSH"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Recherche des réseaux Wi‑Fi..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Sélectionner"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr "Sélectionner une branche"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Sélectionner une langue"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Numéro de série"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Reporter la mise à jour"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "Logiciel"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Standard"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Le mode standard est recommandé. En mode agressif, openpilot suivra les "
+"véhicules de tête de plus près et sera plus agressif avec l'accélérateur et "
+"le frein. En mode détendu, openpilot restera plus éloigné des véhicules de "
+"tête. Sur les voitures compatibles, vous pouvez parcourir ces personnalités "
+"avec le bouton de distance du volant."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Système non réactif"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "REPRENEZ IMMÉDIATEMENT LE CONTRÔLE"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "TEMP."
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "Branche cible"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Mot de passe de partage"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "Options"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "SUPPRIMER"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "METTRE À JOUR"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "Désinstaller"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Inconnu"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr ""
+"Les mises à jour ne sont téléchargées que lorsque la voiture est éteinte."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Mettre à jour"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Téléverser les données de la caméra orientée conducteur et aider à améliorer"
+" l'algorithme de surveillance du conducteur."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Utiliser le système métrique"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Utilisez le système openpilot pour l'ACC et l'assistance au maintien de "
+"voie. Votre attention est requise en permanence pour utiliser cette "
+"fonctionnalité."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "VÉHICULE"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "VOIR"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "En attente de démarrage"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Avertissement : Ceci accorde un accès SSH à toutes les clés publiques dans "
+"vos paramètres GitHub. N'entrez jamais un nom d'utilisateur GitHub autre que"
+" le vôtre. Un employé comma ne vous demandera JAMAIS d'ajouter son nom "
+"d'utilisateur GitHub."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Bienvenue sur openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr ""
+"Lorsque activé, appuyer sur la pédale d'accélérateur désengagera openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Réseau Wi‑Fi limité"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Mot de passe incorrect"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "Vous devez accepter les conditions générales pour utiliser openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Vous devez accepter les conditions générales pour utiliser openpilot. Lisez "
+"les dernières conditions sur https://comma.ai/terms avant de continuer."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "démarrage de la caméra"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "par défaut"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "bas"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "échec de la vérification de mise à jour"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "pour \"{}\""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "laisser vide pour configuration automatique"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "gauche"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "limité"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "jamais"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "maintenant"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "Contrôle longitudinal openpilot (Alpha)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot indisponible"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables "
+"alpha-level features that aren't ready for chill mode. Experimental features"
+" are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
+"driving model control the gas and brakes. openpilot will drive as it thinks "
+"a human would, including stopping for red lights and stop signs. Since the "
+"driving model decides the speed to drive, the set speed will only act as an "
+"upper bound. This is an alpha quality feature; mistakes should be "
+"expected.<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot roule par défaut en mode chill. Le mode expérimental active des "
+"fonctionnalités de niveau alpha qui ne sont pas prêtes pour le mode chill. "
+"Les fonctionnalités expérimentales sont listées ci‑dessous:<br><h4>Contrôle "
+"longitudinal de bout en bout</h4><br>Laissez le modèle de conduite contrôler"
+" l'accélérateur et les freins. openpilot conduira comme il pense qu'un "
+"humain le ferait, y compris s'arrêter aux feux rouges et aux panneaux stop. "
+"Comme le modèle décide de la vitesse à adopter, la vitesse réglée n'agira "
+"que comme une limite supérieure. C'est une fonctionnalité de qualité alpha ;"
+" des erreurs sont à prévoir.<br><h4>Nouvelle visualisation de "
+"conduite</h4><br>La visualisation passera à la caméra grand angle orientée "
+"route à basse vitesse pour mieux montrer certains virages. Le logo du mode "
+"expérimental sera également affiché en haut à droite."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+" La modification de ce réglage redémarrera openpilot si la voiture est sous "
+"tension."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+msgstr ""
+"openpilot apprend à conduire en regardant des humains, comme vous, conduire.\n"
+"\n"
+"Le Mode Firehose vous permet de maximiser vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de données signifie des modèles plus grands, ce qui signifie un meilleur Mode expérimental."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr ""
+"Le contrôle longitudinal openpilot pourra arriver dans une future mise à "
+"jour."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"openpilot exige que l'appareil soit monté à moins de 4° à gauche ou à droite"
+" et à moins de 5° vers le haut ou 9° vers le bas."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "droite"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "illimité"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "haut"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "à jour, dernière vérification jamais"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "à jour, dernière vérification {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "mise à jour disponible"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERTE"
+msgstr[1] "{} ALERTES"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "il y a {} jour"
+msgstr[1] "il y a {} jours"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "il y a {} heure"
+msgstr[1] "il y a {} heures"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "il y a {} minute"
+msgstr[1] "il y a {} minutes"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"{} segment de votre conduite est dans l'ensemble d'entraînement jusqu'à "
+"présent."
+msgstr[1] ""
+"{} segments de votre conduite sont dans l'ensemble d'entraînement jusqu'à "
+"présent."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ABONNÉ"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Mode Firehose 🔥"
+
+msgid " (Default)"
+msgstr " (Par défaut)"
+
+msgid "%"
+msgstr "%"
+
+msgid ""
+"(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are "
+"just testing data volume.)"
+msgstr ""
+"(Réservé aux niveaux les plus élevés, et ne vous apporte AUCUN avantage pour"
+" l'instant. Nous testons juste le volume de données.)"
+
+msgid ", but we'll be here when you're ready to come back."
+msgstr ", mais nous serons là quand vous serez prêt à revenir."
+
+msgid ""
+"<b>WARNING: sunnypilot longitudinal control is in alpha for this car and "
+"will disable Automatic Emergency Braking (AEB).</b><br><br>On this car, "
+"sunnypilot defaults to the car's built-in ACC instead of sunnypilot's "
+"longitudinal control. Enable this to switch to sunnypilot longitudinal "
+"control. Enabling Experimental mode is recommended when enabling sunnypilot "
+"longitudinal control alpha. Changing this setting will restart sunnypilot if"
+" the car is powered on."
+msgstr ""
+"<b>ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette "
+"voiture et désactivera le freinage d'urgence automatique "
+"(AEB).</b><br><br>Sur cette voiture, sunnypilot utilise par défaut le "
+"régulateur de vitesse adaptatif intégré au véhicule plutôt que le contrôle "
+"longitudinal de sunnypilot. Activez ceci pour passer au contrôle "
+"longitudinal sunnypilot. Il est recommandé d'activer le mode expérimental "
+"lors de l'activation du contrôle longitudinal sunnypilot alpha. La "
+"modification de ce réglage redémarrera sunnypilot si la voiture est sous "
+"tension."
+
+msgid ""
+"A beautiful rainbow effect on the path the model wants to take. It does not "
+"affect driving in any way."
+msgstr ""
+"Un magnifique effet arc-en-ciel sur le trajet que le modèle souhaite "
+"emprunter. Cela n'affecte en rien la conduite."
+
+msgid ""
+"A chime and on-screen alert will play when the traffic light you are waiting"
+" for turns green and you have no vehicle in front of you.<br>Note: This "
+"chime is only designed as a notification. It is the driver's responsibility "
+"to observe their environment and make decisions accordingly."
+msgstr ""
+"Un carillon et une alerte à l'écran se déclencheront lorsque le feu de "
+"circulation que vous attendez passera au vert et qu'il n'y a pas de véhicule"
+" devant vous.<br>Note : Ce carillon est uniquement conçu comme une "
+"notification. Il incombe au conducteur d'observer son environnement et de "
+"prendre les décisions en conséquence."
+
+msgid ""
+"A chime and on-screen alert will play when you are stopped, and the vehicle "
+"in front of you start moving.<br>Note: This chime is only designed as a "
+"notification. It is the driver's responsibility to observe their environment"
+" and make decisions accordingly."
+msgstr ""
+"Un carillon et une alerte à l'écran se déclencheront lorsque vous êtes à "
+"l'arrêt et que le véhicule devant vous commence à avancer.<br>Note : Ce "
+"carillon est uniquement conçu comme une notification. Il incombe au "
+"conducteur d'observer son environnement et de prendre les décisions en "
+"conséquence."
+
+msgid "ALL TIME"
+msgstr "TOUT TEMPS"
+
+msgid "Actuator Delay:"
+msgstr "Délai actionneur :"
+
+msgid "Adjust Lane Turn Speed"
+msgstr "Ajuster la vitesse de virage de voie"
+
+msgid "Adjust Software Delay"
+msgstr "Ajuster le délai logiciel"
+
+msgid ""
+"Adjust the software delay when Live Learning Steer Delay is toggled off. The"
+" default software delay value is 0.2"
+msgstr ""
+"Ajuster le délai logiciel lorsque l'apprentissage en direct du délai de "
+"direction est désactivé. La valeur par défaut du délai logiciel est 0.2"
+
+msgid "All"
+msgstr "Tout"
+
+msgid "All states (~6.0 GB)"
+msgstr "Toutes les régions (~6.0 Go)"
+
+msgid ""
+"Allows the driver to provide limited steering input while openpilot is "
+"engaged."
+msgstr ""
+"Permet au conducteur de fournir une entrée de direction limitée pendant "
+"qu'openpilot est engagé."
+
+msgid "Always On"
+msgstr "Toujours allumé"
+
+msgid ""
+"An alpha version of sunnypilot longitudinal control can be tested, along "
+"with Experimental mode, on non-release branches."
+msgstr ""
+"Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec"
+" le mode expérimental, sur des branches non publiées."
+
+msgid ""
+"Apply a custom timeout for settings UI.<br>This is the time after which "
+"settings UI closes automatically if user is not interacting with the screen."
+msgstr ""
+"Appliquer un délai d'inactivité personnalisé pour l'interface des "
+"paramètres.<br>C'est le temps après lequel l'interface des paramètres se "
+"ferme automatiquement si l'utilisateur n'interagit pas avec l'écran."
+
+msgid "Are you sure you want to backup your current sunnypilot settings?"
+msgstr ""
+"Êtes-vous sûr de vouloir sauvegarder vos paramètres sunnypilot actuels ?"
+
+msgid "Are you sure you want to enter Always Offroad mode?"
+msgstr "Êtes-vous sûr de vouloir entrer en mode toujours hors route ?"
+
+msgid "Are you sure you want to exit Always Offroad mode?"
+msgstr "Êtes-vous sûr de vouloir quitter le mode toujours hors route ?"
+
+msgid ""
+"Are you sure you want to reset all sunnypilot settings to default? Once the "
+"settings are reset, there is no going back."
+msgstr ""
+"Êtes-vous sûr de vouloir réinitialiser tous les paramètres sunnypilot par "
+"défaut ? Une fois les paramètres réinitialisés, il n'y a pas de retour en "
+"arrière."
+
+msgid ""
+"Are you sure you want to restore the last backed up sunnypilot settings?"
+msgstr ""
+"Êtes-vous sûr de vouloir restaurer la dernière sauvegarde des paramètres "
+"sunnypilot ?"
+
+msgid "Assist"
+msgstr "Assistance"
+
+msgid ""
+"Assist: Adjusts the vehicle's cruise speed based on the current road's speed"
+" limit when operating the +/- buttons."
+msgstr ""
+"Assistance : Ajuste la vitesse de croisière du véhicule en fonction de la "
+"limite de vitesse de la route actuelle lors de l'utilisation des boutons "
+"+/-."
+
+msgid "Auto (Dark)"
+msgstr "Auto (Sombre)"
+
+msgid "Auto (Default)"
+msgstr "Auto (Par défaut)"
+
+msgid "Auto Lane Change by Blinker"
+msgstr "Changement de voie auto par clignotant"
+
+msgid "Auto Lane Change: Delay with Blind Spot"
+msgstr "Changement de voie auto : Délai avec angle mort"
+
+msgid "Backup Failed"
+msgstr "Échec de la sauvegarde"
+
+msgid "Backup Settings"
+msgstr "Sauvegarder les paramètres"
+
+msgid ""
+"Become a sponsor of sunnypilot to get early access to sunnylink features "
+"when they become available."
+msgstr ""
+"Devenez parrain de sunnypilot pour obtenir un accès anticipé aux "
+"fonctionnalités sunnylink dès leur disponibilité."
+
+msgid "Bottom"
+msgstr "Bas"
+
+msgid "CLEAR"
+msgstr "VIDER"
+
+msgid "Cancel Download"
+msgstr "Annuler le téléchargement"
+
+msgid "Car First"
+msgstr "Voiture d'abord"
+
+msgid ""
+"Car First: Use Speed Limit data from Car if available, else use from "
+"OpenStreetMaps"
+msgstr ""
+"Voiture d'abord : Utiliser les données de limite de vitesse de la voiture si"
+" disponibles, sinon utiliser OpenStreetMaps"
+
+msgid "Car Only"
+msgstr "Voiture uniquement"
+
+msgid "Car Only: Use Speed Limit data only from Car"
+msgstr ""
+"Voiture uniquement : Utiliser les données de limite de vitesse uniquement de"
+" la voiture"
+
+msgid ""
+"Changing this setting will restart sunnypilot if the car is powered on."
+msgstr ""
+"La modification de ce réglage redémarrera sunnypilot si la voiture est sous "
+"tension."
+
+msgid ""
+"Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is "
+"manually pressed in sunnypilot."
+msgstr ""
+"Choisissez comment le centrage automatique de voie (ALC) se comporte après "
+"un appui manuel sur la pédale de frein dans sunnypilot."
+
+msgid "Choose your sponsorship tier and confirm your support"
+msgstr "Choisissez votre niveau de parrainage et confirmez votre soutien"
+
+msgid "Clear Cache"
+msgstr "Vider le cache"
+
+msgid "Clear Model Cache"
+msgstr "Vider le cache des modèles"
+
+msgid "Click the Sponsor button for more details"
+msgstr "Cliquez sur le bouton Sponsor pour plus de détails"
+
+msgid "Colors represent vehicle fingerprint status:"
+msgstr "Les couleurs représentent le statut d'empreinte du véhicule :"
+
+msgid "Combined"
+msgstr "Combiné"
+
+msgid "Combined: Use combined Speed Limit data from Car & OpenStreetMaps"
+msgstr ""
+"Combiné : Utiliser les données combinées de limite de vitesse de la voiture "
+"et d'OpenStreetMaps"
+
+msgid "Confirm"
+msgstr "Confirmer"
+
+msgid "Controls state of the device after boot/sleep."
+msgstr "Contrôle l'état de l'appareil après démarrage/veille."
+
+msgid "Cooperative Steering (Beta)"
+msgstr "Direction coopérative (Bêta)"
+
+msgid "Country"
+msgstr "Pays"
+
+msgid "Cruise"
+msgstr "Régulateur"
+
+msgid "Current Model"
+msgstr "Modèle actuel"
+
+msgid "Custom ACC Speed Increments"
+msgstr "Incréments de vitesse ACC personnalisés"
+
+msgid "Custom Longitudinal Tuning"
+msgstr "Réglage longitudinal personnalisé"
+
+msgid "Customize Lane Change"
+msgstr "Personnaliser le changement de voie"
+
+msgid "Customize MADS"
+msgstr "Personnaliser MADS"
+
+msgid "Customize Source"
+msgstr "Personnaliser la source"
+
+msgid "Customize Torque Params"
+msgstr "Personnaliser les paramètres de couple"
+
+msgid "DELETE"
+msgstr "SUPPRIMER"
+
+msgid "DISABLED"
+msgstr "DÉSACTIVÉ"
+
+msgid "Database Update"
+msgstr "Mise à jour de la base de données"
+
+msgid "Decline, uninstall sunnypilot"
+msgstr "Refuser, désinstaller sunnypilot"
+
+msgid "Default"
+msgstr "Par défaut"
+
+msgid "Default Model"
+msgstr "Modèle par défaut"
+
+msgid "Default: Device will boot/wake-up normally & will be ready to engage."
+msgstr "Par défaut : L'appareil démarrera normalement et sera prêt à engager."
+
+msgid "Delay before lateral control resumes after the turn signal ends."
+msgstr ""
+"Délai avant la reprise du contrôle latéral après la fin du clignotant."
+
+msgid "Developer UI"
+msgstr "Interface développeur"
+
+msgid ""
+"Device will automatically shutdown after set time once the engine is turned off.\n"
+"(30h is the default)"
+msgstr ""
+"L'appareil s'éteindra automatiquement après le temps défini une fois le moteur coupé.\n"
+"(30h par défaut)"
+
+msgid "Disable"
+msgstr "Désactiver"
+
+msgid "Disable Updates"
+msgstr "Désactiver les mises à jour"
+
+msgid ""
+"Disable the sunnypilot Longitudinal Control (alpha) toggle to allow "
+"Intelligent Cruise Button Management."
+msgstr ""
+"Désactivez l'option contrôle longitudinal sunnypilot (alpha) pour permettre "
+"la gestion intelligente des boutons de régulateur."
+
+msgid "Disengage"
+msgstr "Désengager"
+
+msgid "Disengage to Enter Always Offroad Mode"
+msgstr "Désengager pour entrer en mode toujours hors route"
+
+msgid "Disengage: ALC will disengage when the brake pedal is pressed."
+msgstr ""
+"Désengager : ALC se désengagera lorsque la pédale de frein est enfoncée."
+
+msgid "Display"
+msgstr "Affichage"
+
+msgid "Display Metrics Below Chevron"
+msgstr "Afficher les métriques sous le chevron"
+
+msgid "Display Road Name"
+msgstr "Afficher le nom de la route"
+
+msgid "Display Turn Signals"
+msgstr "Afficher les clignotants"
+
+msgid "Display real-time parameters and metrics from various sources."
+msgstr ""
+"Afficher les paramètres et métriques en temps réel provenant de diverses "
+"sources."
+
+msgid ""
+"Display steering arc on the driving screen when lateral control is enabled."
+msgstr ""
+"Afficher l'arc de direction sur l'écran de conduite lorsque le contrôle "
+"latéral est activé."
+
+msgid ""
+"Display useful metrics below the chevron that tracks the lead car only "
+"applicable to cars with sunnypilot longitudinal control."
+msgstr ""
+"Afficher des métriques utiles sous le chevron qui suit le véhicule en tête, "
+"uniquement applicable aux voitures avec le contrôle longitudinal sunnypilot."
+
+msgid ""
+"Displays the name of the road the car is traveling on.<br>The OpenStreetMap "
+"database of the location must be downloaded from the OSM panel to fetch the "
+"road name."
+msgstr ""
+"Affiche le nom de la route sur laquelle la voiture circule.<br>La base de "
+"données OpenStreetMap de la localisation doit être téléchargée depuis le "
+"panneau OSM pour récupérer le nom de la route."
+
+msgid "Distance"
+msgstr "Distance"
+
+msgid "Downloaded Maps"
+msgstr "Cartes téléchargées"
+
+msgid "Downloading Map"
+msgstr "Téléchargement de la carte"
+
+msgid "Downloading Maps..."
+msgstr "Téléchargement des cartes..."
+
+msgid "Driver Camera Preview"
+msgstr "Aperçu caméra conducteur"
+
+msgid "Drives"
+msgstr "Trajets"
+
+msgid "Driving Model"
+msgstr "Modèle de conduite"
+
+msgid "Dynamic"
+msgstr "Dynamique"
+
+msgid "Early Access: Become a sunnypilot Sponsor"
+msgstr "Accès anticipé : Devenez parrain sunnypilot"
+
+msgid "Enable \"Always Offroad\" in Device panel, or turn vehicle off to toggle."
+msgstr ""
+"Activez \"Toujours hors route\" dans le panneau Appareil, ou éteignez le "
+"véhicule pour basculer."
+
+msgid "Enable Always Offroad"
+msgstr "Activer le mode toujours hors route"
+
+msgid "Enable Custom Tuning"
+msgstr "Activer le réglage personnalisé"
+
+msgid "Enable Dynamic Experimental Control"
+msgstr "Activer le contrôle expérimental dynamique"
+
+msgid "Enable Standstill Timer"
+msgstr "Activer le chronomètre à l'arrêt"
+
+msgid "Enable Tesla Rainbow Mode"
+msgstr "Activer le mode arc-en-ciel Tesla"
+
+msgid ""
+"Enable custom Short & Long press increments for cruise speed "
+"increase/decrease."
+msgstr ""
+"Activer les incréments personnalisés d'appui court et long pour "
+"augmenter/diminuer la vitesse de croisière."
+
+msgid "Enable driver monitoring even when sunnypilot is not engaged."
+msgstr ""
+"Activer la surveillance du conducteur même lorsque sunnypilot n'est pas "
+"engagé."
+
+msgid "Enable sunnylink"
+msgstr "Activer sunnylink"
+
+msgid "Enable sunnylink uploader (infrastructure test)"
+msgstr "Activer le téléversement sunnylink"
+
+msgid ""
+"Enable sunnylink uploader to allow sunnypilot to upload your driving data to"
+" sunnypilot servers. "
+msgstr ""
+"Activer le téléversement sunnylink pour permettre à sunnypilot de téléverser"
+" vos données de conduite vers les serveurs sunnypilot. "
+
+msgid "Enable sunnypilot"
+msgstr "Activer sunnypilot"
+
+msgid ""
+"Enable the beloved MADS feature. Disable toggle to revert back to stock "
+"sunnypilot engagement/disengagement."
+msgstr ""
+"Activer la fonctionnalité MADS. Désactivez l'option pour revenir au "
+"comportement d'engagement/désengagement sunnypilot d'origine."
+
+msgid ""
+"Enable the sunnypilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Activez l'option de contrôle longitudinal sunnypilot (alpha) pour autoriser "
+"le mode expérimental."
+
+msgid ""
+"Enable this for the car to learn and adapt its steering response time. "
+"Disable to use a fixed steering response time. Keeping this on provides the "
+"stock openpilot experience."
+msgstr ""
+"Activez pour que la voiture apprenne et adapte son temps de réponse de "
+"direction. Désactivez pour utiliser un temps de réponse fixe. Garder activé "
+"offre l'expérience openpilot d'origine."
+
+msgid ""
+"Enable this to enforce sunnypilot to steer with Torque lateral control."
+msgstr ""
+"Activez ceci pour forcer sunnypilot à diriger avec le contrôle latéral par "
+"couple."
+
+msgid ""
+"Enable toggle to allow the model to determine when to use sunnypilot ACC or "
+"sunnypilot End to End Longitudinal."
+msgstr ""
+"Activez l'option pour permettre au modèle de déterminer quand utiliser le "
+"ACC sunnypilot ou le contrôle longitudinal de bout en bout sunnypilot."
+
+msgid ""
+"Enables custom tuning for Torque lateral control. Modifying Lateral "
+"Acceleration Factor and Friction below will override the offline values "
+"indicated in the YAML files within \"opendbc/car/torque_data\". The values "
+"will also be used live when \"Manual Real-Time Tuning\" toggle is enabled."
+msgstr ""
+"Active le réglage personnalisé pour le contrôle latéral par couple. La "
+"modification du facteur d'accélération latérale et de la friction ci-dessous"
+" remplacera les valeurs hors ligne indiquées dans les fichiers YAML du "
+"dossier \"opendbc/car/torque_data\". Les valeurs seront également utilisées "
+"en direct lorsque l'option \"Réglage manuel en temps réel\" est activée."
+
+msgid "Enables or disables the GitHub runner service."
+msgstr "Active ou désactive le service GitHub runner."
+
+msgid ""
+"Enables self-tune for Torque lateral control for platforms that do not use "
+"Torque lateral control by default."
+msgstr ""
+"Active l'auto-réglage pour le contrôle latéral par couple pour les "
+"plateformes qui n'utilisent pas le contrôle latéral par couple par défaut."
+
+msgid ""
+"Enabling this will display warnings when a vehicle is detected in your blind"
+" spot as long as your car has BSM supported."
+msgstr ""
+"L'activation affichera des avertissements lorsqu'un véhicule est détecté "
+"dans votre angle mort, à condition que votre voiture supporte le BSM."
+
+msgid "Enforce Factory Longitudinal Control"
+msgstr "Forcer le contrôle longitudinal d'usine"
+
+msgid "Enforce Torque Lateral Control"
+msgstr "Forcer le contrôle latéral par couple"
+
+msgid ""
+"Enforces the torque lateral controller to use the fixed values instead of "
+"the learned values from Self-Tune. Enabling this toggle overrides Self-Tune "
+"values."
+msgstr ""
+"Force le contrôleur latéral par couple à utiliser les valeurs fixes au lieu "
+"des valeurs apprises par l'auto-réglage. L'activation de cette option "
+"remplace les valeurs de l'auto-réglage."
+
+msgid ""
+"Engage lateral and longitudinal control with cruise control engagement."
+msgstr ""
+"Engager le contrôle latéral et longitudinal avec l'activation du régulateur "
+"de vitesse."
+
+msgid "Enter model year (e.g., 2021) and model (Toyota Corolla):"
+msgstr "Entrez l'année (ex. 2021) et le modèle (Toyota Corolla) :"
+
+msgid "Enter search query"
+msgstr "Entrez votre recherche"
+
+msgid "Error Log"
+msgstr "Journal d'erreurs"
+
+msgid "Error: Invalid download. Retry."
+msgstr "Erreur : Téléchargement invalide. Réessayez."
+
+msgid "Exit Always Offroad"
+msgstr "Quitter le mode toujours hors route"
+
+msgid ""
+"Experimental feature to enable auto-resume during stop-and-go for certain "
+"supported Subaru platforms."
+msgstr ""
+"Fonctionnalité expérimentale pour activer la reprise automatique en stop-"
+"and-go pour certaines plateformes Subaru supportées."
+
+msgid ""
+"Experimental feature to enable stop and go for Subaru Global models with "
+"manual handbrake. Models with electric parking brake should keep this "
+"disabled. Thanks to martinl for this implementation!"
+msgstr ""
+"Fonctionnalité expérimentale pour activer le stop and go pour les modèles "
+"Subaru Global avec frein à main manuel. Les modèles avec frein de "
+"stationnement électrique doivent garder ceci désactivé. Merci à martinl pour"
+" cette implémentation !"
+
+msgid "FAULT"
+msgstr "DÉFAUT"
+
+msgid "FETCHING..."
+msgstr "RÉCUPÉRATION..."
+
+msgid "Fetching Latest Models"
+msgstr "Récupération des derniers modèles"
+
+msgid "Fingerprinted automatically"
+msgstr "Empreinte automatique"
+
+msgid "Fixed"
+msgstr "Fixe"
+
+msgid "Fixed: Adds a fixed offset [Speed Limit + Offset]"
+msgstr "Fixe : Ajoute un décalage fixe [Limite de vitesse + Décalage]"
+
+msgid "Follow the prompts to complete the pairing process"
+msgstr "Suivez les instructions pour terminer le processus d'association"
+
+msgid ""
+"For applicable vehicles, always display the true vehicle current speed from "
+"wheel speed sensors."
+msgstr ""
+"Pour les véhicules compatibles, toujours afficher la vitesse réelle actuelle"
+" du véhicule à partir des capteurs de vitesse de roue."
+
+msgid "For secure backup, restore, and remote configuration"
+msgstr ""
+"Pour la sauvegarde sécurisée, la restauration et la configuration à distance"
+
+msgid "Friction"
+msgstr "Friction"
+
+msgid "GitHub Runner Service"
+msgstr "Service GitHub Runner"
+
+msgid "Green Traffic Light Alert (Beta)"
+msgstr "Alerte feu vert (Bêta)"
+
+msgid "Hours"
+msgstr "Heures"
+
+msgid ""
+"If sponsorship status was not updated, please contact a moderator on the "
+"community forum at https://community.sunnypilot.ai"
+msgstr ""
+"Si le statut de parrainage n'a pas été mis à jour, veuillez contacter un "
+"modérateur sur le forum communautaire à https://community.sunnypilot.ai"
+
+msgid ""
+"If you're driving at 20 mph (32 km/h) or below and have your blinker on, the"
+" car will plan a turn in that direction at the nearest drivable path. This "
+"prevents situations (like at red lights) where the car might plan the wrong "
+"turn direction."
+msgstr ""
+"Si vous roulez à 32 km/h ou moins avec le clignotant activé, la voiture "
+"planifiera un virage dans cette direction vers le chemin praticable le plus "
+"proche. Cela évite les situations (comme aux feux rouges) où la voiture "
+"pourrait planifier la mauvaise direction de virage."
+
+msgid "Info"
+msgstr "Info"
+
+msgid "Information: Displays the current road's speed limit."
+msgstr "Information : Affiche la limite de vitesse de la route actuelle."
+
+msgid "Intelligent Cruise Button Management (ICBM) (Alpha)"
+msgstr "Gestion intelligente des boutons de régulateur (ICBM) (Alpha)"
+
+msgid ""
+"Intelligent Cruise Button Management is currently unavailable on this "
+"platform."
+msgstr ""
+"La gestion intelligente des boutons de régulateur est actuellement "
+"indisponible sur cette plateforme."
+
+msgid "Interactivity Timeout"
+msgstr "Délai d'inactivité"
+
+msgid ""
+"Join our Community Forum at https://community.sunnypilot.ai and reach out to"
+" a moderator if you have issues"
+msgstr ""
+"Rejoignez notre forum communautaire à https://community.sunnypilot.ai et "
+"contactez un modérateur si vous avez des problèmes"
+
+msgid "KM"
+msgstr "KM"
+
+msgid "Last checked {}"
+msgstr "Dernière vérification {}"
+
+msgid "Lateral Acceleration Factor"
+msgstr "Facteur d'accélération latérale"
+
+msgid "Lead Departure Alert (Beta)"
+msgstr "Alerte de départ du véhicule en tête (Bêta)"
+
+msgid "Less Restrict Settings for Self-Tune (Beta)"
+msgstr "Paramètres moins restrictifs pour l'auto-réglage (Bêta)"
+
+msgid ""
+"Less strict settings when using Self-Tune. This allows torqued to be more "
+"forgiving when learning values."
+msgstr ""
+"Paramètres moins stricts lors de l'utilisation de l'auto-réglage. Cela "
+"permet à torqued d'être plus tolérant lors de l'apprentissage des valeurs."
+
+msgid "Live Learning Steer Delay"
+msgstr "Apprentissage en direct du délai de direction"
+
+msgid "Live Steer Delay:"
+msgstr "Délai direction en direct :"
+
+msgid "Long Press Increment"
+msgstr "Incrément appui long"
+
+msgid "Manual Real-Time Tuning"
+msgstr "Réglage manuel en temps réel"
+
+msgid "Manually selected fingerprint"
+msgstr "Empreinte sélectionnée manuellement"
+
+msgid "Map First"
+msgstr "Carte d'abord"
+
+msgid ""
+"Map First: Use Speed Limit data from OpenStreetMaps if available, else use "
+"from Car"
+msgstr ""
+"Carte d'abord : Utiliser les données de limite de vitesse d'OpenStreetMaps "
+"si disponibles, sinon utiliser celles de la voiture"
+
+msgid "Map Only"
+msgstr "Carte uniquement"
+
+msgid "Map Only: Use Speed Limit data only from OpenStreetMaps"
+msgstr ""
+"Carte uniquement : Utiliser les données de limite de vitesse uniquement "
+"d'OpenStreetMaps"
+
+msgid "Mapd Version"
+msgstr "Version Mapd"
+
+msgid "Max Time Offroad"
+msgstr "Durée max hors route"
+
+msgid "Miles"
+msgstr "Km"
+
+msgid "Minimum Speed to Pause Lateral Control"
+msgstr "Vitesse minimum pour suspendre le contrôle latéral"
+
+msgid ""
+"Model download has started in the background. We suggest resetting "
+"calibration. Would you like to do that now?"
+msgstr ""
+"Le téléchargement du modèle a démarré en arrière-plan. Nous suggérons de "
+"réinitialiser la calibration. Voulez-vous le faire maintenant ?"
+
+msgid "Models"
+msgstr "Modèles"
+
+msgid "Modular Assistive Driving System (MADS)"
+msgstr "Système d'aide à la conduite modulaire (MADS)"
+
+msgid "Near"
+msgstr "Proche"
+
+msgid "Neural Network Lateral Control (NNLC)"
+msgstr "Contrôle latéral par réseau neuronal (NNLC)"
+
+msgid "No"
+msgstr "Non"
+
+msgid "No vehicle selected"
+msgstr "Aucun véhicule sélectionné"
+
+msgid "None"
+msgstr "Aucun"
+
+msgid "None: No Offset"
+msgstr "Aucun : Pas de décalage"
+
+msgid "Not Paired"
+msgstr "Non associé"
+
+msgid "Not Sponsor"
+msgstr "Non parrain"
+
+msgid "Not fingerprinted or manually selected"
+msgstr "Pas d'empreinte ou sélection manuelle"
+
+msgid "Not going to lie, it's sad to see you disabled sunnylink"
+msgstr "Honnêtement, c'est triste de voir que vous avez désactivé sunnylink"
+
+msgid ""
+"Note: For vehicles without LFA/LKAS button, disabling this will prevent "
+"lateral control engagement."
+msgstr ""
+"Note : Pour les véhicules sans bouton LFA/LKAS, désactiver ceci empêchera "
+"l'engagement du contrôle latéral."
+
+msgid ""
+"Note: Once lateral control is engaged via UEM, it will remain engaged until "
+"it is manually disabled via the MADS button or car shut off."
+msgstr ""
+"Note : Une fois le contrôle latéral engagé via UEM, il restera engagé "
+"jusqu'à ce qu'il soit désactivé manuellement via le bouton MADS ou "
+"l'extinction de la voiture."
+
+msgid "Nudge"
+msgstr "Impulsion"
+
+msgid "Nudgeless"
+msgstr "Sans impulsion"
+
+msgid "OSM"
+msgstr "OSM"
+
+msgid "Off"
+msgstr "Désactivé"
+
+msgid "Off: Disables the Speed Limit functions."
+msgstr "Désactivé : Désactive les fonctions de limite de vitesse."
+
+msgid "Offline Only"
+msgstr "Hors ligne uniquement"
+
+msgid "Offroad"
+msgstr "Hors route"
+
+msgid "Offroad: Device will be in Always Offroad mode after boot/wake-up."
+msgstr ""
+"Hors route : L'appareil sera en mode toujours hors route après démarrage."
+
+msgid "Only available when vehicle is off, or always offroad mode is on"
+msgstr ""
+"Disponible uniquement lorsque le véhicule est éteint ou en mode toujours "
+"hors route"
+
+msgid "Onroad Brightness"
+msgstr "Luminosité en conduite"
+
+msgid "Onroad Brightness Delay"
+msgstr "Délai de luminosité en conduite"
+
+msgid "Onroad Uploads"
+msgstr "Téléversements en conduite"
+
+msgid "PAST WEEK"
+msgstr "SEMAINE PASSÉE"
+
+msgid "Pair GitHub Account"
+msgstr "Associer un compte GitHub"
+
+msgid "Pair your GitHub account"
+msgstr "Associer votre compte GitHub"
+
+msgid ""
+"Pair your GitHub account to grant your device sponsor benefits, including "
+"API access on sunnylink."
+msgstr ""
+"Associez votre compte GitHub pour accorder à votre appareil les avantages de"
+" parrain, y compris l'accès API sur sunnylink."
+
+msgid "Paired"
+msgstr "Associé"
+
+msgid "Pause"
+msgstr "Pause"
+
+msgid "Pause Lateral Control with Blinker"
+msgstr "Suspendre le contrôle latéral avec le clignotant"
+
+msgid ""
+"Pause lateral control with blinker when traveling below the desired speed "
+"selected."
+msgstr ""
+"Suspendre le contrôle latéral avec le clignotant lorsque la vitesse est "
+"inférieure à la vitesse souhaitée sélectionnée."
+
+msgid "Pause: ALC will pause when the brake pedal is pressed."
+msgstr ""
+"Pause : ALC se mettra en pause lorsque la pédale de frein est enfoncée."
+
+msgid "Percent: Adds a percent offset [Speed Limit + (Offset % Speed Limit)]"
+msgstr ""
+"Pourcentage : Ajoute un décalage en pourcentage [Limite de vitesse + "
+"(Décalage % Limite de vitesse)]"
+
+msgid ""
+"Please enable \"Always Offroad\" mode or turn off the vehicle to adjust "
+"these toggles."
+msgstr ""
+"Veuillez activer le mode \"Toujours hors route\" ou éteindre le véhicule "
+"pour ajuster ces options."
+
+msgid "Please reboot and try again."
+msgstr "Veuillez redémarrer et réessayer."
+
+msgid "Policy Model"
+msgstr "Modèle de politique"
+
+msgid "Post-Blinker Delay"
+msgstr "Délai post-clignotant"
+
+msgid "Predictive"
+msgstr "Prédictif"
+
+msgid "Quickboot Mode"
+msgstr "Mode démarrage rapide"
+
+msgid ""
+"Quickboot mode requires updates to be disabled.<br>Enable 'Disable Updates' "
+"in the Software panel first."
+msgstr ""
+"Le mode démarrage rapide nécessite que les mises à jour soient "
+"désactivées.<br>Activez d'abord 'Désactiver les mises à jour' dans le "
+"panneau Logiciel."
+
+msgid "Quiet Mode"
+msgstr "Mode silencieux"
+
+msgid "REFRESH"
+msgstr "ACTUALISER"
+
+msgid "REGIST..."
+msgstr "ENREG..."
+
+msgid "Re-enter the \"sunnylink\" panel to verify sponsorship status"
+msgstr ""
+"Retournez dans le panneau \"sunnylink\" pour vérifier le statut de "
+"parrainage"
+
+msgid "Real-Time & Offline"
+msgstr "Temps réel et hors ligne"
+
+msgid "Real-time Acceleration Bar"
+msgstr "Barre d'accélération en temps réel"
+
+msgid "Refresh Model List"
+msgstr "Actualiser la liste des modèles"
+
+msgid "Remain Active"
+msgstr "Rester actif"
+
+msgid "Remain Active: ALC will remain active when the brake pedal is pressed."
+msgstr ""
+"Rester actif : ALC restera actif lorsque la pédale de frein est enfoncée."
+
+msgid "Reset Settings"
+msgstr "Réinitialiser les paramètres"
+
+msgid "Restore Failed"
+msgstr "Échec de la restauration"
+
+msgid "Restore Settings"
+msgstr "Restaurer les paramètres"
+
+msgid "Review the rules, features, and limitations of sunnypilot"
+msgstr "Consultez les règles, fonctionnalités et limitations de sunnypilot"
+
+msgid "Right"
+msgstr "Droite"
+
+msgid "Right & Bottom"
+msgstr "Droite et bas"
+
+msgid "SPONSOR"
+msgstr "PARRAINER"
+
+msgid "SUNNYLINK"
+msgstr "SUNNYLINK"
+
+msgid "Scan"
+msgstr "Analyser"
+
+msgid "Scan the QR code to login to your GitHub account"
+msgstr "Scannez le code QR pour vous connecter à votre compte GitHub"
+
+msgid "Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"
+msgstr ""
+"Scannez le code QR pour visiter la page GitHub Sponsors de sunnyhaibin"
+
+msgid "Scanning..."
+msgstr "Analyse en cours..."
+
+msgid "Search"
+msgstr "Rechercher"
+
+msgid "Search your vehicle"
+msgstr "Rechercher votre véhicule"
+
+msgid "Select a Model"
+msgstr "Sélectionner un modèle"
+
+msgid "Select a vehicle"
+msgstr "Sélectionner un véhicule"
+
+msgid "Select vehicle to force fingerprint manually."
+msgstr "Sélectionnez le véhicule pour forcer l'empreinte manuellement."
+
+msgid "Self-Tune"
+msgstr "Auto-réglage"
+
+msgid ""
+"Set a timer to delay the auto lane change operation when the blinker is "
+"used. No nudge on the steering wheel is required to auto lane change if a "
+"timer is set. Default is Nudge.<br>Please use caution when using this "
+"feature. Only use the blinker when traffic and road conditions permit."
+msgstr ""
+"Définir un minuteur pour retarder le changement de voie automatique lorsque "
+"le clignotant est utilisé. Aucune impulsion sur le volant n'est nécessaire "
+"pour le changement de voie automatique si un minuteur est défini. Par défaut"
+" : Impulsion.<br>Veuillez utiliser cette fonctionnalité avec prudence. "
+"N'utilisez le clignotant que lorsque la circulation et les conditions "
+"routières le permettent."
+
+msgid "Set the maximum speed for lane turn desires. Default is 19 mph."
+msgstr ""
+"Définir la vitesse max. pour les changements de voie assistés. Par défaut : "
+"30 km/h."
+
+msgid "Settings backup completed."
+msgstr "Sauvegarde des paramètres terminée."
+
+msgid "Settings restored. Confirm to restart the interface."
+msgstr "Paramètres restaurés. Confirmez pour redémarrer l'interface."
+
+msgid "Short Press Increment"
+msgstr "Incrément appui court"
+
+msgid "Show Advanced Controls"
+msgstr "Afficher les contrôles avancés"
+
+msgid "Show Blind Spot Warnings"
+msgstr "Afficher les alertes d'angle mort"
+
+msgid "Show a timer on the HUD when the car is at a standstill."
+msgstr "Afficher un chronomètre sur le HUD lorsque la voiture est à l'arrêt."
+
+msgid ""
+"Show an indicator on the left side of the screen to display real-time "
+"vehicle acceleration and deceleration. This displays what the car is "
+"currently doing, not what the planner is requesting."
+msgstr ""
+"Afficher un indicateur à gauche de l'écran pour visualiser l'accélération et"
+" la décélération du véhicule en temps réel. Cela affiche ce que la voiture "
+"fait actuellement, pas ce que le planificateur demande."
+
+msgid "Smart Cruise Control - Map"
+msgstr "Régulateur intelligent - Carte"
+
+msgid "Smart Cruise Control - Vision"
+msgstr "Régulateur intelligent - Vision"
+
+msgid "Software Delay:"
+msgstr "Délai logiciel :"
+
+msgid "Speed"
+msgstr "Vitesse"
+
+msgid "Speed Limit"
+msgstr "Limite de vitesse"
+
+msgid "Speed Limit Offset"
+msgstr "Décalage de limite de vitesse"
+
+msgid "Speed Limit Source"
+msgstr "Source de limite de vitesse"
+
+msgid "Speedometer: Always Display True Speed"
+msgstr "Compteur : Toujours afficher la vitesse réelle"
+
+msgid "Speedometer: Hide from Onroad Screen"
+msgstr "Compteur : Masquer de l'écran de conduite"
+
+msgid "Sponsor Status"
+msgstr "Statut de parrainage"
+
+msgid "Sponsorship isn't required for basic backup/restore"
+msgstr ""
+"Le parrainage n'est pas requis pour la sauvegarde/restauration de base"
+
+msgid ""
+"Standard is recommended. In aggressive mode, sunnypilot will follow lead "
+"cars closer and be more aggressive with the gas and brake. In relaxed mode "
+"sunnypilot will stay further away from lead cars. On supported cars, you can"
+" cycle through these personalities with your steering wheel distance button."
+msgstr ""
+"Le mode standard est recommandé. En mode agressif, sunnypilot suivra les "
+"véhicules en tête de plus près et sera plus agressif avec l'accélérateur et "
+"le frein. En mode détendu, sunnypilot restera plus éloigné des véhicules en "
+"tête. Sur les voitures compatibles, vous pouvez parcourir ces personnalités "
+"avec le bouton de distance sur le volant."
+
+msgid "Start Download"
+msgstr "Démarrer le téléchargement"
+
+msgid "Start the vehicle to check vehicle compatibility."
+msgstr "Démarrez le véhicule pour vérifier la compatibilité du véhicule."
+
+msgid "State"
+msgstr "Région"
+
+msgid "Steering"
+msgstr "Direction"
+
+msgid "Steering Arc"
+msgstr "Arc de direction"
+
+msgid "Steering Mode on Brake Pedal"
+msgstr "Mode direction au freinage"
+
+msgid "Stop and Go (Beta)"
+msgstr "Stop and Go (Bêta)"
+
+msgid "Stop and Go for Manual Parking Brake (Beta)"
+msgstr "Stop and Go pour frein à main manuel (Bêta)"
+
+msgid "System reboot required for changes to take effect. Reboot now?"
+msgstr ""
+"Redémarrage système nécessaire pour appliquer les changements. Redémarrer "
+"maintenant ?"
+
+msgid "THANKS ♥"
+msgstr "MERCI ♥"
+
+msgid "The reset cannot be undone. You have been warned."
+msgstr "La réinitialisation ne peut pas être annulée. Vous êtes prévenu."
+
+msgid ""
+"This feature can only be used with sunnypilot longitudinal control enabled."
+msgstr ""
+"Cette fonctionnalité ne peut être utilisée qu'avec le contrôle longitudinal "
+"sunnypilot activé."
+
+msgid ""
+"This feature defaults to OFF, and does not allow selection due to vehicle "
+"limitations."
+msgstr ""
+"Cette fonctionnalité est désactivée par défaut et ne permet pas la sélection"
+" en raison des limitations du véhicule."
+
+msgid ""
+"This feature defaults to ON, and does not allow selection due to vehicle "
+"limitations."
+msgstr ""
+"Cette fonctionnalité est activée par défaut et ne permet pas la sélection en"
+" raison des limitations du véhicule."
+
+msgid "This feature is currently not available on this platform."
+msgstr ""
+"Cette fonctionnalité n'est actuellement pas disponible sur cette plateforme."
+
+msgid ""
+"This feature is not supported on this platform due to vehicle limitations."
+msgstr ""
+"Cette fonctionnalité n'est pas prise en charge sur cette plateforme en "
+"raison des limitations du véhicule."
+
+msgid ""
+"This feature is unavailable because sunnypilot Longitudinal Control (Alpha) "
+"is not enabled."
+msgstr ""
+"Cette fonctionnalité est indisponible car le contrôle longitudinal "
+"sunnypilot (Alpha) n'est pas activé."
+
+msgid "This feature is unavailable while the car is onroad."
+msgstr ""
+"Cette fonctionnalité est indisponible lorsque la voiture est sur la route."
+
+msgid "This feature requires sunnypilot longitudinal control to be available."
+msgstr ""
+"Cette fonctionnalité nécessite que le contrôle longitudinal sunnypilot soit "
+"disponible."
+
+msgid ""
+"This is the master switch, it will allow you to cutoff any sunnylink "
+"requests should you want to do that."
+msgstr ""
+"C'est l'interrupteur principal, il vous permettra de couper toutes les "
+"requêtes sunnylink si vous le souhaitez."
+
+msgid ""
+"This may be due to weak internet connection or sunnylink registration issue."
+" "
+msgstr ""
+"Cela peut être dû à une connexion internet faible ou un problème "
+"d'enregistrement sunnylink. "
+
+msgid "This platform only supports Disengage mode due to vehicle limitations."
+msgstr ""
+"Cette plateforme ne supporte que le mode Désengager en raison des "
+"limitations du véhicule."
+
+msgid "This platform supports all MADS settings."
+msgstr "Cette plateforme supporte tous les paramètres MADS."
+
+msgid "This platform supports limited MADS settings."
+msgstr "Cette plateforme supporte des paramètres MADS limités."
+
+msgid "This setting will take effect immediately."
+msgstr "Ce paramètre prendra effet immédiatement."
+
+msgid "This setting will take effect once the device enters offroad state."
+msgstr "Ce paramètre prendra effet une fois l'appareil en mode hors route."
+
+msgid ""
+"This will delete ALL downloaded maps\n"
+"\n"
+"Are you sure you want to delete all maps?"
+msgstr ""
+"Cela supprimera TOUTES les cartes téléchargées\n"
+"\n"
+"Êtes-vous sûr de vouloir supprimer toutes les cartes ?"
+
+msgid ""
+"This will delete ALL downloaded models from the cache except the currently "
+"active model. Are you sure?"
+msgstr ""
+"Cela supprimera TOUS les modèles téléchargés du cache sauf le modèle "
+"actuellement actif. Êtes-vous sûr ?"
+
+msgid ""
+"This will start the download process and it might take a while to complete."
+msgstr "Cela démarrera le téléchargement et peut prendre un certain temps."
+
+msgid "Time"
+msgstr "Temps"
+
+msgid ""
+"Toggle to enable a delay timer for seamless lane changes when blind spot "
+"monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering."
+msgstr ""
+"Activer un minuteur de délai pour des changements de voie fluides lorsque la"
+" surveillance d'angle mort (BSM) détecte un véhicule gênant, assurant une "
+"manœuvre en toute sécurité."
+
+msgid ""
+"Toggle visibility of advanced sunnypilot controls.<br>This only changes the "
+"visibility of the toggles; it does not change the actual enabled/disabled "
+"state."
+msgstr ""
+"Basculer la visibilité des contrôles avancés sunnypilot.<br>Cela ne change "
+"que la visibilité des options, pas leur état activé/désactivé réel."
+
+msgid "Toggle with Main Cruise"
+msgstr "Basculer avec le régulateur principal"
+
+msgid "Total Delay:"
+msgstr "Délai total :"
+
+msgid "Training Guide"
+msgstr "Guide d'entraînement"
+
+msgid "Trips"
+msgstr "Trajets"
+
+msgid "UI Debug Mode"
+msgstr "Mode débogage UI"
+
+msgid "Unable to restore the settings, try again later."
+msgstr "Impossible de restaurer les paramètres, réessayez plus tard."
+
+msgid "Unified Engagement Mode (UEM)"
+msgstr "Mode d'engagement unifié (UEM)"
+
+msgid "Unrecognized Vehicle"
+msgstr "Véhicule non reconnu"
+
+msgid "Use Lane Turn Desires"
+msgstr "Changements de voie assistés"
+
+msgid ""
+"Use map data to estimate the appropriate speed to drive through turns ahead."
+msgstr ""
+"Utiliser les données cartographiques pour estimer la vitesse appropriée pour"
+" aborder les virages à venir."
+
+msgid ""
+"Use the sunnypilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Utiliser le système sunnypilot pour le régulateur de vitesse adaptatif et "
+"l'aide au maintien de voie. Votre attention est requise en permanence pour "
+"utiliser cette fonctionnalité."
+
+msgid ""
+"Use vision path predictions to estimate the appropriate speed to drive "
+"through turns ahead."
+msgstr ""
+"Utiliser les prédictions de trajectoire visuelle pour estimer la vitesse "
+"appropriée pour aborder les virages à venir."
+
+msgid "Vehicle"
+msgstr "Véhicule"
+
+msgid "View the error log for sunnypilot crashes."
+msgstr "Voir le journal d'erreurs pour les plantages sunnypilot."
+
+msgid "Vision Model"
+msgstr "Modèle de vision"
+
+msgid "Visuals"
+msgstr "Visuels"
+
+msgid "Wake Up Behavior"
+msgstr "Comportement au réveil"
+
+msgid "Warning"
+msgstr "Avertissement"
+
+msgid ""
+"Warning: Provides a warning when exceeding the current road's speed limit."
+msgstr ""
+"Avertissement : Fournit un avertissement lorsque la limite de vitesse de la "
+"route actuelle est dépassée."
+
+msgid "Welcome back!! We're excited to see you've enabled sunnylink again!"
+msgstr ""
+"Bon retour !! Nous sommes ravis de voir que vous avez réactivé sunnylink !"
+
+msgid "Welcome to sunnypilot"
+msgstr "Bienvenue sur sunnypilot"
+
+msgid ""
+"When enabled, automatic software updates will be off.<br><b>This requires a "
+"reboot to take effect.</b>"
+msgstr ""
+"Lorsqu'activé, les mises à jour automatiques seront désactivées.<br><b>Cela "
+"nécessite un redémarrage pour prendre effet.</b>"
+
+msgid ""
+"When enabled, pressing the accelerator pedal will disengage sunnypilot."
+msgstr ""
+"Lorsqu'activé, appuyer sur la pédale d'accélérateur désengagera sunnypilot."
+
+msgid ""
+"When enabled, sunnypilot will attempt to manage the built-in cruise control "
+"buttons by emulating button presses for limited longitudinal control."
+msgstr ""
+"Lorsqu'activé, sunnypilot tentera de gérer les boutons de régulateur de "
+"vitesse intégrés en émulant des appuis de bouton pour un contrôle "
+"longitudinal limité."
+
+msgid "When enabled, the speedometer on the onroad screen is not displayed."
+msgstr ""
+"Lorsqu'activé, le compteur de vitesse sur l'écran de conduite n'est pas "
+"affiché."
+
+msgid "When enabled, visual turn indicators are drawn on the HUD."
+msgstr ""
+"Lorsqu'activé, les indicateurs visuels de virage sont affichés sur le HUD."
+
+msgid ""
+"When toggled on, this creates a prebuilt file to allow accelerated boot "
+"times. When toggled off, it removes the prebuilt file so compilation of "
+"locally edited cpp files can be made."
+msgstr ""
+"Lorsqu'activé, cela crée un fichier précompilé pour accélérer le temps de "
+"démarrage. Lorsque désactivé, le fichier précompilé est supprimé pour "
+"permettre la compilation des fichiers cpp modifiés localement."
+
+msgid "Would you like to delete this log?"
+msgstr "Voulez-vous supprimer ce journal ?"
+
+msgid "Yes"
+msgstr "Oui"
+
+msgid "Yes, delete all maps"
+msgstr "Oui, supprimer toutes les cartes"
+
+msgid "You must accept the Terms of Service in order to use sunnypilot."
+msgstr ""
+"Vous devez accepter les conditions d'utilisation pour utiliser sunnypilot."
+
+msgid ""
+"You must accept the Terms of Service to use sunnypilot. Read the latest "
+"terms at https://sunnypilot.ai/terms before continuing."
+msgstr ""
+"Vous devez accepter les conditions d'utilisation pour utiliser sunnypilot. "
+"Consultez les dernières conditions sur https://sunnypilot.ai/terms avant de "
+"continuer."
+
+msgid "Your vehicle will use the Default longitudinal tuning."
+msgstr "Votre véhicule utilisera le réglage longitudinal par défaut."
+
+msgid "Your vehicle will use the Dynamic longitudinal tuning."
+msgstr "Votre véhicule utilisera le réglage longitudinal dynamique."
+
+msgid "Your vehicle will use the Predictive longitudinal tuning."
+msgstr "Votre véhicule utilisera le réglage longitudinal prédictif."
+
+msgid "backing up"
+msgstr "sauvegarde en cours"
+
+msgid "backup"
+msgstr "sauvegarde"
+
+msgid "backup settings"
+msgstr "sauvegarder les paramètres"
+
+msgid "become a sunnypilot sponsor"
+msgstr "devenir sponsor sunnypilot"
+
+msgid "cancel download"
+msgstr "annuler le téléchargement"
+
+msgid "checking..."
+msgstr "vérification..."
+
+msgid "copyparty Service"
+msgstr "Service copyparty"
+
+msgid ""
+"copyparty is a very capable file server, you can use it to download your "
+"routes, view your logs and even make some edits on some files from your "
+"browser. Requires you to connect to your comma locally via its IP address."
+msgstr ""
+"copyparty est un serveur de fichiers très performant, vous pouvez l'utiliser"
+" pour télécharger vos trajets, consulter vos logs et même modifier certains "
+"fichiers depuis votre navigateur. Nécessite de vous connecter à votre comma "
+"localement via son adresse IP."
+
+msgid "current model"
+msgstr "modèle actuel"
+
+msgid "default model"
+msgstr "modèle par défaut"
+
+msgid "downloading..."
+msgstr "téléchargement..."
+
+msgid "enable sunnylink"
+msgstr "activer sunnylink"
+
+msgid "failed"
+msgstr "échoué"
+
+msgid "finalizing update..."
+msgstr "finalisation de la mise à jour..."
+
+msgid "from cache"
+msgstr "depuis le cache"
+
+msgid "h"
+msgstr "h"
+
+msgid "m"
+msgstr "min"
+
+msgid "pair"
+msgstr "associer"
+
+msgid "pair with sunnylink"
+msgstr "associer avec sunnylink"
+
+msgid "paired"
+msgstr "associé"
+
+msgid "ready"
+msgstr "prêt"
+
+msgid "recommend disabling this feature if you experience these."
+msgstr ""
+"nous recommandons de désactiver cette fonctionnalité si vous rencontrez ces "
+"problèmes."
+
+msgid "restore"
+msgstr "restaurer"
+
+msgid "restore settings"
+msgstr "restaurer les paramètres"
+
+msgid "restoring"
+msgstr "restauration en cours"
+
+msgid "s"
+msgstr "s"
+
+msgid "settings backed up"
+msgstr "paramètres sauvegardés"
+
+msgid "slide to backup"
+msgstr "glisser pour sauvegarder"
+
+msgid "slide to restore"
+msgstr "glisser pour restaurer"
+
+msgid "sponsor"
+msgstr "sponsor"
+
+msgid "sunnylink"
+msgstr "sunnylink"
+
+msgid "sunnylink Dongle ID not found. "
+msgstr "ID Dongle sunnylink introuvable. "
+
+msgid "sunnylink Dongle ID not found. Please reboot & try again."
+msgstr "ID Dongle sunnylink introuvable. Veuillez redémarrer et réessayer."
+
+msgid ""
+"sunnylink enables secured remote access to your comma device from anywhere, "
+"including settings management, remote monitoring, real-time dashboard, etc."
+msgstr ""
+"sunnylink permet un accès à distance sécurisé à votre appareil comma depuis "
+"n'importe où, y compris la gestion des paramètres, la surveillance à "
+"distance, le tableau de bord en temps réel, etc."
+
+msgid ""
+"sunnylink is designed to be enabled as part of sunnypilot's core "
+"functionality. If sunnylink is disabled, features such as settings "
+"management, remote monitoring, real-time dashboards will be unavailable."
+msgstr ""
+"sunnylink est conçu pour être activé dans le cadre des fonctionnalités de "
+"base de sunnypilot. Si sunnylink est désactivé, des fonctionnalités telles "
+"que la gestion des paramètres, la surveillance à distance et les tableaux de"
+" bord en temps réel seront indisponibles."
+
+msgid "sunnylink uploader"
+msgstr "téléverseur sunnylink"
+
+msgid "sunnypilot Longitudinal Control (Alpha)"
+msgstr "Contrôle longitudinal sunnypilot (Alpha)"
+
+msgid ""
+"sunnypilot Longitudinal Control is the default longitudinal control for this"
+" platform."
+msgstr ""
+"Le contrôle longitudinal sunnypilot est le contrôle longitudinal par défaut "
+"pour cette plateforme."
+
+msgid "sunnypilot Unavailable"
+msgstr "sunnypilot indisponible"
+
+msgid ""
+"sunnypilot defaults to driving in chill mode. Experimental mode enables "
+"alpha-level features that aren't ready for chill mode. Experimental features"
+" are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
+"driving model control the gas and brakes. sunnypilot will drive as it thinks"
+" a human would, including stopping for red lights and stop signs. Since the "
+"driving model decides the speed to drive, the set speed will only act as an "
+"upper bound. This is an alpha quality feature; mistakes should be "
+"expected.<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"sunnypilot conduit par défaut en mode chill. Le mode expérimental active des"
+" fonctionnalités de niveau alpha qui ne sont pas prêtes pour le mode chill. "
+"Les fonctionnalités expérimentales sont listées ci-dessous :<br><h4>Contrôle"
+" longitudinal de bout en bout</h4><br>Laissez le modèle de conduite "
+"contrôler l'accélérateur et les freins. sunnypilot conduira comme il pense "
+"qu'un humain le ferait, y compris s'arrêter aux feux rouges et aux panneaux "
+"stop. Puisque le modèle de conduite décide de la vitesse, la vitesse définie"
+" ne servira que de limite supérieure. Il s'agit d'une fonctionnalité de "
+"qualité alpha ; des erreurs sont à prévoir.<br><h4>Nouvelle visualisation de"
+" conduite</h4><br>La visualisation de conduite passera à la caméra grand "
+"angle orientée route à basse vitesse pour mieux montrer certains virages. Le"
+" logo du mode expérimental sera également affiché dans le coin supérieur "
+"droit."
+
+msgid ""
+"sunnypilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart sunnypilot if the car is powered on."
+msgstr ""
+"sunnypilot se calibre en permanence, la réinitialisation est rarement "
+"nécessaire. La réinitialisation de la calibration redémarrera sunnypilot si "
+"la voiture est sous tension."
+
+msgid ""
+"sunnypilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode."
+msgstr ""
+"sunnypilot apprend à conduire en regardant des humains, comme vous, conduire.\n"
+"\n"
+"Le mode Firehose vous permet de maximiser vos envois de données d'entraînement pour améliorer les modèles de conduite d'openpilot. Plus de données signifie de plus grands modèles, ce qui signifie un meilleur mode expérimental."
+
+msgid "sunnypilot longitudinal control may come in a future update."
+msgstr ""
+"Le contrôle longitudinal sunnypilot pourrait arriver dans une future mise à "
+"jour."
+
+msgid ""
+"sunnypilot will not take over control of gas and brakes. Factory Toyota "
+"longitudinal control will be used."
+msgstr ""
+"sunnypilot ne prendra pas le contrôle de l'accélérateur et des freins. Le "
+"contrôle longitudinal Toyota d'origine sera utilisé."
diff --git a/selfdrive/ui/translations/app_ja.po b/selfdrive/ui/translations/app_ja.po
new file mode 100644
index 0000000000..ca8aac1515
--- /dev/null
+++ b/selfdrive/ui/translations/app_ja.po
@@ -0,0 +1,1197 @@
+# Japanese translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-22 16:32-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: ja\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " ステアリングトルク応答のキャリブレーションが完了しました。"
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " ステアリングトルク応答のキャリブレーションは{}%完了しました。"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " デバイスは{:.1f}°{}、{:.1f}°{}の向きです。"
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "走行データを1年間保存"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "24時間365日のLTE接続"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>警告: この車におけるopenpilotの縦制御はアルファ版であり、自動緊急ブレーキ"
+"（AEB）を無効にします。</b><br><br>この車では、openpilotは縦制御として"
+"openpilotではなく車両の内蔵ACCを既定で使用します。openpilotの縦制御に切り替え"
+"るにはこの設定を有効にしてください。openpilot縦制御アルファを有効にする場合は"
+"実験モードの有効化を推奨します。この設定を変更すると、車が起動中の場合は"
+"openpilotが再起動します。"
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>ステアリング遅延のキャリブレーションが完了しました。"
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>ステアリング遅延のキャリブレーションは{}%完了しました。"
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "アクティブ"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB（Android Debug Bridge）を使用すると、USBまたはネットワーク経由でデバイス"
+"に接続できます。詳しくは https://docs.comma.ai/how-to/connect-to-comma を参照"
+"してください。"
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "追加"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "APN設定"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "過度な作動を承認"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "詳細設定"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "アグレッシブ"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "同意する"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "常時ドライバーモニタリング"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"openpilotの縦制御アルファ版は、実験モードと併せて非リリースブランチでテストで"
+"きます。"
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "本当に電源をオフにしますか？"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "本当に再起動しますか？"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "本当にキャリブレーションをリセットしますか？"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "本当にアンインストールしますか？"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "戻る"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "connect.comma.aiで comma prime に加入"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "connect.comma.aiをホーム画面に追加してアプリのように使いましょう"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "変更"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "確認"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "チルモードON"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "接続"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "接続中..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "キャンセル"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "従量課金の携帯回線"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "言語を変更"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr "車が起動中の場合、この設定を変更するとopenpilotが再起動します。"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "\"add new device\"を押して右側のQRコードをスキャン"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "閉じる"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "現在のバージョン"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "ダウンロード"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "拒否する"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "拒否してopenpilotをアンインストール"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "開発者"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "デバイス"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "アクセルで解除"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "解除して電源オフ"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "解除して再起動"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "解除してキャリブレーションをリセット"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "速度をmphではなくkm/hで表示します。"
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ドングルID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "ダウンロード"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "ドライバーカメラ"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "走行性格"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "編集"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "エラー"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "実験モードON"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "有効化"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "ADBを有効化"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "車線逸脱警報を有効化"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "ローミングを有効化"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "SSHを有効化"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "テザリングを有効化"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "openpilotが未作動でもドライバーモニタリングを有効にします。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "openpilotを有効化"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"openpilot縦制御（アルファ）のトグルを有効にすると実験モードが使用できます。"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "APNを入力"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "SSIDを入力"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "新しいテザリングのパスワードを入力"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "パスワードを入力"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "GitHubユーザー名を入力"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "エラー"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "実験モード"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"この車では縦制御に純正ACCを使用するため、現在実験モードは利用できません。"
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "削除中..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "セットアップを完了"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Firehoseモード"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"最大限の効果を得るため、デバイスを屋内に持ち込み、週に一度は品質の良いUSB-Cア"
+"ダプターとWi‑Fiに接続してください。\n"
+"\n"
+"Firehoseモードは、ホットスポットや無制限SIMに接続していれば走行中でも動作しま"
+"す。\n"
+"\n"
+"\n"
+"よくある質問\n"
+"\n"
+"運転の仕方や場所は関係ありますか？ いいえ。普段どおりに運転してください。\n"
+"\n"
+"Firehoseモードではすべてのセグメントが取得されますか？ いいえ。セグメントの一"
+"部を選択的に取得します。\n"
+"\n"
+"良いUSB‑Cアダプターとは？ 高速なスマホまたはノートPC用充電器で問題ありませ"
+"ん。\n"
+"\n"
+"どのソフトウェアを使うかは重要ですか？ はい。学習に使えるのは上流のopenpilot"
+"（および特定のフォーク）のみです。"
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "削除"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Wi‑Fiネットワーク「{}」を削除しますか？"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "良好"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "スマートフォンで https://connect.comma.ai にアクセス"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "高温"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "非公開ネットワーク"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "非アクティブ：非従量のネットワークに接続してください"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "インストール"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IPアドレス"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "アップデートをインストール"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "ジョイスティックデバッグモード"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "読み込み中"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "縦制御マヌーバーモード"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "最大"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"学習データのアップロードを最大化してopenpilotの運転モデルを改善しましょう。"
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "該当なし"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "いいえ"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "ネットワーク"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "SSH鍵が見つかりません"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "ユーザー'{}'のSSH鍵が見つかりません"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "リリースノートはありません。"
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "オフライン"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "オンライン"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "開く"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "ペアリング"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "プレビュー"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "prime の特典:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "デバイスをペアリング"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "デバイスをペアリング"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "デバイスをあなたの comma アカウントにペアリング"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"デバイスを comma connect（connect.comma.ai）とペアリングして、comma prime 特"
+"典を受け取りましょう。"
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "初回ペアリングを完了するにはWi‑Fiに接続してください"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "電源オフ"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "従量課金のWi‑Fi接続時は大きなデータのアップロードを抑制"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "従量課金の携帯回線接続時は大きなデータのアップロードを抑制"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"ドライバー向きカメラのプレビューでモニタリングの視界を確認します。（車両は停"
+"止状態である必要があります）"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "QRコードエラー"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "削除"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "リセット"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "確認"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "再起動"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "デバイスを再起動"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "再起動して更新"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"時速31mph（50km/h）を超えて走行中にウインカーを出さず検出された車線を外れた場"
+"合、車線内に戻るよう警告を受け取ります。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "ドライバーカメラを記録してアップロード"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "マイク音声を記録してアップロード"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"走行中にマイク音声を記録・保存します。音声は comma connect のドライブレコー"
+"ダー動画に含まれます。"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "規制情報"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "リラックス"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "リモートアクセス"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "リモートスナップショット"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "リクエストがタイムアウトしました"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "リセット"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "キャリブレーションをリセット"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "トレーニングガイドを確認"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "openpilotのルール、機能、制限を確認"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "選択"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH鍵"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Wi‑Fiネットワークを検索中..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "選択"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr "ブランチを選択"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "言語を選択"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "シリアル"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "更新を後で通知"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "ソフトウェア"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "スタンダード"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"標準を推奨します。アグレッシブでは前走車に近づき、加減速も積極的になります。"
+"リラックスでは前走車との距離を保ちます。対応車種ではステアリングの車間ボタン"
+"でこれらの性格を切り替えられます。"
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "システムが応答しません"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "すぐに手動介入してください"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "温度"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "対象ブランチ"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "テザリングのパスワード"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "トグル"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "アンインストール"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "更新"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "アンインストール"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "不明"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "アップデートは車両の電源が切れている間のみダウンロードされます。"
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "今すぐアップグレード"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"ドライバー向きカメラのデータをアップロードしてモニタリングアルゴリズムの改善"
+"に協力してください。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "メートル法を使用"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"ACCと車線維持支援にopenpilotを使用します。本機能の使用中は常に注意が必要で"
+"す。"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "車両"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "表示"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "開始待機中"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"警告: これはGitHub設定内のすべての公開鍵にSSHアクセスを与えます。自分以外の"
+"GitHubユーザー名を絶対に入力しないでください。comma の従業員が自分のGitHub"
+"ユーザー名を追加するよう求めることは決してありません。"
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "openpilotへようこそ"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "有効にすると、アクセルを踏むとopenpilotが解除されます。"
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fiネットワーク（従量課金）"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "パスワードが違います"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "openpilotを使用するには、利用規約に同意する必要があります。"
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"openpilotを使用するには利用規約に同意する必要があります。続行する前に "
+"https://comma.ai/terms の最新の規約をお読みください。"
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "カメラを起動中"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "既定"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "下"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "アップデートの確認に失敗しました"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "「{}」向け"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "自動設定の場合は空欄のままにしてください"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "左"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "従量"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "なし"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "今"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot 縦制御（アルファ）"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilotは利用できません"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilotは既定でチルモードで走行します。実験モードでは、チルモードにはまだ準"
+"備ができていないアルファレベルの機能が有効になります。実験的な機能は以下のと"
+"おりです:<br><h4>エンドツーエンド縦制御</h4><br>運転モデルがアクセルとブレー"
+"キを制御します。openpilotは人間のように走行し、赤信号や一時停止でも停止しま"
+"す。走行速度は運転モデルが決めるため、設定速度は上限としてのみ機能します。こ"
+"れはアルファ品質の機能であり、誤動作が発生する可能性があります。<br><h4>新し"
+"い運転ビジュアライゼーション</h4><br>低速時には道路向きの広角カメラに切り替わ"
+"り、一部の曲がりをより良く表示します。画面右上には実験モードのロゴも表示され"
+"ます。"
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilotは継続的にキャリブレーションを行っており、リセットが必要になることは"
+"稀です。車が起動中にキャリブレーションをリセットするとopenpilotが再起動しま"
+"す。"
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilotは、あなたのような人間の運転を見て運転を学習します。\n"
+"\n"
+"Firehoseモードを使うと、学習データのアップロードを最大化してopenpilotの運転モ"
+"デルを改善できます。データが増えるほどモデルが大きくなり、実験モードがより良"
+"くなります。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "openpilotの縦制御は将来のアップデートで提供される可能性があります。"
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"openpilotでは、デバイスの取り付け角度が左右±4°、上方向5°以内、下方向9°以内で"
+"ある必要があります。"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "右"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "非従量"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "上"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "最新です。最終確認: なし"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "最新です。最終確認: {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "更新があります"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{}件のアラート"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{}日前"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{}時間前"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{}分前"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"これまでにあなたの走行の{}セグメントが学習データセットに含まれています。"
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 登録済み"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehoseモード 🔥"
diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po
new file mode 100644
index 0000000000..f12aebaeb3
--- /dev/null
+++ b/selfdrive/ui/translations/app_ko.po
@@ -0,0 +1,1190 @@
+# Korean translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-22 16:32-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: ko\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " 스티어링 토크 응답 보정이 완료되었습니다."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " 스티어링 토크 응답 보정이 {}% 완료되었습니다."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " 장치는 {:.1f}° {} 및 {:.1f}° {} 방향을 가리키고 있습니다."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "주행 데이터 1년 보관"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "연중무휴 LTE 연결"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
+"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
+"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
+"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
+"원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>스티어링 지연 보정이 완료되었습니다."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>스티어링 지연 보정이 {}% 완료되었습니다."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "활성"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB(Android Debug Bridge)를 사용하면 USB 또는 네트워크로 장치에 연결할 수 있"
+"습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma 를 참고하"
+"세요."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "추가"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "APN 설정"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "과도한 작동을 확인"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "고급"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "공격적"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "동의"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "운전자 모니터링 항상 켜짐"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
+"할 수 있습니다."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "정말 전원을 끄시겠습니까?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "정말 재시작하시겠습니까?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "정말 보정을 재설정하시겠습니까?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "정말 제거하시겠습니까?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "뒤로"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "connect.comma.ai에서 comma prime 회원이 되세요"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "connect.comma.ai를 홈 화면에 추가하여 앱처럼 사용하세요"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "변경"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "확인"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "안정적 모드 켜짐"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "연결"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "연결 중..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "취소"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "종량제 셀룰러"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "언어 변경"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr "차량 전원이 켜져 있으면 이 설정을 변경할 때 openpilot이 재시작됩니다."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "\"add new device\"를 눌러 오른쪽의 QR 코드를 스캔하세요"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "닫기"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "현재 버전"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "다운로드"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "거부"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "거부하고 openpilot 제거"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "개발자"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "장치"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "가속 페달로 해제"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "해제 후 전원 끄기"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "해제 후 재시작"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "해제 후 캘리브레이션 재설정"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "속도를 mph 대신 km/h로 표시합니다."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "동글 ID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "다운로드"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "운전자 카메라"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "주행 성향"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "편집"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "오류"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "실험 모드 켜짐"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "사용"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "ADB 사용"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "차선 이탈 경고 사용"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "로밍 사용"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "SSH 사용"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "테더링 사용"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "openpilot이 작동 중이 아닐 때도 운전자 모니터링을 사용합니다."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "openpilot 사용"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "APN 입력"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "SSID 입력"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "새 테더링 비밀번호 입력"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "비밀번호 입력"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "GitHub 사용자 이름 입력"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "오류"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "실험 모드"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
+"니다."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "삭제 중..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "설정 완료"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "파이어호스"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "파이어호스 모드"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
+"Wi‑Fi에 연결하세요.\n"
+"\n"
+"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
+"다.\n"
+"\n"
+"\n"
+"자주 묻는 질문\n"
+"\n"
+"어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
+"\n"
+"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
+"적으로 가져갑니다.\n"
+"\n"
+"좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
+"다.\n"
+"\n"
+"어떤 소프트웨어를 실행하는지가 중요한가요? 예. 학습에는 업스트림 "
+"openpilot(및 일부 포크)만 사용할 수 있습니다."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "삭제"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Wi‑Fi 네트워크 \"{}\"를 삭제하시겠습니까?"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "양호"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "휴대폰에서 https://connect.comma.ai 에 접속하세요"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "높음"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "숨겨진 네트워크"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "비활성: 비종량제 네트워크에 연결하세요"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "설치"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP 주소"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "업데이트 설치"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "조이스틱 디버그 모드"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "로딩 중"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "롱컨 기동 모드"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "최대"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr "학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선하세요."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "해당 없음"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "아니오"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "네트워크"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "SSH 키를 찾을 수 없습니다"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "사용자 '{}'의 SSH 키를 찾을 수 없습니다"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "릴리스 노트가 없습니다."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "오프라인"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "확인"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "온라인"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "열기"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "페어링"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "미리보기"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "프라임 기능:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "장치 페어링"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "장치 페어링"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "장치를 귀하의 comma 계정에 페어링하세요"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
+"요."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "초기 페어링을 완료하려면 Wi‑Fi에 연결하세요"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "전원 끄기"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "종량제 Wi‑Fi 연결 시 대용량 업로드 방지"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "종량제 셀룰러 연결 시 대용량 업로드 방지"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"운전자 모니터링의 가시성을 확인하기 위해 운전자 카메라를 미리 봅니다. (차량"
+"은 꺼져 있어야 합니다)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "QR 코드 오류"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "제거"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "재설정"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "검토"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "재시작"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "장치 재시작"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "재시작 및 업데이트"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"시속 31mph(50km/h) 이상에서 방향지시등 없이 감지된 차선 밖으로 벗어나면 차선"
+"으로 복귀하라는 경고를 받습니다."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "운전자 카메라 기록 및 업로드"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "마이크 오디오 기록 및 업로드"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"주행 중 마이크 오디오를 기록하고 저장합니다. 오디오는 comma connect의 대시캠 "
+"영상에 포함됩니다."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "규제 정보"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "편안한"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "원격 액세스"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "원격 스냅샷"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "요청 시간이 초과되었습니다"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "재설정"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "캘리브레이션 재설정"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "학습 가이드 검토"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "openpilot의 규칙, 기능 및 제한을 검토"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "선택"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH 키"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Wi‑Fi 네트워크 검색 중..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "선택"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr "브랜치 선택"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "언어 선택"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "시리얼"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "업데이트 나중에 알림"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "소프트웨어"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "표준"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
+"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
+"링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "시스템 응답 없음"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "즉시 수동 조작하세요"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "온도"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "대상 브랜치"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "테더링 비밀번호"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "토글"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "제거"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "업데이트"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "제거"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "알수없음"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "업데이트는 차량 전원이 꺼져 있을 때만 다운로드됩니다."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "지금 업그레이드"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"운전자 방향 카메라 데이터를 업로드하여 운전자 모니터링 알고리즘 개선에 도움"
+"을 주세요."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "미터법 사용"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"ACC 및 차선 유지 보조에 openpilot을 사용합니다. 이 기능을 사용할 때는 항상 주"
+"의가 필요합니다."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "차량"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "보기"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "시작 대기 중"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"경고: 이는 GitHub 설정의 모든 공개 키에 SSH 액세스를 부여합니다. 자신의 것이 "
+"아닌 GitHub 사용자 이름을 절대 입력하지 마세요. comma 직원이 본인의 GitHub 사"
+"용자 이름 추가를 요구하는 일은 결코 없습니다."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "openpilot에 오신 것을 환영합니다"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "이 옵션을 켜면 가속 페달을 밟을 때 openpilot이 해제됩니다."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fi 네트워크 종량제"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "비밀번호가 올바르지 않습니다"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "openpilot을 사용하려면 약관에 동의해야 합니다."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"openpilot을 사용하려면 약관에 동의해야 합니다. 계속하기 전에 https://comma."
+"ai/terms 에서 최신 약관을 읽어주세요."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "카메라 시작 중"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma 프라임"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "기본값"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "아래"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "업데이트 확인 실패"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "\"{}\"용"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "자동 구성을 사용하려면 비워 두세요"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "왼쪽"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "종량제"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "없음"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "지금"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot 롱컨 제어(알파)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot 사용 불가"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
+"아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
+"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
+"다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
+"판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
+"으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
+"새로운 주행 시각화</h4><br>저속에서는 도로 방향의 광각 카메라로 전환되어 일"
+"부 회전을 더 잘 보여줍니다. 화면 오른쪽 위에는 실험 모드 로고도 표시됩니다."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot은 지속적으로 보정을 진행하므로 재설정이 필요한 경우는 드뭅니다. 차"
+"량 전원이 켜져 있을 때 보정을 재설정하면 openpilot이 재시작됩니다."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot은 당신과 같은 사람의 운전을 보며 운전을 학습합니다.\n"
+"\n"
+"Firehose 모드는 학습 데이터 업로드를 최대화하여 openpilot의 주행 모델을 개선"
+"할 수 있게 해줍니다. 데이터가 많을수록 모델은 커지고, 실험 모드는 더 좋아집니"
+"다."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr "openpilot은 장치를 좌우 4°, 위쪽 5°, 아래쪽 9° 이내로 장착해야 합니다."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "오른쪽"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "비종량제"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "위"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "최신입니다. 마지막 확인: 없음"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "최신입니다. 마지막 확인: {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "업데이트 가능"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{}건의 알림"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{}일 전"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{}시간 전"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{}분 전"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 구독됨"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 파이어호스 모드 🔥"
diff --git a/selfdrive/ui/translations/app_pt-BR.po b/selfdrive/ui/translations/app_pt-BR.po
new file mode 100644
index 0000000000..84b53c6e8d
--- /dev/null
+++ b/selfdrive/ui/translations/app_pt-BR.po
@@ -0,0 +1,1220 @@
+# Language pt-BR translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-21 00:00-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: pt-BR\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=2; plural=(n > 1);\n"
+"X-Language: pt_BR\n"
+"X-Source-Language: C\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " A calibração da resposta de torque da direção foi concluída."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " A calibração da resposta de torque da direção está {}% concluída."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Seu dispositivo está apontado {:.1f}° {} e {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 ano de armazenamento de condução"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "Conectividade LTE 24/7"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>AVISO: o controle longitudinal do openpilot está em alpha para este carro "
+"e desativará a Frenagem Automática de Emergência (AEB).</b><br><br>Neste "
+"carro, o openpilot usa por padrão o ACC integrado do carro em vez do "
+"controle longitudinal do openpilot. Ative isto para alternar para o controle "
+"longitudinal do openpilot. Recomenda-se ativar o Modo Experimental ao ativar "
+"o controle longitudinal do openpilot em alpha."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>A calibração da latência da direção está concluída."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>A calibração da latência da direção está {}% concluída."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "ATIVO"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge) permite conectar ao seu dispositivo via USB ou "
+"pela rede. Veja https://docs.comma.ai/how-to/connect-to-comma para mais "
+"informações."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "ADICIONAR"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "Configuração de APN"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Reconhecer Atuação Excessiva"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Avançado"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Agressivo"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Concordo"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Monitoramento de Motorista Sempre Ativo"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"Uma versão alpha do controle longitudinal do openpilot pode ser testada, "
+"junto com o Modo Experimental, em ramificações fora de release."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Tem certeza de que deseja desligar?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Tem certeza de que deseja reiniciar?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Tem certeza de que deseja redefinir a calibração?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Tem certeza de que deseja desinstalar?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Voltar"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Torne-se membro comma prime em connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "Adicione connect.comma.ai à tela inicial para usá-lo como um app"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "ALTERAR"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "VERIFICAR"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "MODO CHILL ATIVO"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONECTAR"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "CONECTANDO..."
+
+#: system/ui/widgets/confirm_dialog.py:23
+#: system/ui/widgets/option_dialog.py:35 system/ui/widgets/keyboard.py:81
+#: system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "Cancelar"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Dados móveis limitados"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Alterar Idioma"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+"Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Toque em \"adicionar novo dispositivo\" e escaneie o QR code à direita"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Fechar"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Versão Atual"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "BAIXAR"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Recusar"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Recusar, desinstalar o openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "Desenvolv"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "Dispositivo"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Desativar ao pressionar o acelerador"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Desativar para Desligar"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Desativar para Reiniciar"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Desativar para Redefinir Calibração"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Exibir velocidade em km/h em vez de mph."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ID do Dongle"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Baixar"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Câmera do Motorista"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Personalidade"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "EDITAR"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ERRO"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "MODO EXPERIMENTAL ATIVO"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "Ativar"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Ativar ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Ativar alertas de saída de faixa"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Ativar openpilot"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Ativar SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Ativar alertas de saída de faixa"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr ""
+"Ativar monitoramento do motorista mesmo quando o openpilot não está engajado."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Ativar openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Ative a opção de controle longitudinal do openpilot (alpha) para permitir o "
+"Modo Experimental."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "Digite APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "Digite SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Digite nova senha tethering"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Digite a senha"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Digite seu nome de usuário do GitHub"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Erro"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Modo Experimental"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"O Modo Experimental está indisponível neste carro pois o ACC original do "
+"carro é usado para controle longitudinal."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "ESQUECENDO..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Configure"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Modo Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Para máxima efetividade, leve seu dispositivo para dentro e conecte a um bom "
+"adaptador USB-C e Wi‑Fi semanalmente.\n"
+"\n"
+"O Modo Firehose também pode funcionar enquanto você dirige se estiver "
+"conectado a um hotspot ou a um SIM ilimitado.\n"
+"\n"
+"\n"
+"Perguntas Frequentes\n"
+"\n"
+"Importa como ou onde eu dirijo? Não, apenas dirija como normalmente.\n"
+"\n"
+"Todos os meus segmentos são puxados no Modo Firehose? Não, puxamos "
+"seletivamente um subconjunto dos seus segmentos.\n"
+"\n"
+"Qual é um bom adaptador USB‑C? Qualquer carregador rápido de telefone ou "
+"laptop serve.\n"
+"\n"
+"Importa qual software eu executo? Sim, apenas o openpilot upstream (e forks "
+"específicos) podem ser usados para treinamento."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Esquecer"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Esquecer rede Wi-Fi \"{}\"?"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "BOM"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Acesse https://connect.comma.ai no seu telefone"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "ALTO"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Rede"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "INATIVO: conecte a uma rede sem franquia"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "INSTALAR"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "Endereço IP"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Instalar Atualização"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Modo de Depuração do Joystick"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "CARREGANDO"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Modo de Manobra Longitudinal"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "MÁX"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Maximize seus envios de dados de treinamento para melhorar os modelos de "
+"condução do openpilot."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "N/A"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "NÃO"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "Rede"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "Nenhuma chave SSH encontrada"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "Nenhuma chave SSH encontrada para o usuário '{username}'"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Sem notas de versão disponíveis."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "OFFLINE"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ONLINE"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "Abrir"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "EMPARELHAR"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "PRÉVIA"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "RECURSOS PRIME:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Emparelhar Dispositivo"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Emparelhar dispositivo"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Emparelhe seu dispositivo à sua conta comma"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Emparelhe seu dispositivo com o comma connect (connect.comma.ai) e resgate "
+"sua oferta comma prime."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Conecte-se ao Wi‑Fi para concluir o emparelhamento inicial"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Desligar"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "Evitar uploads grandes de dados em conexões Wi-Fi limitadas"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "Evitar uploads grandes de dados em conexões móveis limitadas"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Pré-visualize a câmera voltada para o motorista para garantir que o "
+"monitoramento do motorista tenha boa visibilidade. (veículo deve estar "
+"desligado)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "Erro no QR Code"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "REMOVER"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "REDEFINIR"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "REVISAR"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Reiniciar"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Reiniciar Dispositivo"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Reiniciar e Atualizar"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Receba alertas para voltar à faixa quando seu veículo cruzar uma linha de "
+"faixa detectada sem seta ativada ao dirigir acima de 31 mph (50 km/h)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Gravar e Enviar Câmera do Motorista"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Gravar e Enviar Áudio do Microfone"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Grave e armazene o áudio do microfone enquanto dirige. O áudio será incluído "
+"no vídeo da dashcam no comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Regulatório"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Relaxado"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Acesso remoto"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Capturas remotas"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Tempo da solicitação esgotado"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Redefinir"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Redefinir Calibração"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Revisar Guia de Treinamento"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Revise as regras, recursos e limitações do openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "SELECIONAR"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "Chaves SSH"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Procurando redes Wi-Fi..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Selecione"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr "Selecione uma branch"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Selecione um idioma"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Serial"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Adiar Atualização"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "Software"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Padrão"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Padrão é recomendado. No modo agressivo, o openpilot seguirá veículos à "
+"frente mais de perto e será mais agressivo com acelerador e freio. No modo "
+"relaxado, o openpilot ficará mais longe dos veículos à frente. Em carros "
+"compatíveis, você pode alternar essas personalidades com o botão de "
+"distância do volante."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Sistema sem resposta"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "ASSUMA O CONTROLE IMEDIATAMENTE"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "TEMP"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "Branch Alvo"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Senha Tethering"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "Toggles"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "DESINSTALAR"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "ATUALIZAR"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "Desinstalar"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Desconhecido"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Atualizações são baixadas apenas com o carro desligado."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Atualizar Agora"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Envie dados da câmera voltada para o motorista e ajude a melhorar o "
+"algoritmo de monitoramento do motorista."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Usar Sistema Métrico"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Use o sistema openpilot para controle de cruzeiro adaptativo e assistência "
+"de permanência em faixa. Sua atenção é necessária o tempo todo para usar "
+"este recurso."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "VEÍCULO"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "VER"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Aguardando para iniciar"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Aviso: Isso concede acesso SSH a todas as chaves públicas nas suas "
+"configurações do GitHub. Nunca informe um nome de usuário do GitHub que não "
+"seja o seu. Um funcionário da comma NUNCA pedirá para você adicionar o nome "
+"de usuário do GitHub dele."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Bem-vindo ao openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr ""
+"Quando ativado, pressionar o pedal do acelerador desengajará o openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Rede Wi-Fi limitada"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Senha errada"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "Você deve aceitar os Termos e Condições para usar o openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Você deve aceitar os Termos e Condições para usar o openpilot. Leia os "
+"termos mais recentes em https://comma.ai/terms antes de continuar."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "câmera iniciando"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "default"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "para baixo"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "falha ao verificar atualização"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "para \"{}\""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "deixe em branco para configuração automática"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "à esquerda"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "limitados"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "nunca"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "agora"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "Controle Longitudinal do openpilot (Alpha)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot Indisponível"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables "
+"alpha-level features that aren't ready for chill mode. Experimental features "
+"are listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the "
+"driving model control the gas and brakes. openpilot will drive as it thinks "
+"a human would, including stopping for red lights and stop signs. Since the "
+"driving model decides the speed to drive, the set speed will only act as an "
+"upper bound. This is an alpha quality feature; mistakes should be "
+"expected.<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"o openpilot dirige por padrão no modo chill. O Modo Experimental habilita "
+"recursos em nível alpha que não estão prontos para o modo chill. Os recursos "
+"experimentais são listados abaixo:<br><h4>Controle Longitudinal "
+"End-to-End</h4><br>Permita que o modelo de condução controle o acelerador e "
+"os freios. O openpilot dirigirá como acha que um humano faria, incluindo "
+"parar em sinais e semáforos vermelhos. Como o modelo decide a velocidade, a "
+"velocidade definida atuará apenas como limite superior. Este é um recurso de "
+"qualidade alpha; erros devem ser esperados.<br><h4>Nova Visualização de "
+"Condução</h4><br>A visualização de condução mudará para a câmera "
+"grande-angular voltada para a estrada em baixas velocidades para mostrar "
+"melhor algumas curvas. O logotipo do Modo Experimental também será exibido "
+"no canto superior direito."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"O openpilot está continuamente calibrando, resetar é raramente solicitado. "
+"Alterar esta configuração reiniciará o openpilot se o carro estiver ligado."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"o openpilot aprende a dirigir observando humanos, como você, dirigirem.\n"
+"\n"
+"O Modo Firehose permite maximizar seus envios de dados de treinamento para "
+"melhorar os modelos de condução do openpilot. Mais dados significam modelos "
+"maiores, o que significa um Modo Experimental melhor."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr ""
+"o controle longitudinal do openpilot pode vir em uma atualização futura."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"o openpilot requer que o dispositivo seja montado dentro de 4° para a "
+"esquerda ou direita e dentro de 5° para cima ou 9° para baixo."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "à direita"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "ilimitados"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "para cima"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "atualizado, última verificação: nunca"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "atualizado, última verificação: {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "atualização disponível"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} ALERTA"
+msgstr[1] "{} ALERTAS"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} dia atrás"
+msgstr[1] "{} dias atrás"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} hora atrás"
+msgstr[1] "{} horas atrás"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} minuto atrás"
+msgstr[1] "{} minutos atrás"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"{} segmento da sua condução está no conjunto de treinamento até agora."
+msgstr[1] ""
+"{} segmentos da sua condução estão no conjunto de treinamento até agora."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ASSINADO"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Modo Firehose 🔥"
diff --git a/selfdrive/ui/translations/app_th.po b/selfdrive/ui/translations/app_th.po
new file mode 100644
index 0000000000..f2e56f2882
--- /dev/null
+++ b/selfdrive/ui/translations/app_th.po
@@ -0,0 +1,1129 @@
+# Thai translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-22 16:32-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: th\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr ""
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr ""
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr ""
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr ""
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr ""
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr ""
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr ""
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr ""
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr ""
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr ""
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr ""
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr ""
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr ""
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr ""
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr ""
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr ""
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr ""
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr ""
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr ""
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr ""
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr ""
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr ""
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr ""
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr ""
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr ""
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr ""
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr ""
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr ""
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr ""
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr ""
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr ""
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr ""
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr ""
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+msgstr[1] ""
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr ""
diff --git a/selfdrive/ui/translations/app_tr.po b/selfdrive/ui/translations/app_tr.po
new file mode 100644
index 0000000000..10191234a1
--- /dev/null
+++ b/selfdrive/ui/translations/app_tr.po
@@ -0,0 +1,1210 @@
+# Turkish translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-20 18:19-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: tr\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=2; plural=(n != 1);\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Direksiyon tork tepkisi kalibrasyonu tamamlandı."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " Direksiyon tork tepkisi kalibrasyonu {}% tamamlandı."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Cihazınız {:.1f}° {} ve {:.1f}° {} yönünde konumlandırılmış."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 yıl sürüş depolaması"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "7/24 LTE bağlantısı"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>UYARI: Bu araç için openpilot boylamsal kontrolü alfa aşamasındadır ve "
+"Otomatik Acil Frenlemeyi (AEB) devre dışı bırakacaktır.</b><br><br>Bu araçta "
+"openpilot, openpilot'un boylamsal kontrolü yerine aracın yerleşik ACC'sini "
+"varsayılan olarak kullanır. openpilot boylamsal kontrolüne geçmek için bunu "
+"etkinleştirin. openpilot boylamsal kontrol alfayı etkinleştirirken Deneysel "
+"modu etkinleştirmeniz önerilir."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "AKTİF"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge), cihazınıza USB veya ağ üzerinden bağlanmayı "
+"sağlar. Daha fazla bilgi için https://docs.comma.ai/how-to/connect-to-comma "
+"adresine bakın."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "EKLE"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr ""
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Aşırı Müdahaleyi Onayla"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Agresif"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Kabul et"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Sürekli Sürücü İzleme"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"openpilot boylamsal kontrolünün alfa sürümü, Deneysel mod ile birlikte, "
+"yayın dışı dallarda test edilebilir."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Kapatmak istediğinizden emin misiniz?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Yeniden başlatmak istediğinizden emin misiniz?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Kalibrasyonu sıfırlamak istediğinizden emin misiniz?"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Kaldırmak istediğinizden emin misiniz?"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Geri"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "connect.comma.ai adresinde comma prime üyesi olun"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"connect.comma.ai'yi ana ekranınıza ekleyerek bir uygulama gibi kullanın"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "DEĞİŞTİR"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "KONTROL ET"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "CHILL MODU AÇIK"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "BAĞLAN"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "BAĞLAN"
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr ""
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Dili Değiştir"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+" Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "\"yeni cihaz ekle\"ye tıklayın ve sağdaki QR kodunu tarayın"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Kapat"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Geçerli Sürüm"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "İNDİR"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Reddet"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Reddet, openpilot'u kaldır"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "Geliştirici"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "Cihaz"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Gaz Pedalında Devreden Çık"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Kapatmak için Devreden Çıkın"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Yeniden Başlatmak için Devreden Çıkın"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Kalibrasyonu Sıfırlamak için Devreden Çıkın"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Hızı mph yerine km/h olarak göster."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "Dongle ID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "İndir"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Sürücü Kamerası"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Sürüş Kişiliği"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "HATA"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "DENEYSEL MOD AÇIK"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "Etkinleştir"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "ADB'yi Etkinleştir"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Şerit Terk Uyarılarını Etkinleştir"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "openpilot'u etkinleştir"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "SSH'yi Etkinleştir"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Şerit Terk Uyarılarını Etkinleştir"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "openpilot devrede değilken bile sürücü izlemesini etkinleştir."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "openpilot'u etkinleştir"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Deneysel modu etkinleştirmek için openpilot boylamsal kontrolünü (alfa) açın."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr ""
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr ""
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr ""
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr ""
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "GitHub kullanıcı adınızı girin"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Deneysel Mod"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"Bu araçta boylamsal kontrol için stok ACC kullanıldığından şu anda Deneysel "
+"mod kullanılamıyor."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr ""
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Kurulumu Bitir"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Firehose Modu"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Maksimum verim için cihazınızı içeri alın ve haftalık olarak iyi bir USB-C "
+"adaptörüne ve Wi‑Fi'a bağlayın.\n"
+"\n"
+"Firehose Modu, bir hotspot'a veya sınırsız SIM karta bağlıyken sürüş "
+"sırasında da çalışabilir.\n"
+"\n"
+"\n"
+"Sıkça Sorulan Sorular\n"
+"\n"
+"Nasıl veya nerede sürdüğüm önemli mi? Hayır, normalde nasıl sürüyorsanız "
+"öyle sürün.\n"
+"\n"
+"Firehose Modu'nda tüm segmentlerim çekiliyor mu? Hayır, segmentlerinizin bir "
+"alt kümesini seçerek çekiyoruz.\n"
+"\n"
+"İyi bir USB‑C adaptörü nedir? Hızlı bir telefon veya dizüstü şarj cihazı "
+"uygundur.\n"
+"\n"
+"Hangi yazılımı çalıştırdığım önemli mi? Evet, yalnızca upstream openpilot "
+"(ve bazı fork'lar) eğitim için kullanılabilir."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr ""
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "İYİ"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Telefonunuzda https://connect.comma.ai adresine gidin"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "YÜKSEK"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Ağ"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "PASİF: sınırsız bir ağa bağlanın"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "YÜKLE"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Güncellemeyi Yükle"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Joystick Hata Ayıklama Modu"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "YÜKLENİYOR"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Boylamsal Manevra Modu"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "MAKS"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"openpilot'un sürüş modellerini iyileştirmek için eğitim veri yüklemelerinizi "
+"en üst düzeye çıkarın."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr ""
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "HAYIR"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "Ağ"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "SSH anahtarı bulunamadı"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "'{username}' için SSH anahtarı bulunamadı"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Sürüm notu mevcut değil."
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "ÇEVRİMDIŞI"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ÇEVRİMİÇİ"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "Aç"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "EŞLE"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "ÖNİZLEME"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "PRIME ÖZELLİKLERİ:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Cihazı Eşle"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Cihazı eşle"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Cihazınızı comma hesabınızla eşleştirin"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime "
+"teklifinizi alın."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "İlk eşleştirmeyi tamamlamak için lütfen Wi‑Fi'a bağlanın"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Kapat"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Sürücü izleme görünürlüğünün iyi olduğundan emin olmak için sürücüye bakan "
+"kamerayı önizleyin. (araç kapalı olmalıdır)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "QR Kod Hatası"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "KALDIR"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "SIFIRLA"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "GÖZDEN GEÇİR"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Yeniden Başlat"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Cihazı Yeniden Başlat"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Yeniden Başlat ve Güncelle"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Araç 31 mph (50 km/h) üzerindeyken sinyal verilmeden algılanan şerit "
+"çizgisini aştığınızda şeride geri dönmeniz için uyarılar alın."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Sürücü Kamerasını Kaydet ve Yükle"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Mikrofon Sesini Kaydet ve Yükle"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Sürüş sırasında mikrofon sesini kaydedip saklayın. Ses, comma connect'teki "
+"ön kamera videosuna dahil edilecektir."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Mevzuat"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Rahat"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Uzaktan erişim"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Uzaktan anlık görüntüler"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "İstek zaman aşımına uğradı"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Sıfırla"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Kalibrasyonu Sıfırla"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Eğitim Kılavuzunu İncele"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr ""
+"openpilot'un kurallarını, özelliklerini ve sınırlamalarını gözden geçirin"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr ""
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr ""
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Bir dil seçin"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Seri"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Güncellemeyi Ertele"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "Yazılım"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Standart"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Standart önerilir. Agresif modda openpilot öndeki aracı daha yakından takip "
+"eder ve gaz/fren kullanımında daha ataktır. Rahat modda openpilot öndeki "
+"araçlardan daha uzak durur. Desteklenen araçlarda bu kişilikler arasında "
+"direksiyon mesafe düğmesiyle geçiş yapabilirsiniz."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Sistem Yanıt Vermiyor"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "HEMEN KONTROLÜ DEVRALIN"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "TEMP"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr ""
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "Seçenekler"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "KALDIR"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "GÜNCELLE"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "Kaldır"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Bilinmiyor"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Güncellemeler yalnızca araç kapalıyken indirilir."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Şimdi Yükselt"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Sürücüye bakan kameradan veri yükleyin ve sürücü izleme algoritmasını "
+"geliştirmeye yardımcı olun."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Metrik Sistemi Kullan"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Uyarlanabilir hız sabitleyici ve şerit koruma sürücü yardımında openpilot "
+"sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız "
+"gerekir."
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "ARAÇ"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "GÖRÜNTÜLE"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Başlatma bekleniyor"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Uyarı: Bu, GitHub ayarlarınızdaki tüm açık anahtarlara SSH erişimi verir. "
+"Kendi adınız dışında asla bir GitHub kullanıcı adı girmeyin. Bir comma "
+"çalışanı sizden asla GitHub kullanıcı adlarını eklemenizi İSTEMEZ."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "openpilot'a hoş geldiniz"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr ""
+"Etkinleştirildiğinde, gaz pedalına basmak openpilot'u devreden çıkarır."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr ""
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr ""
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"openpilot'u kullanmak için Şartlar ve Koşulları kabul etmelisiniz. Devam "
+"etmeden önce en güncel şartları https://comma.ai/terms adresinde okuyun."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "kamera başlatılıyor"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "aşağı"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "güncelleme kontrolü başarısız"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "sol"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr ""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "asla"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "şimdi"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot Boylamsal Kontrol (Alfa)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot Kullanılamıyor"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot varsayılan olarak chill modunda sürer. Deneysel mod, chill moduna "
+"hazır olmayan alfa seviyesindeki özellikleri etkinleştirir. Deneysel "
+"özellikler aşağıda listelenmiştir:<br><h4>Uçtan Uca Boylamsal Kontrol</"
+"h4><br>Sürüş modelinin gaz ve frenleri kontrol etmesine izin verin. "
+"openpilot, kırmızı ışıklarda ve dur işaretlerinde durmak dahil, bir insan "
+"nasıl sürer diye düşündüğüne göre sürer. Hızı sürüş modeli belirlediğinden, "
+"ayarlanan hız yalnızca üst sınır olarak işlev görür. Bu bir alfa kalitesinde "
+"özelliktir; hatalar beklenmelidir.<br><h4>Yeni Sürüş Görselleştirmesi</"
+"h4><br>Sürüş görselleştirmesi, düşük hızlarda bazı dönüşleri daha iyi "
+"göstermek için yola bakan geniş açılı kameraya geçer. Deneysel mod logosu "
+"sağ üst köşede de gösterilecektir."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+" Bu ayarı değiştirmek, araç çalışıyorsa openpilot'u yeniden başlatacaktır."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot, sizin gibi insanların nasıl sürdüğünü izleyerek sürmeyi öğrenir.\n"
+"\n"
+"Firehose Modu, openpilot'un sürüş modellerini geliştirmek için eğitim veri "
+"yüklemelerinizi en üst düzeye çıkarmanıza olanak tanır. Daha fazla veri, "
+"daha büyük modeller demektir; bu da daha iyi Deneysel Mod anlamına gelir."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "openpilot boylamsal kontrolü gelecekteki bir güncellemede gelebilir."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"openpilot, cihazın sağa/sola 4° ve yukarı 5° veya aşağı 9° içinde monte "
+"edilmesini gerektirir."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "sağ"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr ""
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "yukarı"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "güncel, son kontrol asla"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "güncel, son kontrol {}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "güncelleme mevcut"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} UYARI"
+msgstr[1] "{} UYARILAR"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} gün önce"
+msgstr[1] "{} gün önce"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} saat önce"
+msgstr[1] "{} saat önce"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} dakika önce"
+msgstr[1] "{} dakika önce"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "{} segment sürüşünüz eğitim veri setinde."
+msgstr[1] "{} segment sürüşünüz eğitim veri setinde."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ABONE"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose Modu 🔥"
diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po
new file mode 100644
index 0000000000..cf78fb5a33
--- /dev/null
+++ b/selfdrive/ui/translations/app_uk.po
@@ -0,0 +1,1258 @@
+# Ukrainian translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: \n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-11-19 12:21+0200\n"
+"PO-Revision-Date: 2025-11-19 13:27+0200\n"
+"Last-Translator: KeeFeeRe <me@keefeere.me>\n"
+"Language-Team: none\n"
+"Language: uk\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
+"n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n"
+"X-Generator: Poedit 3.8\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Калібрування реакції крутного моменту керма завершено."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr "Калібрування реакції крутного моменту керма завершено на {}%."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 рік зберігання поїздок"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "Підключення LTE 24/7"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"ПОПЕРЕДЖЕННЯ: поздовжнє керування openpilot для цього автомобіля знаходиться "
+"в стадії альфа-тестування і вимкне автоматичне екстрене гальмування (AEB)."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Калібрування затримки кермування завершено."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Калібрування затримки кермування завершено на {}%."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "АКТИВНИЙ"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge) дозволяє підключатися до вашого пристрою через "
+"USB або мережу. Дивіться https://docs.comma.ai/how-to/connect-to-comma для "
+"отримання додаткової інформації."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "ДОДАТИ"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "Налаштування APN"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Визнайте надмірне спрацьовування"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Розширені"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Агресивн."
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Погодитися"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Постійний моніторинг водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"Альфа-версію поздовжнього керування openpilot можна протестувати разом з "
+"експериментальним режимом на нерелізних гілках."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Ви впевнені, що хочете вимкнути?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Ви впевнені, що хочете перезавантажити?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Ви впевнені, що хочете скинути калібрування?"
+
+#: selfdrive/ui/layouts/settings/software.py:171
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Ви впевнені, що хочете видалити?"
+
+#: system/ui/widgets/network.py:99
+#: selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Назад"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Станьте членом comma prime на connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:119
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"Додайте connect.comma.ai до головного екрану, щоб використовувати його як "
+"додаток."
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "ЗМІНИТИ"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:115
+#: selfdrive/ui/layouts/settings/software.py:126
+#: selfdrive/ui/layouts/settings/software.py:155
+#, python-format
+msgid "CHECK"
+msgstr "ПЕРЕВІРИТИ"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "СПОКІЙНИЙ РЕЖИМ"
+
+#: system/ui/widgets/network.py:155
+#: selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134
+#: selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "ПІДКЛЮЧА..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/network.py:318 system/ui/widgets/keyboard.py:81
+#, python-format
+msgid "Cancel"
+msgstr "Скасувати"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Лімітне стільникове з'єднання"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Змінити мову"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+"Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль "
+"увімкнено."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:118
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч."
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Закрити"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Поточна версія"
+
+#: selfdrive/ui/layouts/settings/software.py:118
+#, python-format
+msgid "DOWNLOAD"
+msgstr "ВАНТАЖ"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Відхилити"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Відхилити, видалити openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Developer"
+msgstr "Розробник"
+
+#: selfdrive/ui/layouts/settings/settings.py:59
+msgid "Device"
+msgstr "Пристрій"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Вимкнення при натисканні на педаль газу"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Вимкніть openpilot, щоб вимкнути пристрій"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Вимкніть openpilot, щоб перезавантажити"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Деактивуйте для скидання калібрування"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Відображати швидкість у км/год замість миль/год."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ID ключа"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Завантажити"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Камера водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Стиль водіння"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "РЕДАГ."
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ПОМИЛКА"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ"
+
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#: selfdrive/ui/layouts/settings/developer.py:166
+#, python-format
+msgid "Enable"
+msgstr "Увімкнути"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Увімкнути ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Увімкнути попередження про виїзд зі смуги"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Увімкнути роумінг"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Увімкнути SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Увімкнути точку доступу"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "Увімкнути моніторинг водія, навіть коли openpilot не ввімкнено."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Увімкнути openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути "
+"експериментальний режим."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "Введіть APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "Введіть SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Введіть новий пароль для модему"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Введіть пароль"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Введіть ваш логін GitHub"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Помилка"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Експериментальний режим"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"Експериментальний режим наразі недоступний для цього автомобіля, оскільки "
+"для поздовжнього керування використовується штатний адаптивний круїз-"
+"контроль (ACC)."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "ЗАБУВАЮ..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Завершити налаштування"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Firehose"
+msgstr "Злива"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Режим зливи"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Для максимальної ефективності щотижня заносьте пристрій у приміщення та "
+"підключайте його до якісного адаптера USB-C і Wi-Fi.\n"
+"\n"
+"Режим Зливи також може працювати під час руху, якщо пристрій підключено до "
+"точки доступу або SIM-картки з необмеженим трафіком.\n"
+"\n"
+"\n"
+"Поширені запитання\n"
+"\n"
+"Чи має значення, як і де я їду? Ні, просто їдьте, як зазвичай.\n"
+"\n"
+"Чи всі мої сегменти потрапляють у режим Зливи? Ні, ми вибірково вибираємо "
+"підмножину ваших сегментів.\n"
+"\n"
+"Що таке хороший адаптер USB-C? Будь-який швидкий зарядний пристрій для "
+"телефону або ноутбука підійде.\n"
+"\n"
+"Чи має значення, яке програмне забезпечення я використовую? Так, для "
+"навчання можна використовувати тільки upstream openpilot (і певні його "
+"форки)."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Заб-и"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Забути мережу Wi-Fi \"{}\"?"
+
+#: selfdrive/ui/layouts/sidebar.py:71
+#: selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "ДОБРА"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:117
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні."
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "ВИСОКА"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Прихована мережа"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "НЕАКТИВНО: підключення до мережі без ліміту трафіку"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:144
+#, python-format
+msgid "INSTALL"
+msgstr "ВСТАНОВ."
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP-адреса"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Встановити оновлення"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Режим зневадження джойстика"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "ЗАВАНТАЖЕННЯ"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Режим поздовжнього маневрування"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "МАКС"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "Н/Д"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "НЕМАЄ"
+
+#: selfdrive/ui/layouts/settings/settings.py:60
+msgid "Network"
+msgstr "Мережа"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "Не знайдено ключів SSH"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "Користувач '{}' не має ключів на GitHub"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Інформація про випуск відсутня."
+
+#: selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "ОФЛАЙН"
+
+#: system/ui/widgets/confirm_dialog.py:93 system/ui/widgets/html_render.py:263
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72
+#: selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ОНЛАЙН"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "ВІДКРИТИ"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "ПІДКЛЮЧИТИ"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "ПОКАЖИ"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "XАРАКТЕРИСТИКИ PRIME:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Підключити пристрій"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Підключити пристрій"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:92
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Підключіть свій пристрій до обліковки comma connect"
+
+#: selfdrive/ui/widgets/setup.py:48
+#: selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте "
+"свою пропозицію comma prime."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення."
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Вимкнути"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+"Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-"
+"з'єднання з обмеженим трафіком"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+"Запобігати великим завантаженням даних під час лімітного стільникового "
+"з'єднання"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що "
+"система моніторингу водія має добру видимість. (автомобіль повинен бути "
+"вимкнений)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:150
+#, python-format
+msgid "QR Code Error"
+msgstr "Помилка QR-коду"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "ВИДАЛИТИ"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "Скинути"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "ДИВИТИСЬ"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Перезавантажити"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Перезавантажте пристрій"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Перезавантажити та оновити"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Отримувати попередження про необхідність повернутися в смугу, коли ваш "
+"автомобіль перетинає виявлену лінію розмітки без увімкненого сигналу "
+"повороту під час руху зі швидкістю понад 31 миль/год (50 км/год)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Писати та вантажити відео з камери водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Запис та завантаження аудіо з мікрофона"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено "
+"до відео з відеореєстратора в comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Нормативні документи"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Спокійний"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Віддалений доступ"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Віддалені знімки"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Час запиту вичерпано"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Скинути"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Скинути калібрування"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Переглянути посібник з навчання"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Перегляньте правила, функції та обмеження openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "ВИБРАТИ"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH ключі"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Пошук мереж..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Вибрати"
+
+#: selfdrive/ui/layouts/settings/software.py:191
+#, python-format
+msgid "Select a branch"
+msgstr "Виберіть гілку"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Виберіть мову"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Серійний номер"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Відкласти оновлення"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Software"
+msgstr "Програма"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Стандарт"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"Рекомендується стандартний режим. В агресивному режимі openpilot буде "
+"триматися ближче до автомобілів попереду і більш агресивно використовувати "
+"газ і гальма. У спокійному режимі openpilot буде триматися на більшій "
+"відстані від автомобілів попереду. На підтримуваних автомобілях ви можете "
+"перемикатися між цими режимами за допомогою кнопки дистанції на кермі."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Система не реагує"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "КЕРМУЙТЕ НЕГАЙНО"
+
+#: selfdrive/ui/layouts/sidebar.py:71
+#: selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "ТЕМП"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "Цільова гілка"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Пароль для точки доступу"
+
+#: selfdrive/ui/layouts/settings/settings.py:61
+msgid "Toggles"
+msgstr "Перемикачі"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "ВИДАЛИТИ"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "ОНОВИТИ"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:171
+#, python-format
+msgid "Uninstall"
+msgstr "Видалити"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Невідомо"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Оновити зараз"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити "
+"алгоритм моніторингу водія."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Використовувати метричну систему"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Використовуйте систему openpilot для адаптивного круїз-контролю та допомоги "
+"в утриманні смуги руху. Ваша увага потрібна постійно при використанні цієї "
+"функції. Зміна цього налаштування набуває чинності після вимкнення живлення "
+"автомобіля."
+
+#: selfdrive/ui/layouts/sidebar.py:72
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "АВТО"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "ДИВИСЬ"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Очікування початку"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Попередження: це надає доступ по SSH до всіх публічних ключів у ваших "
+"налаштуваннях GitHub. Ніколи не вводьте ім'я користувача GitHub, окрім "
+"вашого власного. Співробітник comma НІКОЛИ не попросить вас додати його ім'я "
+"користувача GitHub."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Ласкаво просимо до openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "Якщо увімкнено, натискання на педаль акселератора вимкне openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi-Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Трафік Wi-Fi"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Невірний пароль"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "Ви повинні прийняти Умови та положення, щоб користуватися openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед "
+"тим, як продовжити, ознайомтеся з останніми умовами на сайті https://"
+"comma.ai/terms."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "запуск камери"
+
+#: selfdrive/ui/layouts/settings/software.py:105
+#, python-format
+msgid "checking..."
+msgstr "перевіряю..."
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "замовч."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "вниз"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "downloading..."
+msgstr "завантажую..."
+
+#: selfdrive/ui/layouts/settings/software.py:114
+#, python-format
+msgid "failed to check for update"
+msgstr "не вдалося перевірити оновлення"
+
+#: selfdrive/ui/layouts/settings/software.py:107
+#, python-format
+msgid "finalizing update..."
+msgstr "завершую..."
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "для \"{}\""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "км/год"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "залиште порожнім для автоматичного налаштування"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "вліво"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "обмеж."
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "миль/год"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "ніколи"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "зараз"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "Поздовжнє керування openpilot (Альфа)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot Недоступний"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot за замовчуванням працює в режимі спокій. Експериментальний режим "
+"увімкне функції альфа-рівня, які ще не готові для режиму спокій. "
+"Експериментальні функції перелічені нижче:<br><h4>Кінцевий поздовжній "
+"контроль</h4><br>Дозвольте моделі водіння контролювати газ і гальма. "
+"openpilot буде керувати автомобілем так, як це робив би людина, включаючи "
+"зупинку на червоне світло і знаки зупинки. Оскільки модель водіння визначає "
+"швидкість руху, задана швидкість буде діяти лише як верхня межа. Це функція "
+"альфа-рівня; слід очікувати помилок.<br><h4>Нова візуалізація водіння</"
+"h4><br>Візуалізація водіння перейде на ширококутну камеру, спрямовану на "
+"дорогу, при низьких швидкостях, щоб краще показувати деякі повороти. Логотип "
+"експериментального режиму також буде показаний у верхньому правому куті."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot постійно калібрується, скидання рідко потрібне. Скидання "
+"калібрування призведе до перезапуску openpilot, якщо автомобіль увімкнено."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot вчиться керувати автомобілем, спостерігаючи за тим, як це роблять "
+"люди, такі як ви.\n"
+"\n"
+"Режим зливи дозволяє максимально збільшити обсяг завантажуваних навчальних "
+"даних, щоб поліпшити моделі керування автомобілем openpilot. Більше даних "
+"означає більші моделі, а це означає кращий експериментальний режим."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "Поздовжнє керування openpilot може з'явитися в майбутньому оновленні."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не "
+"більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot "
+"постійно калібрується, тому скидання калібрування потрібне рідко."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "вправо"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "необмеж."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "вгору"
+
+#: selfdrive/ui/layouts/settings/software.py:125
+#, python-format
+msgid "up to date, last checked never"
+msgstr "оновлено, ніколи не перевірялось"
+
+#: selfdrive/ui/layouts/settings/software.py:123
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "оновлено, перевірив {}"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "update available"
+msgstr "доступне оновлення"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} СПОВІЩЕННЯ"
+msgstr[1] "{} СПОВІЩЕННЯ"
+msgstr[2] "{} СПОВІЩЕНЬ"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} день тому"
+msgstr[1] "{} дні тому"
+msgstr[2] "{} днів тому"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} година тому"
+msgstr[1] "{} години тому"
+msgstr[2] "{} годин тому"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} хвилина тому"
+msgstr[1] "{} хвилини тому"
+msgstr[2] "{} хвилин тому"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"{} сегмент вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+msgstr[1] ""
+"{} сегменти вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+msgstr[2] ""
+"{} сегментів вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ПІДПИСАНО"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🌧️ Режим зливи 🌧️"
diff --git a/selfdrive/ui/translations/app_zh-CHS.po b/selfdrive/ui/translations/app_zh-CHS.po
new file mode 100644
index 0000000000..2400b6f44a
--- /dev/null
+++ b/selfdrive/ui/translations/app_zh-CHS.po
@@ -0,0 +1,1174 @@
+# Language zh-CHS translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-22 16:32-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: zh-CHS\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " 转向扭矩响应校准完成。"
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " 转向扭矩响应校准已完成 {}%。"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " 您的设备朝向 {:.1f}° {} 与 {:.1f}° {}。"
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 年行驶数据存储"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "全天候 LTE 连接"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>警告：此车型的 openpilot 纵向控制仍为 alpha，将会停用自动紧急制动 (AEB)。"
+"</b><br><br>在此车型上，openpilot 默认使用车载 ACC，而非 openpilot 的纵向控"
+"制。启用此选项可切换为 openpilot 纵向控制。建议同时启用实验模式。若车辆通电，"
+"更改此设置将会重启 openpilot。"
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>转向延迟校准完成。"
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>转向延迟校准已完成 {}%。"
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "已启用"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB（Android 调试桥）可通过 USB 或网络连接到您的设备。详见 https://docs."
+"comma.ai/how-to/connect-to-comma。"
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "添加"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "APN 设置"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "确认过度作动"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "高级"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "激进"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "同意"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "始终启用驾驶员监控"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr "openpilot 纵向控制的 alpha 版本可在非发布分支搭配实验模式进行测试。"
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "确定要关机吗？"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "确定要重启吗？"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "确定要重置校准吗？"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "确定要卸载吗？"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "返回"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "前往 connect.comma.ai 成为 comma prime 会员"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "将 connect.comma.ai 添加到主屏幕，像应用一样使用"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "更改"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "检查"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "安稳模式已开启"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "连接中..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "取消"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "蜂窝计量"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "更改语言"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr "若车辆通电，更改此设置将重启 openpilot。"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "点击“添加新设备”，扫描右侧二维码"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "关闭"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "当前版本"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "下载"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "拒绝"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "拒绝并卸载 openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "开发者"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "设备"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "踩下加速踏板时脱离"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "脱离以关机"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "脱离以重启"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "脱离以重置校准"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "以 km/h 显示速度（非 mph）。"
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "Dongle ID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "下载"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "车内摄像头"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "驾驶风格"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "编辑"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "错误"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "实验模式已开启"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "启用"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "启用 ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "启用车道偏离警示"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "启用漫游"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "启用 SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "启用网络共享"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "即使未启用 openpilot 也启用驾驶员监控。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "启用 openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr "启用 openpilot 纵向控制（alpha）开关，以使用实验模式。"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "输入 APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "输入 SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "输入新的网络共享密码"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "输入密码"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "输入您的 GitHub 用户名"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "错误"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "实验模式"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr "此车型当前无法使用实验模式，因为纵向控制使用的是原厂 ACC。"
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "正在遗忘..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "完成设置"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Firehose 模式"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"为达到最佳效果，请将设备带到室内，并每周连接优质 USB‑C 充电器与 Wi‑Fi。\n"
+"\n"
+"若连接热点或不限流量卡，行车中也可使用 Firehose 模式。\n"
+"\n"
+"\n"
+"常见问题\n"
+"\n"
+"我怎么开、在哪开有区别吗？没有，平常怎么开就怎么开。\n"
+"\n"
+"Firehose 模式会拉取我所有片段吗？不会，我们会选择性拉取部分片段。\n"
+"\n"
+"什么是好的 USB‑C 充电器？任何快速的手机或笔电充电器都可以。\n"
+"\n"
+"我跑什么软件有区别吗？有，只有上游 openpilot（及特定分支）可用于训练。"
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "忘记"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "要忘记 Wi‑Fi 网络“{}”吗？"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "良好"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "在手机上前往 https://connect.comma.ai"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "高"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "隐藏网络"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "未启用：请连接不限流量网络"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "安装"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP 地址"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "安装更新"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "摇杆调试模式"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "加载中"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "纵向操作模式"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "最大"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr "最大化上传训练数据，以改进 openpilot 的驾驶模型。"
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "无"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "否"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "网络"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "未找到 SSH 密钥"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "未找到用户“{}”的 SSH 密钥"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "暂无发行说明。"
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "离线"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "确定"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "在线"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "打开"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "配对"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "预览"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "PRIME 功能："
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "配对设备"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "配对设备"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "将设备配对到您的 comma 账号"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"将设备与 comma connect（connect.comma.ai）配对，领取您的 comma prime 优惠。"
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "请连接 Wi‑Fi 以完成初始配对"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "关机"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "在计量制 Wi‑Fi 连接时避免大量上传"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "在计量制蜂窝网络时避免大量上传"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr "预览车内摄像头以确保驾驶员监控视野良好。（车辆必须熄火）"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "二维码错误"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "移除"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "重置"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "查看"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "重启"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "重启设备"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "重启并更新"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"当车辆以超过 31 mph（50 km/h）行驶且未打转向灯越过检测到的车道线时，接收引导"
+"回车道的警报。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "录制并上传车内摄像头"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "录制并上传麦克风音频"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"行驶时录制并保存麦克风音频。音频将包含在 comma connect 的行车记录视频中。"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "法规"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "从容"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "远程访问"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "远程快照"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "请求超时"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "重置"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "重置校准"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "查看训练指南"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "查看 openpilot 的规则、功能与限制"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "选择"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH 密钥"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "正在扫描 Wi‑Fi 网络…"
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "选择"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr "选择分支"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "选择语言"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "序列号"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "延后更新"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "软件"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "标准"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"建议使用标准模式。激进模式下，openpilot 会更贴近前车，油门与刹车更为激进；从"
+"容模式下，会与前车保持更远距离。在支持的车型上，可用方向盘距离按钮切换这些风"
+"格。"
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "系统无响应"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "请立即接管控制"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "温度"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "目标分支"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "网络共享密码"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "切换"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "卸载"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "更新"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "卸载"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "未知"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "仅在车辆熄火时下载更新。"
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "立即升级"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr "上传车内摄像头数据，帮助改进驾驶员监控算法。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "使用公制"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"使用 openpilot 进行自适应巡航与车道保持辅助。使用此功能时，您必须始终保持专"
+"注。"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "车辆"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "查看"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "等待开始"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"警告：这将授予对您 GitHub 设置中所有公钥的 SSH 访问权限。请勿输入非您本人的 "
+"GitHub 用户名。comma 员工绝不会要求您添加他们的用户名。"
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "欢迎使用 openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "启用后，踩下加速踏板将会脱离 openpilot。"
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fi 计量网络"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "密码错误"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "您必须接受条款与条件才能使用 openpilot。"
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"您必须接受条款与条件才能使用 openpilot。继续前请阅读 https://comma.ai/terms "
+"上的最新条款。"
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "相机启动中"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "默认"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "下"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "检查更新失败"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "用于“{}”"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "留空以自动配置"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "左"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "计量"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "从不"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "现在"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot 纵向控制（Alpha）"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot 无法使用"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot 默认以安稳模式行驶。实验模式会启用尚未准备好用于安稳模式的 Alpha 级"
+"功能。实验功能如下：<br><h4>端到端纵向控制</h4><br>让驾驶模型控制油门与刹车。"
+"openpilot 会像人类一样驾驶，包括在红灯与停牌前停车。由于驾驶模型决定行驶速"
+"度，设定速度仅作为上限。这是 Alpha 质量功能；预期会有错误。<br><h4>全新驾驶可"
+"视化</h4><br>在低速时，驾驶可视化将切换至面向道路的广角摄像头以更好显示部分转"
+"弯。右上角也会显示实验模式图标。"
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot 持续进行校准，通常无需重置。若车辆通电，重置校准将会重启 "
+"openpilot。"
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot 通过观察人类（例如您）的驾驶来学习。\n"
+"\n"
+"Firehose 模式可让您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据"
+"意味着更大的模型，也意味着更好的实验模式。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "openpilot 纵向控制可能会在未来更新中提供。"
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr "openpilot 要求设备安装在左右 4°、上 5° 或下 9° 以内。"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "右"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "不限流量"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "上"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "已是最新，最后检查：从未"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "已是最新，最后检查：{}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "有可用更新"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} 条警报"
+msgstr[1] "{} 条警报"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} 天前"
+msgstr[1] "{} 天前"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} 小时前"
+msgstr[1] "{} 小时前"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} 分钟前"
+msgstr[1] "{} 分钟前"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
+msgstr[1] "目前已有 {} 个您的驾驶片段被纳入训练数据集。"
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 已订阅"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose 模式 🔥"
diff --git a/selfdrive/ui/translations/app_zh-CHT.po b/selfdrive/ui/translations/app_zh-CHT.po
new file mode 100644
index 0000000000..f4d5e0a4ed
--- /dev/null
+++ b/selfdrive/ui/translations/app_zh-CHT.po
@@ -0,0 +1,1173 @@
+# Language zh-CHT translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-10-23 00:50-0700\n"
+"PO-Revision-Date: 2025-10-22 16:32-0700\n"
+"Last-Translator: Automatically generated\n"
+"Language-Team: none\n"
+"Language: zh-CHT\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=1; plural=0;\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " 轉向扭矩回應校正完成。"
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr " 轉向扭矩回應校正已完成 {}%。"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " 您的裝置朝向 {:.1f}° {} 與 {:.1f}° {}。"
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 年行駛資料儲存"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "全年無休 LTE 連線"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"<b>警告：此車款的 openpilot 縱向控制仍為 alpha，將會停用自動緊急煞車 (AEB)。"
+"</b><br><br>在此車款上，openpilot 預設使用車載 ACC，而非 openpilot 的縱向控"
+"制。啟用此選項可切換為 openpilot 縱向控制。建議同時啟用實驗模式。若車輛通電，"
+"變更此設定將會重新啟動 openpilot。"
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>轉向延遲校正完成。"
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>轉向延遲校正已完成 {}%。"
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "啟用"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"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."
+msgstr ""
+"ADB (Android Debug Bridge) 可透過 USB 或網路連線至您的裝置。詳見 https://"
+"docs.comma.ai/how-to/connect-to-comma。"
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "新增"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "APN 設定"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "確認過度作動"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "進階"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "積極"
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "同意"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "持續啟用駕駛監控"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr "openpilot 縱向控制的 alpha 版本可於非發行分支搭配實驗模式進行測試。"
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "確定要關機嗎？"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "確定要重新啟動嗎？"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "確定要重設校正嗎？"
+
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "確定要解除安裝嗎？"
+
+#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "返回"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "前往 connect.comma.ai 成為 comma prime 會員"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:130
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr "將 connect.comma.ai 加到主畫面，像 App 一樣使用"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "變更"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:107
+#: selfdrive/ui/layouts/settings/software.py:118
+#: selfdrive/ui/layouts/settings/software.py:147
+#, python-format
+msgid "CHECK"
+msgstr "檢查"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "安穩模式已開啟"
+
+#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "連線中..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
+#, python-format
+msgid "Cancel"
+msgstr "取消"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "行動網路計量"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "變更語言"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr "若車輛通電，變更此設定將重新啟動 openpilot。"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:129
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "點選「新增裝置」，掃描右側 QR 碼"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "關閉"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "目前版本"
+
+#: selfdrive/ui/layouts/settings/software.py:110
+#, python-format
+msgid "DOWNLOAD"
+msgstr "下載"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "拒絕"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "拒絕並解除安裝 openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:67
+msgid "Developer"
+msgstr "開發人員"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Device"
+msgstr "裝置"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "踩下加速踏板時脫離"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "脫離以關機"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "脫離以重新啟動"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "脫離以重設校正"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "以 km/h 顯示速度（非 mph）。"
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "Dongle ID"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "下載"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "車內鏡頭"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "駕駛風格"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "編輯"
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "錯誤"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "實驗模式已開啟"
+
+#: selfdrive/ui/layouts/settings/developer.py:166
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#, python-format
+msgid "Enable"
+msgstr "啟用"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "啟用 ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "啟用偏離車道警示"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "啟用漫遊"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "啟用 SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "啟用網路共享"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "即使未啟動 openpilot 亦啟用駕駛監控。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "啟用 openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr "啟用 openpilot 縱向控制（alpha）切換，以使用實驗模式。"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "輸入 APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "輸入 SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "輸入新的網路共享密碼"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "輸入密碼"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "輸入您的 GitHub 使用者名稱"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "錯誤"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "實驗模式"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr "此車款目前無法使用實驗模式，因為縱向控制使用的是原廠 ACC。"
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "正在遺忘..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "完成設定"
+
+#: selfdrive/ui/layouts/settings/settings.py:66
+msgid "Firehose"
+msgstr "Firehose"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Firehose 模式"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"為達最佳效果，請將裝置帶到室內，並每週連接優質 USB‑C 充電器與 Wi‑Fi。\n"
+"\n"
+"若連上熱點或吃到飽門號，行車中也可使用 Firehose 模式。\n"
+"\n"
+"\n"
+"常見問題\n"
+"\n"
+"我怎麼開、在哪裡開有差嗎？沒有，平常怎麼開就怎麼開。\n"
+"\n"
+"Firehose 模式會拉取我所有片段嗎？不會，我們會選擇性拉取部分片段。\n"
+"\n"
+"什麼是好的 USB‑C 充電器？任何快速的手機或筆電充電器都可以。\n"
+"\n"
+"我跑什麼軟體有差嗎？有，只有上游 openpilot（及特定分支）可用於訓練。"
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "忘記"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "要忘記 Wi‑Fi 網路「{}」嗎？"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "良好"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:128
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "在手機上前往 https://connect.comma.ai"
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "高"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "隱藏網路"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "未啟用：請連接不限流量網路"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:136
+#, python-format
+msgid "INSTALL"
+msgstr "安裝"
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP 位址"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "安裝更新"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "搖桿除錯模式"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "載入中"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "縱向操作模式"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "最大"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr "最大化上傳訓練資料，以改進 openpilot 的駕駛模型。"
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "無"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "否"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Network"
+msgstr "網路"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "找不到 SSH 金鑰"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "找不到使用者 '{}' 的 SSH 金鑰"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "無可用發行說明。"
+
+#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "離線"
+
+#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "確定"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "線上"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "開啟"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "配對"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "預覽"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "PRIME 功能："
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "配對裝置"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "配對裝置"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:103
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "將裝置配對至您的 comma 帳號"
+
+#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"將裝置與 comma connect（connect.comma.ai）配對，領取您的 comma prime 優惠。"
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "請連線至 Wi‑Fi 以完成初始化配對"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "關機"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr "在計量制 Wi‑Fi 連線時避免大量上傳"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr "在計量制行動網路時避免大量上傳"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr "預覽車內鏡頭以確保駕駛監控視野良好。（車輛須熄火）"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:161
+#, python-format
+msgid "QR Code Error"
+msgstr "QR 碼錯誤"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "移除"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "重設"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "檢視"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "重新啟動"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "重新啟動裝置"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "重新啟動並更新"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"當車輛以超過 31 mph（50 km/h）行駛且未打方向燈越過偵測到的車道線時，接收轉向"
+"回車道的警示。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "錄製並上傳車內鏡頭"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "錄製並上傳麥克風音訊"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"行車時錄製並儲存麥克風音訊。音訊將包含在 comma connect 的行車紀錄影片中。"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "法規"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "從容"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "遠端存取"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "遠端擷圖"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "要求逾時"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "重設"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "重設校正"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "檢視訓練指南"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "檢視 openpilot 的規則、功能與限制"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "選取"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH 金鑰"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "正在掃描 Wi‑Fi 網路…"
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "選取"
+
+#: selfdrive/ui/layouts/settings/software.py:183
+#, python-format
+msgid "Select a branch"
+msgstr "選取分支"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "選取語言"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "序號"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "延後更新"
+
+#: selfdrive/ui/layouts/settings/settings.py:65
+msgid "Software"
+msgstr "軟體"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "標準"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"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."
+msgstr ""
+"建議使用標準模式。積極模式下，openpilot 會更貼近前車，油門與煞車反應更積極；"
+"從容模式下，會與前車保持更遠距離。於支援車款，可用方向盤距離按鈕切換這些風"
+"格。"
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "系統無回應"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "請立刻接手控制"
+
+#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "溫度"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "目標分支"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "網路共享密碼"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Toggles"
+msgstr "切換"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "解除安裝"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "更新"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:163
+#, python-format
+msgid "Uninstall"
+msgstr "解除安裝"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "未知"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "僅在車輛熄火時下載更新。"
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "立即升級"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr "上傳車內鏡頭資料，協助改善駕駛監控演算法。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "使用公制"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"使用 openpilot 進行 ACC 與車道維持輔助。使用此功能時，您必須始終保持專注。"
+
+#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "車輛"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "檢視"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "等待開始"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"警告：這將授予對您 GitHub 設定中所有公開金鑰的 SSH 存取權。請勿輸入非您本人"
+"的 GitHub 帳號。comma 員工絕不會要求您新增他們的帳號。"
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "歡迎使用 openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "啟用後，踩下加速踏板將會脫離 openpilot。"
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi‑Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Wi‑Fi 計量網路"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "密碼錯誤"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "您必須接受條款與細則才能使用 openpilot。"
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"您必須接受條款與細則才能使用 openpilot。繼續前請閱讀 https://comma.ai/terms "
+"上的最新條款。"
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "相機啟動中"
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "預設"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "下"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "failed to check for update"
+msgstr "檢查更新失敗"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "適用於「{}」"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "km/h"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "留空以自動設定"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "左"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "計量"
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "mph"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "從不"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "現在"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "openpilot 縱向控制（Alpha）"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot 無法使用"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>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."
+msgstr ""
+"openpilot 預設以安穩模式行駛。實驗模式啟用尚未準備好進入安穩模式的 Alpha 等級"
+"功能。實驗功能如下：<br><h4>端到端縱向控制</h4><br>讓駕駛模型控制油門與煞車。"
+"openpilot 會如同人類駕駛般行駛，包括在紅燈與停車標誌前停車。由於駕駛模型決定"
+"行駛速度，設定速度僅作為上限。此為 Alpha 品質功能；預期會有失誤。<br><h4>全新"
+"駕駛視覺化</h4><br>在低速時，駕駛視覺化將切換至面向道路的廣角鏡頭以更好呈現部"
+"分轉彎。右上角亦會顯示實驗模式圖示。"
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot 會持續校正，通常不需重設。若車輛通電，重設校正將重新啟動 "
+"openpilot。"
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot 透過觀察人類（也就是您）的駕駛方式來學習。\n"
+"\n"
+"Firehose 模式可讓您最大化上傳訓練資料，以改進 openpilot 的駕駛模型。更多資料"
+"代表更大的模型，也就代表更好的實驗模式。"
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "openpilot 縱向控制可能於未來更新提供。"
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr "openpilot 要求裝置安裝在左右 4°、上 5° 或下 9° 以內。"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "右"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "不限流量"
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "上"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "up to date, last checked never"
+msgstr "已為最新，最後檢查：從未"
+
+#: selfdrive/ui/layouts/settings/software.py:115
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "已為最新，最後檢查：{}"
+
+#: selfdrive/ui/layouts/settings/software.py:109
+#, python-format
+msgid "update available"
+msgstr "有可用更新"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} 則警示"
+msgstr[1] "{} 則警示"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} 天前"
+msgstr[1] "{} 天前"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} 小時前"
+msgstr[1] "{} 小時前"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} 分鐘前"
+msgstr[1] "{} 分鐘前"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
+msgstr[1] "目前已有 {} 個您的駕駛片段納入訓練資料集。"
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ 已訂閱"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🔥 Firehose 模式 🔥"
diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py
index c2e4bbc552..9354790f94 100755
--- a/selfdrive/ui/translations/auto_translate.py
+++ b/selfdrive/ui/translations/auto_translate.py
@@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I
                 "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
 
 
-def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
+def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
   files = {}
 
   with open(TRANSLATIONS_LANGUAGES) as fp:
@@ -26,7 +26,7 @@ def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
 
     for filename in language_dict.values():
       path = TRANSLATIONS_DIR / f"{filename}.ts"
-      language = path.stem.split("main_")[1]
+      language = path.stem
 
       if languages is None or language in languages:
         files[language] = path
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index 3e14c33255..2948c4857d 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -5,13 +5,66 @@ import requests
 import xml.etree.ElementTree as ET
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.selfdrive.ui.tests.test_translations import UNFINISHED_TRANSLATION_TAG
 from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
 
-TRANSLATION_TAG = "<translation"
 BADGE_HEIGHT = 20 + 8
 SHIELDS_URL = "https://img.shields.io/badge"
 
+def parse_po_file(file_path):
+  """
+  Parse a .po file and count total and unfinished translations.
+  Returns: (total_translations, unfinished_translations)
+  """
+  with open(file_path) as f:
+    content = f.read()
+
+  total_translations = 0
+  unfinished_translations = 0
+
+  # Split into entries (separated by blank lines)
+  entries = content.split('\n\n')
+
+  for entry in entries:
+    # Skip header entry (contains Project-Id-Version)
+    if 'Project-Id-Version' in entry:
+      continue
+
+    # Check if this entry has a msgid (translation entry)
+    # After skipping header, any entry with msgid " is a translation
+    # (both msgid "content" and msgid "" for multiline contain msgid ")
+    if 'msgid "' not in entry:
+      continue
+
+    total_translations += 1
+
+    # Check if msgstr is empty (unfinished translation)
+    if 'msgstr ""' in entry:
+      # Check if there are continuation lines with content after msgstr ""
+      lines = entry.split('\n')
+      msgstr_idx = None
+      for i, line in enumerate(lines):
+        if line.strip().startswith('msgstr ""'):
+          msgstr_idx = i
+          break
+
+      if msgstr_idx is not None:
+        # Check if any continuation lines have content
+        has_content = False
+        for line in lines[msgstr_idx + 1:]:
+          stripped = line.strip()
+          # Continuation line with content
+          if stripped.startswith('"') and len(stripped) > 2:
+            has_content = True
+            break
+          # End of entry
+          if stripped.startswith(('msgid', '#')) or not stripped:
+            break
+
+        if not has_content:
+          unfinished_translations += 1
+
+  return (total_translations, unfinished_translations)
+
 if __name__ == "__main__":
   with open(LANGUAGES_FILE) as f:
     translation_files = json.load(f)
@@ -19,18 +72,11 @@ if __name__ == "__main__":
   badge_svg = []
   max_badge_width = 0  # keep track of max width to set parent element
   for idx, (name, file) in enumerate(translation_files.items()):
-    with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) as tr_f:
-      tr_file = tr_f.read()
+    po_file_path = os.path.join(str(TRANSLATIONS_DIR), f"app_{file}.po")
 
-    total_translations = 0
-    unfinished_translations = 0
-    for line in tr_file.splitlines():
-      if TRANSLATION_TAG in line:
-        total_translations += 1
-      if UNFINISHED_TRANSLATION_TAG in line:
-        unfinished_translations += 1
+    total_translations, unfinished_translations = parse_po_file(po_file_path)
 
-    percent_finished = int(100 - (unfinished_translations / total_translations * 100.))
+    percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) if total_translations > 0 else 0
     color = f"rgb{(94, 188, 0) if percent_finished == 100 else (248, 255, 50) if percent_finished > 90 else (204, 55, 27)}"
 
     # Download badge
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 132b5088d7..99d3aafe3a 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,14 +1,14 @@
 {
-  "English": "main_en",
-  "Deutsch": "main_de",
-  "Français": "main_fr",
-  "Português": "main_pt-BR",
-  "Español": "main_es",
-  "Türkçe": "main_tr",
-  "العربية": "main_ar",
-  "ไทย": "main_th",
-  "中文（繁體）": "main_zh-CHT",
-  "中文（简体）": "main_zh-CHS",
-  "한국어": "main_ko",
-  "日本語": "main_ja"
+  "English": "en",
+  "Deutsch": "de",
+  "Français": "fr",
+  "Português": "pt-BR",
+  "Español": "es",
+  "Türkçe": "tr",
+  "Українська": "uk",
+  "ไทย": "th",
+  "中文（繁體）": "zh-CHT",
+  "中文（简体）": "zh-CHS",
+  "한국어": "ko",
+  "日本語": "ja"
 }
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
deleted file mode 100644
index 751ae7ce9b..0000000000
--- a/selfdrive/ui/translations/main_ar.ts
+++ /dev/null
@@ -1,1955 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="ar_SA">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>إغلاق</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>تأخير التحديث</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>إعادة التشغيل والتحديث</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>السابق</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>تمكين الربط</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>كلمة مرور الربط</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>تعديل</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>أدخل كلمة مرور الربط الجديدة</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>عنوان IP</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>تمكين التجوال</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>إعدادات APN</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>إدخال APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>اتركه فارغاً من أجل التكوين التلقائي</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>محدود بالاتصال الخلوي</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>شبكة مخفية</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>الاتصال</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>أدخل SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>أدخل كلمة المرور</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>من أجل &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>موافق</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>يجب عليك قبول الشروط والأحكام من أجل استخدام sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>السابق</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>رفض، إلغاء التثبيت %1</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>وضع تصحيح أخطاء عصا التحكم</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>وضع المناورة الطولية</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>التحكم الطولي sunnypilot (ألفا)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>تحذير: التحكم الطولي في sunnypilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>في هذه السيارة يعمل sunnypilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation>تمكين ADB</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>أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات.</translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">عرض</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>معرف دونجل</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>غير متاح</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>الرقم التسلسلي</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>كاميرة السائق</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>معاينة</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة متوقفة)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>إعادة ضبط المعايرة</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>إعادة الضبط</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>مراجعة دليل التدريب</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>مراجعة</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>مراجعة الأدوار والميزات والقيود في sunnypilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>التنظيمية</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>عرض</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>تغيير اللغة</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>تغيير</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>اختر لغة</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>إيقاف التشغيل</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>يحتاج sunnypilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم sunnypilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> يشير جهازك إلى %1 درجة %2، و%3 درجة %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>نحو الأسفل</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>نحو الأعلى</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>نحو اليسار</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>نحو اليمين</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>هل أنت متأكد  أنك تريد إعادة التشغيل؟</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>فك الارتباط من أجل إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>هل أنت متأكد أنك تريد إيقاف التشغيل؟</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>فك الارتباط من أجل إيقاف التشغيل</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>إعادة الضبط</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>مراجعة</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>إقران الجهاز</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>إقران</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">التنظيمية</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">مراجعة</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">اختر لغة</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">إيقاف التشغيل</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">تأكيد</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">إعادة الضبط</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>بدء تشغيل الكاميرا</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>تشغيل الوضع التجريبي</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>تشغيل وضع الراحة</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 وضع خرطوم الحريق 🔥</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>وضع خرطوم الحريق: نشط</translation>
-    </message>
-    <message>
-        <source>ACTIVE</source>
-        <translation>نشط</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 sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation>للحصول على أقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.&lt;br&gt;&lt;br&gt;يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;الأسئلة المتكررة&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم كيف أو أين أقود؟&lt;/i&gt; لا، فقط قد كما تفعل عادة.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يتم سحب كل مقاطع رحلاتي في وضع خرطوم الحريق؟&lt;/i&gt; لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.&lt;br&gt;&lt;br&gt;&lt;i&gt;ما هو محول USB-C الجيد؟&lt;/i&gt; أي شاحن سريع للهاتف أو اللابتوب يجب أن يكون مناسباً.&lt;br&gt;&lt;br&gt;&lt;i&gt;هل يهم أي برنامج أستخدم؟&lt;/i&gt; نعم، فقط النسخة الأصلية من sunnypilot (وأفرع معينة) يمكن استخدامها للتدريب.</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>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
-            <numerusform>حتى الآن، يوجد &lt;/b&gt;%n مقطع&lt;b&gt;%n من قيادتك في مجموعة بيانات التدريب.</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>كم/س</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>ميل/س</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>تحتاج إلى حرف %n على الأقل!</numerusform>
-            <numerusform>تحتاج إلى حرف %n على الأقل!</numerusform>
-            <numerusform>تحتاج إلى حرفين %n على الأقل!</numerusform>
-            <numerusform>تحتاج إلى %n أحرف على الأقل!</numerusform>
-            <numerusform>تحتاج إلى %n أحرف على الأقل!</numerusform>
-            <numerusform>تحتاج إلى %n حرف على الأقل!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>جارٍ التثبيت...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">السابق</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>اختيار</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>متقدم</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>أدخل كلمة المرور</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>من أجل &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>كلمة مرور خاطئة</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>درجة حرارة الجهاز مرتفعة جداً. يقوم النظام بالتبريد قبل البدء. درجة الحرارة الحالية للمكونات الداخلية: %1</translation>
-    </message>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>اتصل فوراً بالإنترنت للتحقق من وجود تحديثات. إذا لم تكم متصلاً بالإنترنت فإن sunnypilot لن يساهم في %1</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>اتصل بالإنترنت للتحقق من وجود تحديثات. لا يعمل sunnypilot تلقائياً إلا إذا اتصل بالإنترنت من أجل التحقق من التحديثات.</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>غير قادر على تحميل التحديثات
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>التقاط لقطات كاميرا. لن يبدأ النظام حتى تنتهي هذه العملية.</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>يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</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>فشل تسجيل الجهاز. لن يقوم بالاتصال أو تحميل خوادم comma.ai، ولا تلقي الدعم من comma.ai. إذا كان هذا الجهاز نظامياً فيرجى زيارة الموقع https://comma.ai/support.</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>محرك NVMe غير مثبَّت.</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>تم اكتشاف محرك NVMe غير مدعوم. قد يستهلك الجهاز قدراً أكبر بكثير من الطاقة، وزيادة في ارتفاع درجة الحرارة بسبب وجود NVMe غير مدعوم.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>لم يكن sunnypilot قادراً على تحديد سيارتك. إما أن تكون سيارتك غير مدعومة أو أنه لم يتم التعرف على وحدة التحكم الإلكتروني (ECUs) فيها. يرجى تقديم طلب سحب من أجل إضافة نسخ برمجيات ثابتة إلى السيارة المناسبة. هل تحتاج إلى أي مساعدة؟ لا تتردد في التواصل مع doscord.comma.ai.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>لقد اكتشف sunnypilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>تحديث</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> التنبهات</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> تنبيه</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>sunnypilot غير متوفر</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>تحكم على الفور</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>في انتظار البدء</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>النظام لا يستجيب</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>اقرن جهازك مع حسابك على comma</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>انتقل إلى https://connect.comma.ai على جوالك</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>انقر &quot;،إضافة جهاز جديد&quot;، وامسح رمز الاستجابة السريعة (QR) على اليمين</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>اجعل لـconnect.comma.ai إشارة مرجعية على شاشتك  الرئيسية من أجل استخدامه مثل أي تطبيق</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>يرجى الاتصال بشبكة الواي فاي لإكمال الاقتران الأولي</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Enable</source>
-        <translation>تمكين</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">تمكين</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">إزالة</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">تأكيد</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>الترقية الآن</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>كن عضوًا في comma prime على connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>الميزات الأساسية:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>التحكم عن بعد</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>اتصال LTE على مدار الساعة 24/7</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>سنة واحدة من تخزين القرص</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>لقطات عن بُعد</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ مشترك</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>إغلاق</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>منذ %n دقيقة</numerusform>
-            <numerusform>منذ %n دقيقة</numerusform>
-            <numerusform>منذ دقيقتين %n</numerusform>
-            <numerusform>منذ %n دقائق</numerusform>
-            <numerusform>منذ %n دقائق</numerusform>
-            <numerusform>منذ %n دقيقة</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>منذ %n ساعة</numerusform>
-            <numerusform>منذ %n ساعة</numerusform>
-            <numerusform>منذ ساعتين %n</numerusform>
-            <numerusform>منذ %n ساعات</numerusform>
-            <numerusform>منذ %n ساعات</numerusform>
-            <numerusform>منذ %n ساعة</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>منذ %n يوم</numerusform>
-            <numerusform>منذ %n يوم</numerusform>
-            <numerusform>منذ يومين %n</numerusform>
-            <numerusform>منذ %n أيام</numerusform>
-            <numerusform>منذ %n أيام</numerusform>
-            <numerusform>منذ %n يوم</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>الآن</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>فشل إعاة الضبط. أعد التشغيل للمحاولة من جديد.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>هل أنت متأكد أنك تريد إعادة ضبط جهازك؟</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>إعادة ضبط النظام</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>إلغاء</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>تأكيد</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>يتم إعادة ضبط الجهاز...
-قد يستغرق الأمر حوالي الدقيقة.</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>غير قادر على تحميل جزء البيانات. قد يكون الجزء تالفاً. اضغط على تأكيد لمسح جهازك وإعادة ضبطه.</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>تم تفعيل إعادة ضبط النظام. اضغط على تأكيد لمسح جميع المحتويات والإعدادات. اضغط على إلغاء لاستئناف التمهيد.</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>الجهاز</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>الشبكة</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>المثبتتات</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>البرنامج</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>المطور</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>خرطوم الحريق</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">الجهاز</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">الشبكة</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">المثبتتات</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">البرنامج</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">المطور</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished">خرطوم الحريق</translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>تحذير: الجهد منخفض</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>شغل جهازك في السيارة عن طريق شرطان التوصيل، أو تابع على مسؤوليتك.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>إيقاف التشغيل</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>متابعة</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>البدء</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>قبل أن ننطلق في الطريق، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>الاتصال بشبكة الواي فاي</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>السابق</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>المتابعة بدون شبكة الواي فاي</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>بانتظار الاتصال بالإنترنت</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>أدخل رابط URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>للبرامج المخصصة</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>يتم الآن التنزيل...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>فشل التنزيل</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>تأكد من أن رابط URL الذي أدخلته صالح، وأن اتصال الجهاز بالإنترنت جيد.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>البدء من جديد</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>حدث خطأ ما. أعد التشغيل الجهاز.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>لم يتم العثور على برنامج خاص لعنوان URL ها.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>اختر لغة</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>اختر البرنامج للتثبيت</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>البرمجيات المخصصة</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>إنهاء الإعداد</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>اقرن جهازك بجهاز (connect.comma.ai) واحصل على عرضك من comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>اقتران الجهاز</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>الاتصال</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>غير متصل</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>متصل</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>خطأ</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>درجة الحرارة</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>مرتفع</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>جيد</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>موافق</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>المركبة</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>لا</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">غير متصل</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">متصل</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">خطأ</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>إلغاء التثبيت</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>إلغاء التثبيت %1</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>هل أنت متأكد أنك تريد إلغاء التثبيت؟</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>التحقق</translation>
-    </message>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة.</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>النسخة الحالية</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>تنزيل</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>تثبيت التحديث</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>تثبيت</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>فرع الهدف</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>اختيار</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>اختر فرعاً</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>إلغاء التثبيت</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>فشل التحقق من التحديث</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>تنزيل</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>يتوفر تحديث</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>إطلاقاً</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>أحدث نسخة، آخر تحقق %1</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">اختيار</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">إعادة ضبط المعايرة</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">متابعة</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>مفاتيح SSH</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>تنبيه: هذا يمنح SSH إمكانية الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تقم بإدخال اسم مستخدم GitHub بدلاً من اسمك. لن تطلب منك comma employee إطلاقاً أن تضيف اسم مستخدم GitHub الخاص بهم.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>إضافة</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>ادخل اسم المستخدم GitHub الخاص بك</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>يتم التحميل</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>إزالة</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>لا يحتوي اسم المستخدم &apos;%1&apos; أي مفاتيح على GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>انتهى وقت الطلب</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>اسم المستخدم &apos;%1&apos; غير موجود على GitHub</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>تمكين SSH</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">غير متاح</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">إقران</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>رفض</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>أوافق</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation>مرحباً بكم في sunnypilot</translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>يجب عليك قبول الشروط والأحكام لاستخدام sunnypilot. اقرأ أحدث الشروط على &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; قبل الاستمرار.</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>قم بتمكين تحذيرات مغادرة المسار</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>تلقي التنبيهات من أجل الالتفاف للعودة إلى المسار عندما تنحرف سيارتك فوق الخط المحدد للمسار دون تشغيل إشارة الانعطاف عند القيادة لمسافة تزيد عن 31 ميل/سا (50 كم/سا).</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>استخدام النظام المتري</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>عرض السرعة بواحدات كم/سا بدلاً من ميل/سا.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>تسجيل وتحميل كاميرا السائق</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>تحميل البيانات من الكاميرا المواجهة للسائق، والمساعدة في تحسين خوارزمية مراقبة السائق.</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>فك الارتباط عن دواسة الوقود</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>الوضع التجريبي</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>الهجومي</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>القياسي</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>الراحة</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>شخصية القيادة</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>يتم وضع sunnypilot بشكل قياسي في &lt;b&gt;وضعية الراحة&lt;/b&gt;. يمكن الوضع التجريبي &lt;b&gt;ميزات المستوى ألفا&lt;/b&gt; التي لا تكون جاهزة في وضع الراحة:</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>التحكم الطولي من طرف إلى طرف</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>دع نظام القيادة يتحكم بالوقود والمكابح. سيقوم sunnypilot بالقيادة كما لو أنه كائن بشري، بما في ذلك التوقف عند الإشارة الحمراء، وإشارات التوقف. وبما أن نمط القيادة يحدد سرعة القيادة، فإن السرعة المضبوطة تشكل الحد الأقصى فقط. هذه خاصية الجودة ألفا، فيجب توقع حدوث الأخطاء.</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>تصور القيادة الديد</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي.</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>قد يتم الحصول على التحكم الطولي في sunnypilot في عمليات التحديث المستقبلية.</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>يمكن اختبار نسخة ألفا من التحكم الطولي من sunnypilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة.</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>تمكين التحكم الطولي من sunnypilot (ألفا) للسماح بالوضع التجريبي.</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>يوصى بالمعيار. في الوضع العدواني، سيتبع الطيار المفتوح السيارات الرائدة بشكل أقرب ويكون أكثر عدوانية مع البنزين والفرامل. في الوضع المريح، سيبقى sunnypilot بعيدًا عن السيارات الرائدة. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات باستخدام زر مسافة عجلة القيادة.</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>ستتحول واجهة القيادة إلى الكاميرا الواسعة المواجهة للطريق عند السرعات المنخفضة لعرض بعض المنعطفات بشكل أفضل. كما سيتم عرض شعار وضع التجريبي في الزاوية العلوية اليمنى.</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>مراقبة السائق المستمرة</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>تمكين مراقبة السائق حتى عندما لا يكون نظام OpenPilot مُفعّلاً.</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>تمكين sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>استخدم نظام sunnypilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة.</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>التحديث مطلوب</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>تحديث نظام التشغيل مطلوب. قم بوصل جهازك بشبكة واي فاي من أجل تحديث أسرع. حجم التحميل حوالي 1 غيغا بايت تقريباً.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>الاتصال بشبكة الواي فاي</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>تثبيت</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>السابق</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>يتم التحميل...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>فشل التحديث</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation>انفتح</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; وضع خرطوم الحريق &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>يتم البحث عن شبكات...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>يتم الاتصال...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>نسيان هذه الشبكة</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>هل تريد نسيان شبكة الواي فاي &quot;%1&quot;؟</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>نسيان</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
deleted file mode 100644
index 3123e52578..0000000000
--- a/selfdrive/ui/translations/main_de.ts
+++ /dev/null
@@ -1,1190 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="de_DE">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Schließen</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Update pausieren</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Aktualisieren und neu starten</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Zurück</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Tethering aktivieren</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Tethering Passwort</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>ÄNDERN</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Neues tethering Passwort eingeben</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IP Adresse</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Roaming aktivieren</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN Einstellungen</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>APN eingeben</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>für automatische Konfiguration leer lassen</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>Getaktete Verbindung</translation>
-    </message>
-    <message>
-        <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 &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Ok</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Zurück</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Ablehnen, deinstallieren %1</translation>
-    </message>
-</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>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>Nicht verfügbar</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>Seriennummer</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Fahrerkamera</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>VORSCHAU</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Vorschau der auf den Fahrer gerichteten Kamera, um sicherzustellen, dass die Fahrerüberwachung eine gute Sicht hat. (Fahrzeug muss aus sein)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Neu kalibrieren</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>RESET</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>Bist du sicher, dass du die Kalibrierung zurücksetzen möchtest?</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Trainingsanleitung wiederholen</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>TRAINING</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Rechtliche Hinweise</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>ANSEHEN</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Sprache ändern</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>ÄNDERN</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Sprache wählen</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Neustart</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Ausschalten</translation>
-    </message>
-    <message>
-        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Deine Geräteausrichtung ist %1° %2 und %3° %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>unten</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>oben</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>links</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>rechts</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>Bist du sicher, dass du das Gerät neu starten möchtest?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Für Neustart deaktivieren</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>Bist du sicher, dass du das Gerät ausschalten möchtest?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Zum Ausschalten deaktivieren</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>Zurücksetzen</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>Überprüfen</translation>
-    </message>
-    <message>
-        <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>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>Kamera startet</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>EXPERIMENTELLER MODUS AN</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>ENTSPANNTER MODUS AN</translation>
-    </message>
-</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.
-
-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.
-
-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>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Mindestens %n Buchstabe benötigt!</numerusform>
-            <numerusform>Mindestens %n Buchstaben benötigt!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Installiere...</translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Auswählen</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Erweitert</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>
-    <message>
-        <source>Wrong password</source>
-        <translation>Falsches Passwort</translation>
-    </message>
-</context>
-<context>
-    <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>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>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
-%1</source>
-        <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>
-    <message>
-        <source>UPDATE</source>
-        <translation>Aktualisieren</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> HINWEISE</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> HINWEIS</translation>
-    </message>
-</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>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Verbinde dein Gerät mit deinem comma Konto</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Gehe zu https://connect.comma.ai auf deinem Handy</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Klicke auf &quot;neues Gerät hinzufügen&quot; und scanne den QR code rechts</translation>
-    </message>
-    <message>
-        <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>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
-    </message>
-    <message>
-        <source>Enable</source>
-        <translation>Aktivieren</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Jetzt abonieren</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Werde Comma Prime Mitglied auf connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>PRIME FUNKTIONEN:</translation>
-    </message>
-    <message>
-        <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>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ ABBONIERT</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>openpilot</source>
-        <translation>openpilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>vor %n Minute</numerusform>
-            <numerusform>vor %n Minuten</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>vor %n Stunde</numerusform>
-            <numerusform>vor %n Stunden</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>vor %n Tag</numerusform>
-            <numerusform>vor %n Tagen</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>jetzt</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Zurücksetzen fehlgeschlagen. Starte das Gerät neu und versuche es wieder.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>System auf Werkseinstellungen zurücksetzen</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Abbrechen</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Neustart</translation>
-    </message>
-    <message>
-        <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...
-This may take up to a minute.</source>
-        <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>
-    <message>
-        <source>×</source>
-        <translation>x</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Gerät</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Netzwerk</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Schalter</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Software</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>Entwickler</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>Firehose</translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>Warnung: Batteriespannung niedrig</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Ausschalten</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Fortsetzen</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Loslegen</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Mit WLAN verbinden</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Zurück</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Ohne WLAN fortsetzen</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Auf Internet warten</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL eingeben</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>für spezifische Software</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Herunterladen...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Herunterladen fehlgeschlagen</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Gerät neustarten</translation>
-    </message>
-    <message>
-        <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>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>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Einrichtung beenden</translation>
-    </message>
-    <message>
-        <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>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translatorcomment>This is a brand/service name for comma connect, don&apos;t translate</translatorcomment>
-        <translation>CONNECT</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>OFFLINE</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>ONLINE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>FEHLER</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>TEMP</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>HOCH</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>GUT</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>FAHRZEUG</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>KEIN</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>WLAN</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>LAN</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>UNINSTALL</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>DEINSTALL</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Deinstalliere %1</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Bist du sicher, dass du Openpilot entfernen möchtest?</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>ÜBERPRÜFEN</translation>
-    </message>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>Updates werden nur heruntergeladen, wenn das Auto aus ist.</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>Aktuelle Version</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>Download</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>Update installieren</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>INSTALLIEREN</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>Ziel Branch</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>AUSWÄHLEN</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>Wähle einen Branch</translation>
-    </message>
-    <message>
-        <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>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH Schlüssel</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Warnung: Dies ermöglicht SSH zugriff für alle öffentlichen Schlüssel in deinen Github Einstellungen. Gib niemals einen anderen Benutzernamen, als deinen Eigenen an. Comma Angestellte fragen dich niemals danach ihren Github Benutzernamen hinzuzufügen.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>HINZUFÜGEN</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Gib deinen GitHub Benutzernamen ein</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>LADEN</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>LÖSCHEN</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Benutzername &apos;%1&apos; hat keine Schlüssel auf GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>Zeitüberschreitung der Anforderung</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Benutzername &apos;%1&apos; existiert nicht auf GitHub</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>SSH aktivieren</translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>Ablehnen</translation>
-    </message>
-    <message>
-        <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>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable openpilot</source>
-        <translation>Openpilot aktivieren</translation>
-    </message>
-    <message>
-        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist.</translation>
-    </message>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Spurverlassenswarnungen aktivieren</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Erhalte Warnungen, zurück in die Spur zu lenken, wenn dein Auto über eine erkannte Fahrstreifenmarkierung ohne aktivierten Blinker mit mehr als 50 km/h fährt.</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Benutze das metrische System</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Zeige die Geschwindigkeit in km/h anstatt von mph.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Fahrerkamera aufnehmen und hochladen</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern.</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>Experimenteller Modus</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>Bei Gasbetätigung ausschalten</translation>
-    </message>
-    <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>Neue Fahrvisualisierung</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>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>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Aktualisierung notwendig</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Eine Aktualisierung des Betriebssystems ist notwendig. Verbinde dein Gerät mit WLAN für ein schnelleres Update. Die Download Größe ist ungefähr 1GB.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Mit WLAN verbinden</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Installieren</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Zurück</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Laden...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Neustart</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Aktualisierung fehlgeschlagen</translation>
-    </message>
-</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>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Suche nach Netzwerken...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>VERBINDEN...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>VERGESSEN</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>WLAN Netzwerk &quot;%1&quot; vergessen?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>Vergessen</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts
deleted file mode 100644
index fbccbedb20..0000000000
--- a/selfdrive/ui/translations/main_en.ts
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="en_US">
-<context>
-    <name>FirehosePanel</name>
-    <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; of your driving is in the training dataset so far.</numerusform>
-            <numerusform>&lt;b&gt;%n segments&lt;/b&gt; of your driving are in the training dataset so far.</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Need at least %n character!</numerusform>
-            <numerusform>Need at least %n characters!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n minute ago</numerusform>
-            <numerusform>%n minutes ago</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n hour ago</numerusform>
-            <numerusform>%n hours ago</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n day ago</numerusform>
-            <numerusform>%n days ago</numerusform>
-        </translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
deleted file mode 100644
index 82f585a43c..0000000000
--- a/selfdrive/ui/translations/main_es.ts
+++ /dev/null
@@ -1,1935 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="es_ES">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Cerrar</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Posponer Actualización</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Reiniciar y Actualizar</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Volver</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Activar Tether</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Contraseña de Tethering</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>EDITAR</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Nueva contraseña de tethering</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>Dirección IP</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Activar Roaming</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>Configuración de APN</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>Insertar APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>dejar en blanco para configuración automática</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>Plano de datos limitado</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evitar grandes descargas de datos cuando tenga una conexión limitada</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>Red Oculta</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONECTAR</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>Ingrese SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Ingrese contraseña</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>Debe aceptar los términos y condiciones para poder utilizar sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Atrás</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Rechazar, desinstalar %1</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>Modo de depuración de joystick</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>Modo de maniobra longitudinal</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de sunnypilot (fase experimental)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: el control longitudinal de sunnypilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>En este automóvil, sunnypilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de sunnypilot. Habilita esta opción para cambiar al control longitudinal de sunnypilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de sunnypilot (aún en fase experimental).</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>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">VER</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>Serial</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>Emparejar Dispositivo</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>EMPAREJAR</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Cámara del conductor</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>VISUALIZAR</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (el vehículo tiene que estar apagado)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Formatear Calibración</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>REINICIAR</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>¿Seguro que quiere formatear la calibración?</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>Formatear</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Revisar la Guía de Entrenamiento</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>REVISAR</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>Revisar las reglas, características y limitaciones de sunnypilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>¿Seguro que quiere revisar la guía de entrenamiento?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>Revisar</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Regulador</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>VER</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Cambiar Idioma</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>CAMBIAR</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Seleccione el idioma</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Apagar</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. sunnypilot está constantemente en calibración, formatear rara vez es necesario.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Su dispositivo está apuntando %1° %2 y %3° %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>abajo</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>arriba</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>izquierda</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>derecha</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>¿Seguro qué quiere reiniciar?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Desactivar para Reiniciar</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>¿Seguro qué quiere apagar?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Desactivar para apagar</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">Regulador</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">¿Seguro que quiere revisar la guía de entrenamiento?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">Revisar</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">Reiniciar</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">Apagar</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Confirmar</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">Formatear</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>iniciando cámara</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODO EXPERIMENTAL</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>MODO CHILL</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose 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 sunnypilot (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>sunnypilot 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>&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>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>¡Necesita mínimo %n caracter!</numerusform>
-            <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalando...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Seleccionar</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Avanzado</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Ingresar contraseña</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>Contraseña incorrecta</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
-    </message>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, sunnypilot no iniciará en %1</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conectese al internet para buscar actualizaciones. sunnypilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Incapaz de descargar actualizaciones.
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice.</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>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</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>El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidad NVMe no montada.</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>Se detectó una unidad NVMe incompatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a esto.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>ACTUALIZAR</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> ALERTAS</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> ALERTA</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>sunnypilot no disponible</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>TOME CONTROL INMEDIATAMENTE</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>Reiniciar Dispositivo</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>Esperando para iniciar</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>Systema no responde</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Empareje su dispositivo con su cuenta de comma</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Vaya a https://connect.comma.ai en su teléfono</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Seleccione &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>Conéctese a Wi-Fi para completar el emparejamiento inicial</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Enable</source>
-        <translation>Activar</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">Activar</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">ELIMINAR</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Confirmar</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Actualizar Ahora</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Hazte miembro de comma prime en connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>BENEFICIOS PRIME:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>Acceso remoto</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>Conectividad LTE 24/7</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>1 año de almacenamiento</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>Capturas remotas</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ SUSCRITO</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Salir</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>ahora</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>hace %n min</numerusform>
-            <numerusform>hace %n mins</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>hace %n hora</numerusform>
-            <numerusform>hace %n horas</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>hace %n día</numerusform>
-            <numerusform>hace %n días</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Formateo fallido. Reinicie para reintentar.</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>formateando dispositivo...
-Esto puede tardar un minuto.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>¿Seguro que quiere formatear su dispositivo?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>Formatear Sistema</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Formateo del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>Confirmar</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>No es posible montar una partición de datos. La partición podría estar corrompida. Confirme para borrar y formatear su dispositivo.</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Dispositivo</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Red</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Ajustes</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Software</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>Desarrollador</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">Dispositivo</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">Red</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">Ajustes</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">Software</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">Desarrollador</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Algo ha ido mal. Reinicie el dispositivo.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>No encontramos software personalizado en esta URL.</translation>
-    </message>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Voltaje bajo</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Apagar</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuar</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Comenzando</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectarse al Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Volver</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuar sin Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Esperando conexión a internet</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Elija el software a instalar</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Software personalizado</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Insertar URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>para Software personalizado</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Descargando...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Descarga fallida</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Reiniciar Dispositivo</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Comenzar de nuevo</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Seleccione un idioma</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Terminar configuración</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Empareje su dispositivo con comma connect (connect.comma.ai) y reclame su oferta de comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>Emparejar dispositivo</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONNECT</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>OFFLINE</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>EN LÍNEA</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>ERROR</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>TEMP</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>ALTA</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>BUENA</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>VEHÍCULO</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>SIN</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">OFFLINE</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">EN LÍNEA</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">ERROR</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>Actualizaciones solo se descargan con el auto apagado.</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>Versión Actual</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>Descargar</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>VERIFICAR</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>Actualizar</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>INSTALAR</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>Rama objetivo</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>SELECCIONAR</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>Selecione una rama</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Desinstalar %1</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>DESINSTALAR</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>¿Seguro qué desea desinstalar?</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>Desinstalar</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>no se pudo buscar actualizaciones</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>DESCARGAR</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>actualización disponible</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>nunca</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>actualizado, último chequeo %1</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SELECCIONAR</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Formatear Calibración</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>Clave SSH</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca ingrese un nombre de usuario de Github que no sea suyo. Un empleado de comma NUNCA le pedirá que añada un usuario de Github que no sea el suyo.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>AÑADIR</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Ingrese su usuario de GitHub</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>CARGANDO</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>ELIMINAR</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>El usuario &quot;%1” no tiene claves en GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>Solicitud expirada</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>El usuario &apos;%1&apos; no existe en Github</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>Habilitar SSH</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished">Estado de patrocinio</translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished">PATROCINADOR</translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished">Conviértete en patrocinador de sunnypilot para obtener acceso anticipado a las funciones de sunnylink cuando estén disponibles.</translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished">Emparejar cuenta de GitHub</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">EMPAREJAR</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished">Empareja tu cuenta de GitHub para otorgar a tu dispositivo beneficios de patrocinador, incluido acceso a la API en sunnylink.</translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished">ID del dongle de sunnylink no encontrado. Esto puede deberse a una conexión débil o a un problema de registro en sunnylink. Por favor, reinicia y vuelve a intentarlo.</translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished">No patrocinador</translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished">Emparejado</translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished">No emparejado</translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished">GRACIAS ♥</translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished">Escanea el código QR para iniciar sesión en tu cuenta de GitHub</translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished">Sigue las indicaciones para completar el proceso de emparejamiento</translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished">Vuelve a ingresar al panel de &quot;sunnylink&quot; para verificar el estado de patrocinio</translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished">Si el estado de patrocinio no se actualizó, por favor contacta a un moderador en Discord en https://discord.gg/sunnypilot</translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished">Escanea el código QR para visitar la página de GitHub Sponsors de sunnyhaibin</translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished">Elige tu nivel de patrocinio y confirma tu apoyo</translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished">Únete a nuestra comunidad en Discord en https://discord.gg/sunnypilot y contacta a un moderador para confirmar tu estado de patrocinio</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished">Empareja tu cuenta de GitHub</translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished">Acceso temprano: conviértete en patrocinador de sunnypilot</translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>Rechazar</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>Aceptar</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. 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>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>Modo Experimental</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>Desactivar con el Acelerador</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Cuando esté activado, presionar el acelerador deshabilitará sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Activar Avisos de Salida de Carril</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Recibir alertas para volver al carril cuando su vehículo se salga fuera del carril sin que esté activada la señal de giro y esté conduciendo por encima de 50 km/h (31 mph).</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>Monitoreo Permanente del Conductor</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Grabar y Subir Cámara del Conductor</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitoreo del conductor.</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Usar Sistema Métrico</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Mostrar velocidad en km/h en vez de mph.</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>Agresivo</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>Estándar</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>Relajado</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>Personalidad de conducción</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Se recomienda el modo estándar. En el modo agresivo, sunnypilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, sunnypilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>sunnypilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>Control Longitudinal de Punta a Punta</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. sunnypilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>Nueva Visualización de la conducción</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>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental también se mostrará en la esquina superior derecha.</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>El control longitudinal de sunnypilot podrá llegar en futuras actualizaciones.</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Se puede probar una versión experimental del control longitudinal sunnypilot, junto con el modo Experimental, en ramas no liberadas.</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>Activar sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilice el sistema sunnypilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Actualización Requerida</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo al Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectarse a la Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Instalar</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Volver</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Cargando...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Actualización fallida</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</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>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Buscando redes...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>CONECTANDO...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>OLVIDAR</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>¿Olvidar la Red de Wi-Fi &quot;%1&quot;?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>Olvidar</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
deleted file mode 100644
index fba7af60d9..0000000000
--- a/selfdrive/ui/translations/main_fr.ts
+++ /dev/null
@@ -1,1935 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="fr_FR">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Fermer</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Reporter la mise à jour</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Redémarrer et mettre à jour</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Retour</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Activer le partage de connexion</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Mot de passe du partage de connexion</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>MODIFIER</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Entrez le nouveau mot de passe du partage de connexion</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>Adresse IP</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Activer l&apos;itinérance</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>Paramètre APN</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>Entrer le nom du point d&apos;accès</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>laisser vide pour une configuration automatique</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>Connexion cellulaire limitée</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Éviter les transferts de données importants sur une connexion limitée</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>Réseau Caché</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONNECTER</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>Entrer le SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Entrer le mot de passe</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>pour &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Ok</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>Vous devez accepter les conditions générales pour utiliser sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Retour</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Refuser, désinstaller %1</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>Mode débogage au joystick</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>Mode manœuvre longitudinale</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Contrôle longitudinal sunnypilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>Sur cette voiture, sunnypilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;sunnypilot. Activez ceci pour passer au contrôle longitudinal sunnypilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal sunnypilot alpha.</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">VOIR</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>N° de série</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Caméra conducteur</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>APERÇU</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Aperçu de la caméra orientée vers le conducteur pour assurer une bonne visibilité de la surveillance du conducteur. (véhicule doit être éteint)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Réinitialiser la calibration</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>RÉINITIALISER</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>Êtes-vous sûr de vouloir réinitialiser la calibration ?</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>Réinitialiser</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Revoir le guide de formation</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>REVOIR</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>Revoir les règles, fonctionnalités et limitations d&apos;sunnypilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>Êtes-vous sûr de vouloir revoir le guide de formation ?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>Revoir</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Réglementaire</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>VOIR</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Changer de langue</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>CHANGER</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Choisir une langue</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Éteindre</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. sunnypilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Votre appareil est orienté %1° %2 et %3° %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>bas</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>haut</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>gauche</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>droite</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>Êtes-vous sûr de vouloir redémarrer ?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Désengager pour redémarrer</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>Êtes-vous sûr de vouloir éteindre ?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Désengager pour éteindre</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l&apos;offre comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>Associer l&apos;appareil</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>ASSOCIER</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">Réglementaire</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">Êtes-vous sûr de vouloir revoir le guide de formation ?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">Revoir</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">Choisir une langue</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">Redémarrer</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">Éteindre</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Confirmer</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">Réinitialiser</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>démarrage de la caméra</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODE EXPÉRIMENTAL ACTIVÉ</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>MODE DÉTENTE ACTIVÉ</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose 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 sunnypilot (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>sunnypilot 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>&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>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mi/h</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Besoin d&apos;au moins %n caractère !</numerusform>
-            <numerusform>Besoin d&apos;au moins %n caractères !</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Installation...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">Retour</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Sélectionner</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Avancé</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Entrer le mot de passe</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>pour &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>Mot de passe incorrect</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Température de l&apos;appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l&apos;appareil : %1</translation>
-    </message>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, sunnypilot ne s&apos;engagera pas dans %1</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Connectez l&apos;appareil à internet pour vérifier les mises à jour. sunnypilot ne démarrera pas automatiquement tant qu&apos;il ne se connecte pas à internet pour vérifier les mises à jour.</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Impossible de télécharger les mises à jour
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Capture de clichés photo. Le système ne démarrera pas tant qu&apos;il n&apos;est pas terminé.</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>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</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>L&apos;appareil n&apos;a pas réussi à s&apos;enregistrer. Il ne se connectera pas aux serveurs de comma.ai, n&apos;enverra rien et ne recevra aucune assistance de comma.ai. S&apos;il s&apos;agit d&apos;un appareil officiel, visitez https://comma.ai/support.</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Le disque NVMe n&apos;est pas monté.</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>Disque NVMe non supporté détecté. L&apos;appareil peut consommer beaucoup plus d&apos;énergie et surchauffer en raison du NVMe non supporté.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>MISE À JOUR</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> ALERTES</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> ALERTE</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>sunnypilot indisponible</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>REPRENEZ LE CONTRÔLE IMMÉDIATEMENT</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>Redémarrer l&apos;appareil</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>En attente de démarrage</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>Système inopérant</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Associez votre appareil à votre compte comma</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Allez sur https://connect.comma.ai sur votre téléphone</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Cliquez sur &quot;ajouter un nouvel appareil&quot; et scannez le code QR à droite</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Ajoutez connect.comma.ai à votre écran d&apos;accueil pour l&apos;utiliser comme une application</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>Connectez-vous au Wi-Fi pour terminer l&apos;appairage initial</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Enable</source>
-        <translation>Activer</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">Activer</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Annuler</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">SUPPRIMER</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Confirmer</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Annuler</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Mettre à niveau</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Devenez membre comma prime sur connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>FONCTIONNALITÉS PRIME :</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>Accès à distance</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>Connexion LTE 24/7</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>1 an de stockage de trajets</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>Captures à distance</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ ABONNÉ</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Quitter</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>il y a %n minute</numerusform>
-            <numerusform>il y a %n minutes</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>il y a %n heure</numerusform>
-            <numerusform>il y a %n heures</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>il y a %n jour</numerusform>
-            <numerusform>il y a %n jours</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>maintenant</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Réinitialisation échouée. Redémarrez pour réessayer.</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>Réinitialisation de l&apos;appareil...
-Cela peut prendre jusqu&apos;à une minute.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>Êtes-vous sûr de vouloir réinitialiser votre appareil ?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>Réinitialisation du système</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuler</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>Confirmer</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil.</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Réinitialisation système déclenchée. Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage.</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Appareil</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Réseau</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Options</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Logiciel</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>Dév.</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">Appareil</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">Réseau</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">Options</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">Logiciel</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">Dév.</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Un problème est survenu. Redémarrez l&apos;appareil.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Assurez-vous que l&apos;URL saisie est valide et que la connexion internet de l&apos;appareil est bonne.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Aucun logiciel personnalisé trouvé à cette URL.</translation>
-    </message>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ATTENTION : Tension faible</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Éteindre</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuer</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Commencer</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Avant de prendre la route, terminons l&apos;installation et passons en revue quelques détails.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Se connecter au Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Retour</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Entrer l&apos;URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>pour logiciel personnalisé</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuer sans Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>En attente d&apos;internet</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Téléchargement...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Échec du téléchargement</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Redémarrer l&apos;appareil</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Recommencer</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Choisir une langue</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Choisir le logiciel à installer</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Logiciel personnalisé</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Terminer l&apos;installation</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l&apos;offre comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>Associer l&apos;appareil</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONNECTER</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>HORS LIGNE</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>EN LIGNE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>ERREUR</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>TEMP</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>HAUT</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>BON</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>VÉHICULE</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>NON</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">HORS LIGNE</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">EN LIGNE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">ERREUR</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>Les MàJ sont téléchargées uniquement si la voiture est éteinte.</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>Version actuelle</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>Télécharger</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>VÉRIFIER</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>Installer la mise à jour</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>INSTALLER</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>Branche cible</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>SÉLECTIONNER</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>Sélectionner une branche</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Désinstaller %1</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>DÉSINSTALLER</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Êtes-vous sûr de vouloir désinstaller ?</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>Désinstaller</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>échec de la vérification de la mise à jour</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>TÉLÉCHARGER</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>mise à jour disponible</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>jamais</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>à jour, dernière vérification %1</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SÉLECTIONNER</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Réinitialiser la calibration</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuer</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Annuler</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>Clés SSH</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Attention : Ceci accorde l&apos;accès SSH à toutes les clés publiques de vos paramètres GitHub. N&apos;entrez jamais un nom d&apos;utilisateur GitHub autre que le vôtre. Un employé de comma ne vous demandera JAMAIS d&apos;ajouter son nom d&apos;utilisateur GitHub.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>AJOUTER</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Entrez votre nom d&apos;utilisateur GitHub</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>CHARGEMENT</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>SUPPRIMER</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>L&apos;utilisateur &apos;%1&apos; n&apos;a pas de clés sur GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>Délai de la demande dépassé</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>L&apos;utilisateur &apos;%1&apos; n&apos;existe pas sur GitHub</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>Activer SSH</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">ASSOCIER</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>Refuser</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>Accepter</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. 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>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>Mode expérimental</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>Désengager avec la pédale d&apos;accélérateur</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Lorsqu&apos;il est activé, appuyer sur la pédale d&apos;accélérateur désengagera sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Activer les avertissements de sortie de voie</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Recevez des alertes pour revenir dans la voie lorsque votre véhicule dérive au-delà d&apos;une ligne de voie détectée sans clignotant activé en roulant à plus de 31 mph (50 km/h).</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Enregistrer et télécharger la caméra conducteur</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Publiez les données de la caméra orientée vers le conducteur et aidez à améliorer l&apos;algorithme de surveillance du conducteur.</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Utiliser le système métrique</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Afficher la vitesse en km/h au lieu de mph.</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>Aggressif</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>Standard</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>Détendu</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>Personnalité de conduite</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>Par défaut, sunnypilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Laissez le modèle de conduite contrôler l&apos;accélérateur et les freins. sunnypilot conduira comme il pense qu&apos;un humain le ferait, y compris s&apos;arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir.</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>Nouvelle visualisation de la conduite</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d&apos;origine est utilisé pour le contrôle longitudinal.</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>Le contrôle longitudinal sunnypilot pourrait être disponible dans une future mise à jour.</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>Contrôle longitudinal de bout en bout</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Activer le contrôle longitudinal d&apos;sunnypilot (en alpha) pour autoriser le mode expérimental.</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Le mode Standard est recommandé. En mode Agressif, sunnypilot suivra les véhicules de plus près et sera plus dynamique avec l&apos;accélérateur et le frein. En mode Détendu, sunnypilot maintiendra une distance plus importante avec les véhicules qui précèdent. Sur les véhicules compatibles, vous pouvez alterner entre ces personnalités à l&apos;aide du bouton de distance au volant.</translation>
-    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s&apos;affichera également dans le coin supérieur droit.</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>Surveillance continue du conducteur</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>Activer la surveillance conducteur lorsque sunnypilot n&apos;est pas actif.</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>Activer sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilisez le système sunnypilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Mise à jour requise</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Une mise à jour du système d&apos;exploitation est requise. Connectez votre appareil au Wi-Fi pour une mise à jour plus rapide. La taille du téléchargement est d&apos;environ 1 Go.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Se connecter au Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Installer</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Retour</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Chargement...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Échec de la mise à jour</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</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>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Recherche de réseaux...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>CONNEXION...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>OUBLIER</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Oublier le réseau Wi-Fi &quot;%1&quot; ?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>Oublier</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
deleted file mode 100644
index dba867fcea..0000000000
--- a/selfdrive/ui/translations/main_ja.ts
+++ /dev/null
@@ -1,1930 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="ja_JP">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>閉じる</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>更新の一時停止</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>再起動してアップデート</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>戻る</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>テザリング有効</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>テザリングパスワード</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>編集</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>新しいテザリングパスワードを入力</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IPアドレス</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>ローミング有効</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN設定</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>APNを入力</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>自動で設定するには空白のままにしてください</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>従量制通信設定</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>大量のデータのアップロードを防止する</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>ネットワーク非表示</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>接続</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>SSIDを入力</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>パスワードを入力</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>[%1]</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>sunnypilotを使用するためには利用規約に同意する必要があります</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>戻る</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>同意しない(%1をアンインストール)</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>ジョイスティックデバッグモード</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>アクセル制御マニューバー</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilotアクセル制御(Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>この車ではsunnypilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>この車では、sunnypilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、sunnypilotのアクセル制御は無効化されています。アクセル制御をsunnypilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation>ADBを有効にする</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）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。</translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">確認</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>ドングルID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>該当なし</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>シリアル番号</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>車内カメラ</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>プレビュー</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>車内カメラでドライバー監視システムのカメラ画像を確認できます。(車両のパワーOFF時の機能です)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>キャリブレーションリセット</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>リセット</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>キャリブレーションをリセットしますか？</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>トレーニングガイドを見る</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>確認</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>sunnypilotのルール、機能、および制限を確認してください</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>トレーニングガイドを始めてもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>規約</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>確認</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>多言語対応</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>変更</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>言語を選択</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>パワーオフ</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilotの本体は左右4°以内、上5°下9°以内の角度で取付ける必要があります。常にキャリブレーションされておりリセットはほとんど必要ありません。</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> このデバイスは%2 %1°、%4 %3°の向きに設置されています。</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>下</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>上</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>左</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>右</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>再起動してもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>再起動するには車を一旦停止してください</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>パワーオフしてもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>パワーオフするには車を一旦停止してください</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>リセット</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>見る</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>デバイスをcommaコネクト(connect.comma.ai)でペアリングしてcommaプライムの特典を受け取ってください。</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>デバイスのペアリング</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>OK</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">規約</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">トレーニングガイドを始めてもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">見る</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">言語を選択</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">再起動</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">パワーオフ</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">確認</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">リセット</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>カメラ起動中</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>EXPERIMENTALモード</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>CHILLモード</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Firehoseモード 🔥</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 sunnypilot (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>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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;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>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最大速度</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>%n文字以上にして下さい！</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>インストール中...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">戻る</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>選択</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>詳細</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>パスワードを入力</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>[%1]</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>パスワードが違います</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>インターネットへ接続してアップデートを確認してください。未接続のままではsunnypilotを使用できなくなります。あと[%1]</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>インターネットに接続してアップデートを確認してください。接続するまでsunnypilotは使用できません。</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>更新をダウンロードできませんでした
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>スナップショットを撮影中です。完了するまでシステムは起動しません。</translation>
-    </message>
-    <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation>オペレーティングシステムがバックグラウンドでダウンロードされています。インストールの準備が整うと更新を促されます。</translation>
-    </message>
-    <message>
-        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation>登録に失敗しました。このデバイスはcomma.aiのサーバーに接続したりデータをアップロードしたりできません。またcomma.aiのサポートも受けられません。公式デバイスである場合は https://comma.ai/support に問い合わせて下さい。</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>SSDドライブ(NVMe)がマウントされていません。</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>非サポートのSSDドライブ(NVMe)が検出されました。このドライブを使用するとデバイスが多大な電力を消費し過熱する可能性があります。</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilotが車両を識別できませんでした。車が未対応またはECUが認識されていない可能性があります。該当車両のファームウェアバージョンを追加するためにプルリクエストしてください。サポートが必要な場合は discord.comma.ai に参加することができます。</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilotがデバイスの取り付け位置にずれを検出しました。デバイスの固定とマウントがフロントガラスにしっかりと取り付けられていることを確認してください。</translation>
-    </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>デバイスの温度が高すぎるためシステム起動前の冷却中です。現在のデバイス内部温度: %1</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>更新</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> 警告</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> 警告</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>sunnypilotは使用できません</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>直ちに車の運転に戻って下さい</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>デバイスを再起動してください</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>始動を待機しています</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>システムが応答しません</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>デバイスとcommaアカウントを連携して下さい</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>スマートフォンで https://connect.comma.ai にアクセスしてください</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>「add new device」を押して右側のQRコードをスキャンしてください</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.aiのサイトをホーム画面に追加して、アプリのように使うことができます。</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>最初にペアリングするため、Wi-Fiに接続してください</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
-    </message>
-    <message>
-        <source>Enable</source>
-        <translation>有効にする</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">有効にする</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">キャンセル</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">削除</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">確認</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">キャンセル</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>今すぐアップグレード</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai からプライム会員に登録できます</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>特典:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>リモートアクセス</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>24時間365日のLTE接続</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>1年間分のドライブストレージ</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>リモートスナップショット</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ 有効です</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>commaプライム</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>閉じる</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n分前</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n時間前</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n日前</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>たった今</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>初期化に失敗しました。再起動後に再試行してください。</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>初期化してもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>システムを初期化</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>確認</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>Dataパーティションをマウントできません。パーティションが破損している可能性があります。デバイスを消去してリセットしますので確認を押して下さい。</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>デバイスをリセットしています…
-この処理には最大で1分ほどかかる場合があります。</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>システムリセットの準備が整いました。すべてのデータと設定を消去するには「確認」を押してください。「キャンセル」を押すとブートを再開します。</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>デバイス</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>ネット</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>機能</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>ソフト</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>開発</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>データ学習</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">デバイス</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">ネット</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">機能</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">ソフト</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">開発</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished">データ学習</translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：電圧低下</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>ハーネスを使って車でデバイスに電源を供給するか、自己責任でこのまま継続して下さい。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>電源を切る</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>続ける</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>はじめに</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>出発する前に、インストールを完了させて少し詳細を確認しましょう。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fiに接続</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>戻る</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fiに接続せずに続行</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>インターネット接続を待機中</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URLの入力</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>ダウンロード中...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>ダウンロードに失敗しました</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>入力されたURLが正しいかどうか、インターネットに正常に接続できているかを確認してください。</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>デバイスを再起動</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>やり直す</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>このURLはカスタムソフトウェアではありません。</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>何かの問題が発生しました。デバイスを再起動してください。</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>言語を選択</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>インストールするソフトウェアを選択してください。</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>セットアップの完了</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>デバイスをcommaコネクト(connect.comma.ai)でペアリングしてcommaプライムの特典を受け取ってください。</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>デバイスのペアリング</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>接続</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>オフライン</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>オンライン</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>エラー</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>温度</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>高温</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>最適</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>車両</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>NO</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">オフライン</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">オンライン</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">エラー</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>車の電源がオフの間のみアップデートがダウンロードできます。</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>現在のバージョン</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>ダウンロード</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>アップデート</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>インストール</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>対象のブランチ</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>選択</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>ブランチを選択</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>実行</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>%1をアンインストール</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>アンインストールしてもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>確認</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>アンインストール</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>アップデートの確認に失敗しました。</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>最新の状態です。最終確認日時：%1</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>ダウンロード</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>アップデートが利用可能です</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>無効</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">選択</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">キャリブレーションリセット</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">続ける</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">キャンセル</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH 鍵</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。commaのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>追加</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>GitHub のユーザー名を入力してください</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>読み込み中</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>削除</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>ユーザー名“%1”は GitHub に公開鍵がありません</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>リクエストタイムアウト</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>ユーザー名”%1”は GitHub に存在しません</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>SSHの有効化</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">該当なし</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">OK</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>拒否</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>同意</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. 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>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>車線逸脱警報機能の有効化</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>時速31マイル（50km）以上のスピードで走行中、ウインカーを作動させずに検出したレーン上に車両が触れた場合、手動で車線内に戻るように警告を行います。</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>メートル法の使用</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>速度は mph ではなく km/h で表示されます。</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>車内カメラの録画とアップロード</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>アクセルを踏むと運転サポートを中断</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>この機能を有効化すると、sunnypilotを利用中にアクセルを踏むとsunnypilotによる運転サポートを中断します。</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>Experimentalモード</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>sunnypilotは標準ではゆっくりとくつろげる運転を提供します。このExperimental(実験)モードを有効にすると、以下のアグレッシブな開発中の機能を利用する事ができます。</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>sunnypilotにアクセルとブレーキを任せます。sunnypilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。sunnypilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、sunnypilotの運転ミスに常に備えて注意してください。</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>新しい運転画面</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>車両の標準ACC（アダプティブ・クルーズ・コントロール）がアクセル制御に使用されているため、現在Experimentalモードは利用できません。</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>アグレッシブ</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>標準</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>リラックス</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>運転傾向</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>End-to-Endアクセル制御</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilotのアクセル制御は将来のアップデートで利用できる可能性があります。</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>sunnypilotのアルファ版アクセル制御は、Experimentalモードと共に非リリースのブランチでテストすることができます。</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>sunnypilotのアクセル制御機能(アルファ)を有効にして、Experimentalモードを許可してください。</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>標準モードが推奨されます。アグレッシブモードではsunnypilotは先行車に近づいて追従し、アクセルとブレーキがより強気になります。リラックスモードではsunnypilotは先行車から距離を取って走行します。サポートされている車両ではステアリングホイールの距離ボタンでこれらのモードを切り替えることができます。</translation>
-    </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>運転時の画面効果として、低速時にカーブをより良く表示するために道路用の広角カメラに切り替わります。またExperimentalモードのロゴが右上隅に表示されます。</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>運転者の常時モニタリング</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>sunnypilotが作動していない場合でも運転者モニタリングを有効にする。</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>sunnypilot を有効化</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>sunnypilotによるアダプティブクルーズコントロールとレーンキープアシストを利用します。この機能を利用する際は常に前方への注意が必要です。この設定を変更は車の電源が必要です。</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>アップデートが必要です</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>OSのアップデートが必要です。Wi-Fiに接続してアップデートする事をお勧めします。ダウンロードサイズは約1GBです。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fiに接続</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>インストール</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>戻る</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>読み込み中...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>更新失敗</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation>開く</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モード &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>ネットワークをスキャン中...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>接続中...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>削除</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Wi-Fiネットワーク%1を削除してもよろしいですか？</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>削除</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
deleted file mode 100644
index 34be6e5a2e..0000000000
--- a/selfdrive/ui/translations/main_ko.ts
+++ /dev/null
@@ -1,1930 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="ko_KR">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>닫기</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>업데이트 일시 중지</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>업데이트 및 재부팅</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>뒤로</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>테더링 사용</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>테더링 비밀번호</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>편집</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>새 테더링 비밀번호를 입력하세요</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IP 주소</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>로밍 사용</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN 설정</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>APN 입력</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>자동 설정하려면 빈 칸으로 두세요</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>데이터 요금제</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>숨겨진 네트워크</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>연결됨</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>SSID 입력</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>비밀번호를 입력하세요</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>확인</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>sunnypilot을 사용하려면 이용약관에 동의해야 합니다.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>뒤로</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>거절, %1 제거</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>조이스틱 디버그 모드</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>롱컨 제어 모드</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot 가감속 제어 (알파)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: sunnypilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다.</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>이 차량에서 sunnypilot은 sunnypilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. sunnypilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. sunnypilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation>ADB 사용</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 (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">보기</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>동글 ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>시리얼</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>운전자 카메라</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>미리보기</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 후면 카메라를 미리 봅니다. (차량 시동이 꺼져 있어야 합니다)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>캘리브레이션</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>초기화</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>캘리브레이션을 초기화하시겠습니까?</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>트레이닝 가이드</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>다시보기</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>sunnypilot의 규칙, 기능 및 제한 다시 확인</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>트레이닝 가이드를 다시 확인하시겠습니까?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>규제</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>보기</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>언어 변경</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>변경</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>언어를 선택하세요</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>전원 끄기</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. sunnypilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>아래로</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>위로</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>좌측으로</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>우측으로</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>재부팅하시겠습니까?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>재부팅하려면 연결을 해제하세요</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>전원을 끄시겠습니까?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>전원을 끄려면 연결을 해제하세요</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>초기화</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>다시보기</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 comma connect (connect.comma.ai)에서 동기화하고 comma prime 무료 이용권을 사용하세요.</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>장치 동기화</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>동기화</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">규제</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">트레이닝 가이드를 다시 확인하시겠습니까?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">다시보기</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">언어를 선택하세요</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">재부팅</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">전원 끄기</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">확인</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">초기화</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>카메라 시작 중</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>실험 모드 사용</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>안정 모드 사용</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 파이어호스 모드 🔥</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>파이어호스 모드: 활성화</translation>
-    </message>
-    <message>
-        <source>ACTIVE</source>
-        <translation>활성화</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 sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation>최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.&lt;br&gt;&lt;br&gt;파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;자주 묻는 질문&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;운전 방법이나 장소가 중요한가요?&lt;/i&gt; 아니요, 평소처럼 운전하시면 됩니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;파이어호스 모드에서 제 모든 구간을 가져오나요?.&lt;br&gt;&lt;br&gt;&lt;i&gt; 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;좋은 USB-C 케이블은 무엇인가요?&lt;/i&gt; 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.&lt;br&gt;&lt;br&gt;&lt;i&gt;어떤 소프트웨어를 실행하는지가 중요한가요?&lt;/i&gt; 예, 오직 공식 sunnypilot의 특정 포크만 트레이닝에 사용할 수 있습니다.</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>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>최소 %n자 이상이어야 합니다!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>설치 중...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">뒤로</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>선택</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>고급 설정</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>비밀번호를 입력하세요</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>비밀번호가 틀렸습니다</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 sunnypilot이 활성화되지 않습니다.</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>업데이트를 확인하려면 인터넷에 연결하세요. sunnypilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다.</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>업데이트를 다운로드할 수 없습니다
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>카메라 스냅샷 찍기가 완료될 때까지 시스템이 시작되지 않습니다.</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>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치가 준비되면 업데이트 메시지가 표시됩니다.</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>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 데이터를 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인 경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 드라이브가 마운트되지 않았습니다.</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브는 많은 전력을 소비하고 장치를 과열시킬 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
-    </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>업데이트</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> 알림</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> 알림</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>오픈파일럿을 사용할수없습니다</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>핸들을 잡아주세요</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>장치를 재부팅하세요</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>시작을 기다리는중</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>시스템이 응답하지않습니다</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>장치를 comma 계정에 동기화합니다</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>https://connect.comma.ai에 접속하세요</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 스캔하세요</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>초기 동기화를 완료하려면 Wi-Fi에 연결하세요.</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
-    </message>
-    <message>
-        <source>Enable</source>
-        <translation>활성화</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">활성화</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">삭제</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">확인</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>지금 업그레이드하세요</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai에 접속하여 comma prime 회원으로 등록하세요</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>PRIME 기능:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>원격 접속</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>항상 LTE 연결</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>1년간 드라이브 로그 저장</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>원격 스냅샷</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ 구독함</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>종료</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n 분 전</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n 시간 전</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n 일 전</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>now</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>초기화 실패. 재부팅 후 다시 시도하세요.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>장치를 초기화하시겠습니까?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>장치 초기화</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>확인</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 설정을 삭제하고 장치를 초기화하려면 확인을 누르세요.</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>장치를 초기화하는 중...
-최대 1분이 소요될 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>시스템 재설정이 시작되었습니다. 모든 콘텐츠와 설정을 지우려면 확인을 누르시고 부팅을 재개하려면 취소를 누르세요.</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>장치</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>네트워크</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>토글</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>소프트웨어</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>개발자</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>파이어호스</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">장치</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">네트워크</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">토글</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">소프트웨어</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">개발자</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished">파이어호스</translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>경고: 전압이 낮습니다</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>장치를 하네스를 통해 차량 전원에 연결하세요. USB 전원에서는 예상치 못한 문제가 생길 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>전원 끄기</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>계속</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>시작하기</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발 전 설정을 완료하고 세부 사항을 살펴봅니다.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi 연결</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>뒤로</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi 연결 없이 진행</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>인터넷 연결 대기 중</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL 입력</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>커스텀 소프트웨어</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>다운로드 중...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>다운로드 실패</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 인터넷 연결이 원활한지 확인하세요.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>장치 재부팅</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>다시 시작</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>문제가 발생했습니다. 장치를 재부팅하세요.</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>언어를 선택하세요</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>설치할 소프트웨어 선택</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>커스텀 소프트웨어</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>설정 완료</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 comma connect (connect.comma.ai)에서 동기화하고 comma prime 무료 이용권을 사용하세요.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>장치 동기화</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>커넥트</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>연결 안됨</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>온라인</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>오류</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>온도</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>높음</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>좋음</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>차량</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>NO</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>LAN</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">연결 안됨</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">온라인</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">오류</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다.</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>현재 버전</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>다운로드</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>업데이트 설치</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>설치</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>대상 브랜치</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>선택</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>브랜치 선택</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>제거</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>%1 제거</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>제거하시겠습니까?</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>확인</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>제거</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>업데이트를 확인하지 못했습니다</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>최신 버전입니다. 마지막 확인: %1</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>다운로드</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>업데이트 가능</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>업데이트 안함</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">선택</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">캘리브레이션</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">계속</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH 키</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>경고: 이 설정은 GitHub에 등록된 모든 공용 키에 대해 SSH 액세스 권한을 부여합니다. 본인의 GitHub 사용자 아이디 이외에는 입력하지 마십시오. comma에서는 GitHub 아이디를 추가하라는 요청을 하지 않습니다.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>추가</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>GitHub 사용자 ID</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>로딩 중</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>삭제</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>사용자 &apos;%1&apos;의 GitHub에 키가 등록되어 있지 않습니다</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>요청 시간 초과</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>GitHub 사용자 &apos;%1&apos;를 찾지 못했습니다</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>SSH 사용</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">동기화</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>거절</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>동의</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation>오픈 파일럿에 오신 것을 환영합니다.</translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. 최신 약관은 &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; 에서 최신 약관을 읽은 후 계속하세요.</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>차선 이탈 경고 활성화</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>차량이 50km/h(31mph) 이상의 속도로 주행할 때 방향지시등이 켜지지 않은 상태에서 차선을 벗어나면 경고합니다.</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>미터법 사용</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>mph 대신 km/h로 속도를 표시합니다.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>운전자 카메라 녹화 및 업로드</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>운전자 카메라의 영상 데이터를 업로드하여 운전자 모니터링 알고리즘을 개선합니다.</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>가속페달 조작 시 해제</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>활성화된 경우 가속 페달을 밟으면 sunnypilot이 해제됩니다.</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>실험 모드</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>sunnypilot은 기본적으로 &lt;b&gt;안정 모드&lt;/b&gt;로 주행합니다. 실험 모드는 안정화되지 않은 &lt;b&gt;알파 수준의 기능&lt;/b&gt;을 활성화합니다. 실험 모드의 기능은 아래와 같습니다:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>sunnypilot의 주행모델이 가감속을 제어합니다. sunnypilot은 신호등과 정지 표지판을 보고 멈추는 것을 포함하여 인간이 운전하는 것처럼 생각하고 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 최대 주행 속도로만 기능합니다. 이 기능은 알파 수준이므로 사용에 각별히 주의해야 합니다.</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>새로운 주행 시각화</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다.</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>공격적</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>표준</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>편안한</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>주행 모드</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>sunnypilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>실험 모드를 사용하려면 sunnypilot E2E 가감속 제어 (알파) 토글을 활성화하세요.</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>E2E 가감속 제어</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>표준 모드를 권장합니다. 공격적 모드의 sunnypilot은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 sunnypilot은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 스티어링 휠 거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다.</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>운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 우측 상단에 실험 모드 로고가 표시됩니다.</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>상시 운전자 모니터링</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>sunnypilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다.</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>sunnypilot 사용</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 sunnypilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다.</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>업데이트 필요</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>OS 업데이트가 필요합니다. 장치를 Wi-Fi에 연결하면 가장 빠르게 업데이트할 수 있습니다. 다운로드 크기는 약 1GB입니다.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi 연결</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>설치</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>뒤로</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>로딩 중...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>업데이트 실패</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation>열기</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; 파이어호스 모드 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>네트워크 검색 중...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>연결 중...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>삭제</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Wi-Fi &quot;%1&quot;에 자동으로 연결하지 않겠습니까?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>삭제</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts
deleted file mode 100644
index 2bfc836773..0000000000
--- a/selfdrive/ui/translations/main_nl.ts
+++ /dev/null
@@ -1,1120 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="nl_NL">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Sluit</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Update uitstellen</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Opnieuw Opstarten en Updaten</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Terug</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Tethering Inschakelen</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Tethering Wachtwoord</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>AANPASSEN</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Voer nieuw tethering wachtwoord in</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IP Adres</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Roaming Inschakelen</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN Instelling</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>Voer APN in</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>laat leeg voor automatische configuratie</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/u</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Ok</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuleren</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>U moet de Algemene Voorwaarden accepteren om sunnypilot te gebruiken.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Terug</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Afwijzen, verwijder %1</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>Nvt</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>Serienummer</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Bestuurders Camera</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>BEKIJKEN</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Bekijk de naar de bestuurder gerichte camera om ervoor te zorgen dat het monitoren van de bestuurder goed zicht heeft. (Voertuig moet uitgschakeld zijn)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Kalibratie Resetten</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>RESET</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>Weet u zeker dat u de kalibratie wilt resetten?</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Doorloop de Training Opnieuw</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>BEKIJKEN</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>Bekijk de regels, functies en beperkingen van sunnypilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>Weet u zeker dat u de training opnieuw wilt doorlopen?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Regelgeving</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>BEKIJKEN</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Taal Wijzigen</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>WIJZIGEN</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Selecteer een taal</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Opnieuw Opstarten</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Uitschakelen</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. sunnypilot kalibreert continu, resetten is zelden nodig.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Uw apparaat is gericht op %1° %2 en %3° %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>omlaag</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>omhoog</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>links</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>rechts</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>Weet u zeker dat u opnieuw wilt opstarten?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Deactiveer sunnypilot om opnieuw op te starten</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>Weet u zeker dat u wilt uitschakelen?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Deactiveer sunnypilot om uit te schakelen</translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Ritten</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Uren</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>TOTAAL</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>AFGELOPEN WEEK</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>Km</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Mijl</translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewScene</name>
-    <message>
-        <source>camera starting</source>
-        <translation>Camera wordt gestart</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuleren</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Heeft minstens %n karakter nodig!</numerusform>
-            <numerusform>Heeft minstens %n karakters nodig!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Installeren...</translation>
-    </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>Objecten ontvangen: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>Deltas verwerken: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>Bestanden bijwerken: </translation>
-    </message>
-</context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>uur</translation>
-    </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-</context>
-<context>
-    <name>MapInstructions</name>
-    <message>
-        <source> km</source>
-        <translation> km</translation>
-    </message>
-    <message>
-        <source> m</source>
-        <translation> m</translation>
-    </message>
-    <message>
-        <source> mi</source>
-        <translation> mi</translation>
-    </message>
-    <message>
-        <source> ft</source>
-        <translation> ft</translation>
-    </message>
-</context>
-<context>
-    <name>MapPanel</name>
-    <message>
-        <source>Current Destination</source>
-        <translation>Huidige Bestemming</translation>
-    </message>
-    <message>
-        <source>CLEAR</source>
-        <translation>LEEGMAKEN</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>Recente Bestemmingen</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>Probeer de Navigatie Bèta</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>Krijg stapsgewijze routebeschrijving en meer met een comma
-prime abonnement. Meld u nu aan: https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>Geen thuislocatie
-ingesteld</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>Geen werklocatie
-ingesteld</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>geen recente bestemmingen</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Kaart wordt geladen</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Wachten op GPS</translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Selecteer</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuleren</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Geavanceerd</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Voer wachtwoord in</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>voor &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>Verkeerd wachtwoord</translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>UPDATE</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> WAARSCHUWINGEN</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> WAARSCHUWING</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Koppel uw apparaat aan uw comma-account</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Ga naar https://connect.comma.ai op uw telefoon</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Klik op &quot;add new device&quot; en scan de QR-code aan de rechterkant</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Voeg connect.comma.ai toe op uw startscherm om het als een app te gebruiken</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Upgrade nu</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Word een comma prime lid op connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>PRIME BEVAT:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>Toegang op afstand</translation>
-    </message>
-    <message>
-        <source>1 year of storage</source>
-        <translation>1 jaar lang opslag</translation>
-    </message>
-    <message>
-        <source>Developer perks</source>
-        <translation>Voordelen voor ontwikkelaars</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ GEABONNEERD</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA PUNTEN</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Opnieuw Opstarten</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Afsluiten</translation>
-    </message>
-    <message>
-        <source>dashcam</source>
-        <translation>dashcam</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n minuut geleden</numerusform>
-            <numerusform>%n minuten geleden</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n uur geleden</numerusform>
-            <numerusform>%n uur geleden</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n dag geleden</numerusform>
-            <numerusform>%n dagen geleden</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Opnieuw instellen mislukt. Start opnieuw op om opnieuw te proberen.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>Weet u zeker dat u uw apparaat opnieuw wilt instellen?</translation>
-    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>Apparaat opnieuw instellen...</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>Systeemreset</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Systeemreset geactiveerd. Druk op bevestigen om alle inhoud en instellingen te wissen. Druk op Annuleren om het opstarten te hervatten.</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Annuleren</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Opnieuw Opstarten</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>Bevestigen</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>Kan gegevenspartitie niet koppelen. Druk op bevestigen om uw apparaat te resetten.</translation>
-    </message>
-</context>
-<context>
-    <name>RichTextDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Ok</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Apparaat</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Netwerk</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Opties</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Software</translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation>Navigatie</translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>WAARCHUWING: Lage Spanning</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Voorzie uw apparaat van stroom in een auto met een harnas (car harness) of ga op eigen risico verder.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Uitschakelen</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Doorgaan</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Aan de slag</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Laten we, voordat we op pad gaan, de installatie afronden en enkele details bespreken.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Maak verbinding met Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Terug</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Doorgaan zonder Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Wachten op internet</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Kies Software om te Installeren</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Dashcam</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Andere Software</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Voer URL in</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>voor Andere Software</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Downloaden...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Downloaden Mislukt</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Zorg ervoor dat de ingevoerde URL geldig is en dat de internetverbinding van het apparaat goed is.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Apparaat opnieuw opstarten</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Begin opnieuw</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Installatie voltooien</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Koppel uw apparaat met comma connect (connect.comma.ai) en claim uw comma prime-aanbieding.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>Apparaat koppelen</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>VERBINDING</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>OFFLINE</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>ONLINE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>FOUT</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>TEMP</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>HOOG</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>GOED</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>VOERTUIG</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>GEEN</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>ZOEKEN</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>4G</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Git Branch</source>
-        <translation type="vanished">Git Branch</translation>
-    </message>
-    <message>
-        <source>Git Commit</source>
-        <translation type="vanished">Git Commit</translation>
-    </message>
-    <message>
-        <source>OS Version</source>
-        <translation type="vanished">OS Versie</translation>
-    </message>
-    <message>
-        <source>Version</source>
-        <translation type="vanished">Versie</translation>
-    </message>
-    <message>
-        <source>Last Update Check</source>
-        <translation type="vanished">Laatste Updatecontrole</translation>
-    </message>
-    <message>
-        <source>The last time sunnypilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation type="vanished">De laatste keer dat sunnypilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld.</translation>
-    </message>
-    <message>
-        <source>Check for Update</source>
-        <translation type="vanished">Controleer op Updates</translation>
-    </message>
-    <message>
-        <source>CHECKING</source>
-        <translation type="vanished">CONTROLEER</translation>
-    </message>
-    <message>
-        <source>Switch Branch</source>
-        <translation type="vanished">Branch Verwisselen</translation>
-    </message>
-    <message>
-        <source>ENTER</source>
-        <translation type="vanished">INVOEREN</translation>
-    </message>
-    <message>
-        <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="vanished">Tijdens de volgende update wordt de nieuwe branch opgehaald.</translation>
-    </message>
-    <message>
-        <source>Enter branch name</source>
-        <translation type="vanished">Voer branch naam in</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Verwijder %1</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>VERWIJDER</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Weet u zeker dat u de installatie ongedaan wilt maken?</translation>
-    </message>
-    <message>
-        <source>failed to fetch update</source>
-        <translation type="vanished">ophalen van update mislukt</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>CONTROLEER</translation>
-    </message>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH Sleutels</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Waarschuwing: dit geeft SSH toegang tot alle openbare sleutels in uw GitHub-instellingen. Voer nooit een andere GitHub-gebruikersnaam in dan die van uzelf. Een medewerker van comma zal u NOOIT vragen om zijn GitHub-gebruikersnaam toe te voegen.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>TOEVOEGEN</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Voer uw GitHub gebruikersnaam in</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>LADEN</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>VERWIJDEREN</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Gebruikersnaam &apos;%1&apos; heeft geen SSH sleutels op GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>Time-out van aanvraag</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Gebruikersnaam &apos;%1&apos; bestaat niet op GitHub</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>SSH Inschakelen</translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Terms &amp; Conditions</source>
-        <translation>Algemene Voorwaarden</translation>
-    </message>
-    <message>
-        <source>Decline</source>
-        <translation>Afwijzen</translation>
-    </message>
-    <message>
-        <source>Scroll to accept</source>
-        <translation>Scroll om te accepteren</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>Akkoord</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>sunnypilot Inschakelen</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Gebruik het sunnypilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld.</translation>
-    </message>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Waarschuwingen bij Verlaten Rijstrook Inschakelen</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Ontvang waarschuwingen om terug naar de rijstrook te sturen wanneer uw voertuig over een gedetecteerde rijstrookstreep drijft zonder dat de richtingaanwijzer wordt geactiveerd terwijl u harder rijdt dan 50 km/u (31 mph).</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Gebruik Metrisch Systeem</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Geef snelheid weer in km/u in plaats van mph.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Opnemen en Uploaden van de Bestuurders Camera</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren.</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>Deactiveren Met Gaspedaal</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Indien ingeschakeld, zal het indrukken van het gaspedaal sunnypilot deactiveren.</translation>
-    </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Toon verwachte aankomsttijd in 24-uurs formaat</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Gebruik 24-uurs formaat in plaats van AM en PM</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Toon kaart aan linkerkant van het scherm</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Toon kaart links in gesplitste schermweergave.</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control</source>
-        <translation type="vanished">sunnypilot Longitudinale Controle</translation>
-    </message>
-    <message>
-        <source>sunnypilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation type="vanished">sunnypilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld!</translation>
-    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Experimental sunnypilot Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: sunnypilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control is not currently available for this car.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to enable this.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Update Vereist</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Een update van het besturingssysteem is vereist. Verbind je apparaat met Wi-Fi voor de snelste update-ervaring. De downloadgrootte is ongeveer 1 GB.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Maak verbinding met Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Installeer</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Terug</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Aan het laden...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Opnieuw Opstarten</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Update mislukt</translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Scannen naar netwerken...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>VERBINDEN...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>VERGETEN</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Vergeet Wi-Fi Netwerk &quot;%1&quot;?</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts
deleted file mode 100644
index 6e9170d298..0000000000
--- a/selfdrive/ui/translations/main_pl.ts
+++ /dev/null
@@ -1,1124 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="pl_PL">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Zamknij</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Zaktualizuj później</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Uruchom ponownie i zaktualizuj</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Wróć</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Włącz hotspot osobisty</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Hasło do hotspotu</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>EDYTUJ</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Wprowadź nowe hasło do hotspotu</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>Adres IP</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Włącz roaming danych</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>Ustawienia APN</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>Wprowadź APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>Pozostaw puste, aby użyć domyślnej konfiguracji</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>AnnotatedCameraWidget</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>PRĘDKOŚĆ</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>OGRANICZENIE</translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Ok</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Anuluj</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>Aby korzystać z sunnypilota musisz zaakceptować regulamin.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Wróć</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Odrzuć, odinstaluj %1</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>ID adaptera</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>Numer seryjny</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Kamera kierowcy</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>PODGLĄD</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Wyświetl podgląd z kamery skierowanej na kierowcę, aby upewnić się, że monitoring kierowcy ma dobry zakres widzenia. (pojazd musi być wyłączony)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Zresetuj kalibrację</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>ZRESETUJ</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>Czy na pewno chcesz zresetować kalibrację?</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Zapoznaj się z samouczkiem</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>ZAPOZNAJ SIĘ</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>Zapoznaj się z zasadami, funkcjami i ograniczeniami sunnypilota</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>Czy na pewno chcesz się zapoznać z samouczkiem?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Regulacja</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>WIDOK</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Zmień język</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>ZMIEŃ</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Wybierz język</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Uruchom ponownie</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Wyłącz</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. sunnypilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Twoje urządzenie jest skierowane %1° %2 oraz %3° %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>w dół</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>w górę</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>w lewo</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>w prawo</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>Czy na pewno chcesz uruchomić ponownie urządzenie?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Aby uruchomić ponownie, odłącz sterowanie</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>Czy na pewno chcesz wyłączyć urządzenie?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Aby wyłączyć urządzenie, odłącz sterowanie</translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation>Przejazdy</translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation>Godziny</translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation>CAŁKOWICIE</translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation>OSTATNI TYDZIEŃ</translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation>KM</translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation>Mile</translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewScene</name>
-    <message>
-        <source>camera starting</source>
-        <translation>uruchamianie kamery</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Anuluj</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Wpisana wartość powinna składać się przynajmniej z %n znaku!</numerusform>
-            <numerusform>Wpisana wartość powinna skłądać się przynajmniej z %n znaków!</numerusform>
-            <numerusform>Wpisana wartość powinna skłądać się przynajmniej z %n znaków!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalowanie...</translation>
-    </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>Odbieranie obiektów: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>Rozwiązywanie różnic: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>Aktualizacja plików: </translation>
-    </message>
-</context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>przewidywany czas</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>godz</translation>
-    </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-</context>
-<context>
-    <name>MapInstructions</name>
-    <message>
-        <source> km</source>
-        <translation> km</translation>
-    </message>
-    <message>
-        <source> m</source>
-        <translation> m</translation>
-    </message>
-    <message>
-        <source> mi</source>
-        <translation> mi</translation>
-    </message>
-    <message>
-        <source> ft</source>
-        <translation> ft</translation>
-    </message>
-</context>
-<context>
-    <name>MapPanel</name>
-    <message>
-        <source>Current Destination</source>
-        <translation>Miejsce docelowe</translation>
-    </message>
-    <message>
-        <source>CLEAR</source>
-        <translation>WYCZYŚĆ</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>Ostatnie miejsca docelowe</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>Wypróbuj nawigację w wersji beta</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>Odblokuj nawigację zakręt po zakęcie i wiele więcej subskrybując
-comma prime. Zarejestruj się teraz: https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>Lokalizacja domu
-nie została ustawiona</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>Miejsce pracy
-nie zostało ustawione</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>brak ostatnich miejsc docelowych</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Ładowanie Mapy</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Oczekiwanie na sygnał GPS</translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Wybierz</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Anuluj</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Zaawansowane</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Wprowadź hasło</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>do &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>Niepoprawne hasło</translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>UAKTUALNIJ</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> ALERTY</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> ALERT</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Sparuj swoje urzadzenie ze swoim kontem comma</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Wejdź na stronę https://connect.comma.ai na swoim telefonie</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Kliknij &quot;add new device&quot; i zeskanuj kod QR znajdujący się po prawej stronie</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Dodaj connect.comma.ai do zakładek na swoim ekranie początkowym, aby korzystać z niej jak z aplikacji</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Uaktualnij teraz</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Zostań członkiem comma prime na connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>FUNKCJE PRIME:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>Zdalny dostęp</translation>
-    </message>
-    <message>
-        <source>1 year of storage</source>
-        <translation>1 rok przechowywania danych</translation>
-    </message>
-    <message>
-        <source>Developer perks</source>
-        <translation>Udogodnienia dla programistów</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ ZASUBSKRYBOWANO</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA POINTS</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Uruchom Ponownie</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Wyjdź</translation>
-    </message>
-    <message>
-        <source>dashcam</source>
-        <translation>wideorejestrator</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n minutę temu</numerusform>
-            <numerusform>%n minuty temu</numerusform>
-            <numerusform>%n minut temu</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>% godzinę temu</numerusform>
-            <numerusform>%n godziny temu</numerusform>
-            <numerusform>%n godzin temu</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n dzień temu</numerusform>
-            <numerusform>%n dni temu</numerusform>
-            <numerusform>%n dni temu</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Wymazywanie zakończone niepowodzeniem. Aby spróbować ponownie, uruchom ponownie urządzenie.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>Czy na pewno chcesz wymazać urządzenie?</translation>
-    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>Wymazywanie urządzenia...</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>Przywróć do ustawień fabrycznych</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Przywracanie do ustawień fabrycznych. Wciśnij potwierdź, aby usunąć wszystkie dane oraz ustawienia. Wciśnij anuluj, aby wznowić uruchamianie.</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Anuluj</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Uruchom ponownie</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>Potwiedź</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>Partycja nie została zamontowana poprawnie. Wciśnij potwierdź, aby uruchomić ponownie urządzenie.</translation>
-    </message>
-</context>
-<context>
-    <name>RichTextDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Ok</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>x</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Urządzenie</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Sieć</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Przełączniki</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Oprogramowanie</translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation>Nawigacja</translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>OSTRZEŻENIE: Niskie Napięcie</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Podłącz swoje urządzenie do zasilania poprzez podłączenienie go do pojazdu lub kontynuuj na własną odpowiedzialność.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Wyłącz</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Kontynuuj</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Zacznij</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Zanim ruszysz w drogę, dokończ instalację i podaj kilka szczegółów.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Połącz z Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Wróć</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Kontynuuj bez połączenia z Wif-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Oczekiwanie na połączenie sieciowe</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Wybierz oprogramowanie do instalacji</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Wideorejestrator</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Własne oprogramowanie</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Wprowadź adres URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>do własnego oprogramowania</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Pobieranie...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Pobieranie nie powiodło się</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Upewnij się, że wpisany adres URL jest poprawny, a połączenie internetowe działa poprawnie.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Uruchom ponownie</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Zacznij od początku</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Zakończ konfigurację</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Sparuj swoje urządzenie z comma connect (connect.comma.ai) i wybierz swoją ofertę comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>Sparuj urządzenie</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>POŁĄCZENIE</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>OFFLINE</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>ONLINE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>BŁĄD</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>TEMP</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>WYSOKA</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>DOBRA</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>POJAZD</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>BRAK</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>GPS</source>
-        <translation>GPS</translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation>SZUKAJ</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-FI</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Git Branch</source>
-        <translation type="vanished">Gałąź Git</translation>
-    </message>
-    <message>
-        <source>Git Commit</source>
-        <translation type="vanished">Git commit</translation>
-    </message>
-    <message>
-        <source>OS Version</source>
-        <translation type="vanished">Wersja systemu</translation>
-    </message>
-    <message>
-        <source>Version</source>
-        <translation type="vanished">Wersja</translation>
-    </message>
-    <message>
-        <source>Last Update Check</source>
-        <translation type="vanished">Ostatnie sprawdzenie aktualizacji</translation>
-    </message>
-    <message>
-        <source>The last time sunnypilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation type="vanished">Ostatni raz kiedy sunnypilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony.</translation>
-    </message>
-    <message>
-        <source>Check for Update</source>
-        <translation type="vanished">Sprawdź uaktualnienia</translation>
-    </message>
-    <message>
-        <source>CHECKING</source>
-        <translation type="vanished">SPRAWDZANIE</translation>
-    </message>
-    <message>
-        <source>Switch Branch</source>
-        <translation type="vanished">Zmień gąłąź</translation>
-    </message>
-    <message>
-        <source>ENTER</source>
-        <translation type="vanished">WPROWADŹ</translation>
-    </message>
-    <message>
-        <source>The new branch will be pulled the next time the updater runs.</source>
-        <translation type="vanished">Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora.</translation>
-    </message>
-    <message>
-        <source>Enter branch name</source>
-        <translation type="vanished">Wprowadź nazwę gałęzi</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Odinstaluj %1</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>ODINSTALUJ</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Czy na pewno chcesz odinstalować?</translation>
-    </message>
-    <message>
-        <source>failed to fetch update</source>
-        <translation type="vanished">pobieranie aktualizacji zakończone niepowodzeniem</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>SPRAWDŹ</translation>
-    </message>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>Klucze SSH</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Ostrzeżenie: To spowoduje przekazanie dostępu do wszystkich Twoich publicznych kuczy z ustawień GitHuba. Nigdy nie wprowadzaj nazwy użytkownika innej niż swoja. Pracownik comma NIGDY nie poprosi o dodanie swojej nazwy uzytkownika.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>DODAJ</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Wpisz swoją nazwę użytkownika GitHub</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>ŁADOWANIE</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>USUŃ</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Użytkownik &apos;%1&apos; nie posiada żadnych kluczy na GitHubie</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>Limit czasu rządania</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Użytkownik &apos;%1&apos; nie istnieje na GitHubie</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>Włącz SSH</translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Terms &amp; Conditions</source>
-        <translation>Regulamin</translation>
-    </message>
-    <message>
-        <source>Decline</source>
-        <translation>Odrzuć</translation>
-    </message>
-    <message>
-        <source>Scroll to accept</source>
-        <translation>Przewiń w dół, aby zaakceptować</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>Zaakceptuj</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>Włącz sunnypilota</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Użyj sunnypilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony.</translation>
-    </message>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Włącz ostrzeganie przed zmianą pasa ruchu</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Otrzymuj alerty o powrocie na właściwy pas, kiedy Twój pojazd przekroczy linię bez włączonego kierunkowskazu jadąc powyżej 50 km/h (31 mph).</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Korzystaj z systemu metrycznego</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Wyświetl prędkość w km/h zamiast mph.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Nagraj i prześlij nagranie z kamery kierowcy</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy.</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>Odłącz poprzez naciśnięcie gazu</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Po włączeniu, naciśnięcie na pedał gazu odłączy sunnypilota.</translation>
-    </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Pokaż oczekiwany czas dojazdu w formacie 24-godzinnym</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Korzystaj z formatu 24-godzinnego zamiast 12-godzinnego</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Pokaż mapę po lewej stronie ekranu</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Pokaż mapę po lewej stronie kiedy ekran jest podzielony.</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control</source>
-        <translation type="vanished">Kontrola wzdłużna sunnypilota</translation>
-    </message>
-    <message>
-        <source>sunnypilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
-        <translation type="vanished">sunnypilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB!</translation>
-    </message>
-    <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Experimental sunnypilot Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;b&gt;WARNING: sunnypilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would. Super experimental.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control is not currently available for this car.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to enable this.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Wymagana Aktualizacja</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Wymagana aktualizacja systemu operacyjnego. Aby przyspieszyć proces aktualizacji połącz swoje urzeądzenie do Wi-Fi. Rozmiar pobieranej paczki wynosi około 1GB.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Połącz się z Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Zainstaluj</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Wróć</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Ładowanie...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Uruchom ponownie</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Aktualizacja nie powiodła się</translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Wyszukiwanie sieci...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>ŁĄCZENIE...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>ZAPOMNIJ</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Czy chcesz zapomnieć sieć &quot;%1&quot;?</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
deleted file mode 100644
index bb37dba541..0000000000
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ /dev/null
@@ -1,1935 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="pt_BR">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Fechar</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Adiar Atualização</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Reiniciar e Atualizar</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Voltar</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Ativar Tether</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Senha Tethering</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>EDITAR</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Insira nova senha tethering</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>Endereço IP</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Ativar Roaming</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN Config</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>Insira APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>deixe em branco para configuração automática</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>Plano de Dados Limitado</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evite grandes uploads de dados quando estiver em uma conexão limitada</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>Rede Oculta</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONECTE</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>Digite o SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Insira a senha</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>Você precisa aceitar os Termos e Condições para utilizar sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Voltar</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Rejeitar, desintalar %1</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>Modo Joystick Debug</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>Modo Longitudinal Maneuver</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Controle Longitudinal sunnypilot (Embrionário)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: o controle longitudinal sunnypilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>Neste carro, o sunnypilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do sunnypilot. Habilite isso para alternar para o controle longitudinal sunnypilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation>Habilitar ADB</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) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações.</translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">VER</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>Serial</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Câmera do Motorista</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>VER</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Pré-visualizar a câmera voltada para o motorista para garantir que o monitoramento do sistema tenha uma boa visibilidade (veículo precisa estar desligado)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Reinicializar Calibragem</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>RESET</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>Tem certeza que quer resetar a calibragem?</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Revisar Guia de Treinamento</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>REVISAR</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>Revisar regras, aprimoramentos e limitações do sunnypilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>Tem certeza que quer rever o treinamento?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Regulatório</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>VER</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Alterar Idioma</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>ALTERAR</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Selecione o Idioma</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Desligar</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>O sunnypilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O sunnypilot está continuamente calibrando, resetar raramente é necessário.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Seu dispositivo está montado %1° %2 e %3° %4.</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>baixo</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>cima</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>esquerda</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>direita</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>Tem certeza que quer reiniciar?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Desacione para Reiniciar</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>Tem certeza que quer desligar?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Desacione para Desligar</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>Resetar</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>Revisar</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>Parear Dispositivo</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>PAREAR</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">Regulatório</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">Tem certeza que quer rever o treinamento?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">Revisar</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">Selecione o Idioma</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">Reiniciar</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">Desligar</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Confirmar</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">Resetar</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>câmera iniciando</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODO EXPERIMENTAL ON</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>MODO CHILL ON</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 Modo Firehose 🔥</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>Modo Firehose: ATIVO</translation>
-    </message>
-    <message>
-        <source>ACTIVE</source>
-        <translation>ATIVO</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 sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation>Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.&lt;br&gt;&lt;br&gt;O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Perguntas Frequentes&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa como ou onde eu dirijo?&lt;/i&gt; Não, basta dirigir normalmente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Todos os meus segmentos são enviados no Modo Firehose?&lt;/i&gt; Não, selecionamos apenas um subconjunto dos seus segmentos.&lt;br&gt;&lt;br&gt;&lt;i&gt;Qual é um bom adaptador USB-C?&lt;/i&gt; Qualquer carregador rápido de telefone ou laptop deve ser suficiente.&lt;br&gt;&lt;br&gt;&lt;i&gt;Importa qual software eu uso?&lt;/i&gt; Sim, apenas o sunnypilot oficial (e alguns forks específicos) podem ser usados para treinamento.</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 segmento&lt;/b&gt; da sua direção está no conjunto de dados de treinamento até agora.</numerusform>
-            <numerusform>&lt;b&gt;%n segmentos&lt;/b&gt; da sua direção estão no conjunto de dados de treinamento até agora.</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
-    </message>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>LIMITE</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>Necessita no mínimo %n caractere!</numerusform>
-            <numerusform>Necessita no mínimo %n caracteres!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalando...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">Voltar</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Selecione</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Avançado</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Insira a senha</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>Senha incorreta</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>Conecte-se à internet para verificar se há atualizações. O sunnypilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações.</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>Não é possível baixar atualizações
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>Tirando fotos da câmera. O sistema não será iniciado até terminar.</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>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</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>Falha ao registrar o dispositivo. Ele não se conectará ou fará upload para os servidores comma.ai e não receberá suporte da comma.ai. Se este for um dispositivo oficial, visite https://comma.ai/support.</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>Unidade NVMe não montada.</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>Unidade NVMe não suportada detectada. O dispositivo pode consumir significativamente mais energia e superaquecimento devido ao NVMe não suportado.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>O sunnypilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>O sunnypilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
-    </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>ATUALIZAÇÃO</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> ALERTAS</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> ALERTA</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>sunnypilot Indisponível</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>ASSUMA IMEDIATAMENTE</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>Reinicie o Dispositivo</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>Aguardando para iniciar</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>Sistema sem Resposta</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>Pareie seu dispositivo à sua conta comma</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>navegue até https://connect.comma.ai no seu telefone</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Clique &quot;add new device&quot; e escaneie o QR code a seguir</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Salve connect.comma.ai como sua página inicial para utilizar como um app</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>Por favor conecte ao Wi-Fi para completar o pareamento inicial</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-    <message>
-        <source>Enable</source>
-        <translation>Ativar</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">Ativar</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">REMOVER</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Confirmar</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Atualizar Agora</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Seja um membro comma prime em connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>BENEFÍCIOS PRIME:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>Acesso remoto (proxy comma)</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>Conectividade LTE (só nos EUA)</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>1 ano de dados em nuvem</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>Captura remota</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ INSCRITO</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Sair</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>há %n minuto</numerusform>
-            <numerusform>há %n minutos</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>há %n hora</numerusform>
-            <numerusform>há %n horas</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>há %n dia</numerusform>
-            <numerusform>há %n dias</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>agora</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Reset falhou. Reinicie para tentar novamente.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>Tem certeza que quer resetar seu dispositivo?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>Resetar Sistema</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>Confirmar</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>Redefinindo o dispositivo
-Isso pode levar até um minuto.</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Reinicialização do sistema acionada. Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancel para retomar a inicialização.</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Dispositivo</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Rede</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Ajustes</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Software</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>Desenvdor</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>Firehose</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">Dispositivo</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">Rede</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">Ajustes</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">Software</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">Desenvdor</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished">Firehose</translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>ALERTA: Baixa Voltagem</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Desligar</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Continuar</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Começando</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conectar ao Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Voltar</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Continuar sem Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>Esperando pela internet</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>Preencher URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>para o Software Customizado</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>Baixando...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>Download Falhou</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Garanta que a URL inserida é valida, e uma boa conexão à internet.</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Reiniciar Dispositivo</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Inicializar</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>Não há software personalizado nesta URL.</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Selecione o Idioma</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Escolha o Software a ser Instalado</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Software Customizado</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Concluir</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>Parear dispositivo</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONEXÃO</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>OFFLINE</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>ONLINE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>ERRO</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>TEMP</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>ALTA</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>BOA</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>OK</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>VEÍCULO</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>SEM</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">OFFLINE</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">ONLINE</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">ERRO</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>Atualizações baixadas durante o motor desligado.</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>Versão Atual</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>Download</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>Instalar Atualização</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>INSTALAR</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>Alterar Branch</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>SELECIONE</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>Selecione uma branch</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>REMOVER</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Desinstalar o %1</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Tem certeza que quer desinstalar?</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>VERIFICAR</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>Desinstalar</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>falha ao verificar por atualizações</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>atualizado, última verificação %1</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>BAIXAR</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>atualização disponível</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>nunca</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SELECIONE</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Reinicializar Calibragem</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>Chave SSH</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>ADICIONAR</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Insira seu nome de usuário do GitHub</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>CARREGANDO</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>REMOVER</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Usuário &quot;%1” não possui chaves no GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>A solicitação expirou</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Usuário &apos;%1&apos; não existe no GitHub</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>Habilitar SSH</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">PAREAR</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>Declinar</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>Concordo</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation>Bem vindo ao sunnypilot</translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>Você deve aceitar os Termos e Condições para usar o sunnypilot. Leia os termos mais recentes em &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Ativar Avisos de Saída de Faixa</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>Receba alertas para voltar para a pista se o seu veículo sair da faixa e a seta não tiver sido acionada previamente quando em velocidades superiores a 50 km/h.</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Usar Sistema Métrico</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Exibir velocidade em km/h invés de mph.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Gravar e Upload Câmera Motorista</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor.</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>Desacionar com Pedal do Acelerador</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Quando ativado, pressionar o pedal do acelerador desacionará o sunnypilot.</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>Modo Experimental</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>sunnypilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O sunnypilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>Nova Visualização de Condução</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>O controle longitudinal sunnypilot poderá vir em uma atualização futura.</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>Disputa</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>Neutro</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>Calmo</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>Temperamento de Direção</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Uma versão embrionária do controle longitudinal sunnypilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>Habilite o controle longitudinal (embrionário) sunnypilot para permitir o modo Experimental.</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>Controle Longitudinal de Ponta a Ponta</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>Neutro é o recomendado. No modo disputa o sunnypilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o sunnypilot se manterá mais longe do carro da frente. Em carros compatíveis, você pode alternar esses temperamentos com o botão de distância do volante.</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>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito.</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>Monitoramento do Motorista Sempre Ativo</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>Habilite o monitoramento do motorista mesmo quando o sunnypilot não estiver acionado.</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>Ativar sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Use o sistema sunnypilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Atualização Necessária</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>Uma atualização do sistema operacional é necessária. Conecte seu dispositivo ao Wi-Fi para a experiência de atualização mais rápida. O tamanho do download é de aproximadamente 1GB.</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Conecte-se ao Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Instalar</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Voltar</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Carregando...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Falha na atualização</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation>Abrir</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; Modo Firehose &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Procurando redes...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>CONECTANDO...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>ESQUECER</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Esquecer Rede Wi-Fi &quot;%1&quot;?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>Esquecer</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
deleted file mode 100644
index 765aff4ab0..0000000000
--- a/selfdrive/ui/translations/main_th.ts
+++ /dev/null
@@ -1,1930 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="th_TH">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>ปิด</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>เลื่อนการอัปเดต</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>รีบูตและอัปเดต</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>ย้อนกลับ</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>ปล่อยฮอตสปอต</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>รหัสผ่านฮอตสปอต</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>แก้ไข</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>ป้อนรหัสผ่านฮอตสปอตใหม่</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>หมายเลขไอพี</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>เปิดใช้งานโรมมิ่ง</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>ตั้งค่า APN</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>ป้อนค่า APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>เว้นว่างเพื่อตั้งค่าอัตโนมัติ</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>ลดการส่งข้อมูลผ่านเซลลูล่าร์</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>เครือข่ายที่ซ่อนอยู่</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>เชื่อมต่อ</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>ป้อนค่า SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>ใส่รหัสผ่าน</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>สำหรับ &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>ตกลง</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>ยกเลิก</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>คุณต้องยอมรับเงื่อนไขและข้อตกลง เพื่อใช้งาน sunnypilot</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>ย้อนกลับ</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
-    </message>
-</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>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย sunnypilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">คำเตือน: การควบคุมการเร่ง/เบรคโดย sunnypilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation type="unfinished">โดยปกติสำหรับรถคันนี้ sunnypilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย sunnypilot เปิดสวิตซ์นี้เพื่อให้ sunnypilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ sunnypilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">ดู</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>ไม่มี</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>ซีเรียล</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>กล้องฝั่งคนขับ</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>แสดงภาพ</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์)</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>รีเซ็ตการคาลิเบรท</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>รีเซ็ต</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท?</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>ทบทวนคู่มือการใช้งาน</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>ทบทวน</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ sunnypilot</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>ระเบียบข้อบังคับ</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>ดู</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>เปลี่ยนภาษา</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>เปลี่ยน</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>เลือกภาษา</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>ปิดเครื่อง</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° sunnypilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3°</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>ด้านล่าง</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>ด้านบน</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>ด้านซ้าย</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>ด้านขวา</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>คุณแน่ใจหรือไม่ว่าต้องการรีบูต?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>ยกเลิกระบบช่วยขับเพื่อรีบูต</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>รีเซ็ต</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>ทบทวน</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>จับคู่อุปกรณ์</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>จับคู่</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">ระเบียบข้อบังคับ</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">ทบทวน</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">เลือกภาษา</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">รีบูต</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">ปิดเครื่อง</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">ยืนยัน</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">รีเซ็ต</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>กำลังเปิดกล้อง</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>คุณกำลังใช้โหมดทดลอง</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>คุณกำลังใช้โหมดชิล</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose 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 sunnypilot (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>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>กม./ชม.</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>ไมล์/ชม.</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>สูงสุด</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>ยกเลิก</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>ต้องการอย่างน้อย %n ตัวอักษร!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>กำลังติดตั้ง...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">ย้อนกลับ</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>เลือก</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>ยกเลิก</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>ขั้นสูง</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>ใส่รหัสผ่าน</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>สำหรับ &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>รหัสผ่านผิด</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>อุณหภูมิของอุปกรณ์สูงเกินไป ระบบกำลังทำความเย็นก่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1</translation>
-    </message>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต sunnypilot จะไม่ทำงานในอีก %1</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท sunnypilot จะไม่เริ่มทำงานอัตโนมัติจนกว่าจะได้เชื่อมต่อกับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>ไม่สามารถดาวน์โหลดอัพเดทได้
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>กล้องกำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจนกว่าจะเสร็จ</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>กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง</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>ไม่สามารถลงทะเบียนอุปกรณ์ได้ อุปกรณ์จะไม่สามารถเชื่อมต่อหรืออัปโหลดไปยังเซิร์ฟเวอร์ของ comma.ai ได้และจะไม่ได้รับการสนับสนุนจาก comma.ai ถ้านี่คืออุปกรณ์อย่างเป็นทางการ กรุณาติดต่อ https://comma.ai/support</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>ตรวจพบไดร์ฟ NVMe ที่ไม่รองรับ อุปกรณ์อาจใช้พลังงานมากขึ้นและร้อนเกินไปเนื่องจากไดร์ฟ NVMe ที่ไม่รองรับ</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>อัปเดต</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> การแจ้งเตือน</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> การแจ้งเตือน</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>sunnypilot ไม่สามารถใช้งานได้</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>เข้าควบคุมรถเดี๋ยวนี้</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>รีบูตอุปกรณ์</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>จับคู่อุปกรณ์ของคุณกับบัญชี comma ของคุณ</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>กดที่ &quot;add new device&quot; และสแกนคิวอาร์โค้ดทางด้านขวา</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Enable</source>
-        <translation>เปิดใช้งาน</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>ยกเลิก</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">เปิดใช้งาน</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">ยกเลิก</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">ลบ</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">ยืนยัน</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">ยกเลิก</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>อัพเกรดเดี๋ยวนี้</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>สมัครสมาชิก comma prime ได้ที่ connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>คุณสมบัติของ PRIME:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>การเข้าถึงระยะไกล</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>การเชื่อมต่อ LTE แบบ 24/7</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>จัดเก็บข้อมูลการขับขี่นาน 1 ปี</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ สมัครสำเร็จ</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>ปิด</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n นาทีที่แล้ว</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n ชั่วโมงที่แล้ว</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n วันที่แล้ว</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>ตอนนี้</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>การรีเซ็ตล้มเหลว รีบูตเพื่อลองอีกครั้ง</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>รีเซ็ตระบบ</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>ยกเลิก</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>ยืนยัน</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>กำลังรีเซ็ตอุปกรณ์...
-อาจใช้เวลาถึงหนึ่งนาที</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>ระบบถูกรีเซ็ต กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>อุปกรณ์</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>เครือข่าย</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>ตัวเลือก</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>ซอฟต์แวร์</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">อุปกรณ์</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">เครือข่าย</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">ตัวเลือก</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">ซอฟต์แวร์</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>คำเตือน: แรงดันแบตเตอรี่ต่ำ</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>ปิดเครื่อง</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>ดำเนินการต่อ</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>เริ่มกันเลย</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>เชื่อมต่อ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>ย้อนกลับ</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>ดำเนินการต่อโดยไม่ใช้ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>กำลังรอสัญญาณอินเตอร์เน็ต</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>ป้อน URL</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>สำหรับซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>กำลังดาวน์โหลด...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>ดาวน์โหลดล้มเหลว</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>รีบูตอุปกรณ์</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>เริ่มต้นใหม่</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>มีบางอย่างผิดพลาด รีบูตอุปกรณ์</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>เลือกภาษา</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>เลือกซอฟต์แวร์ที่จะติดตั้ง</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>ตั้งค่าเสร็จสิ้น</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>จับคู่อุปกรณ์</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>เชื่อมต่อ</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>ออฟไลน์</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>ออนไลน์</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>เกิดข้อผิดพลาด</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>อุณหภูมิ</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>สูง</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>ดี</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>พอใช้</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>รถยนต์</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>ไม่พบ</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">ออฟไลน์</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">ออนไลน์</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">เกิดข้อผิดพลาด</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>ถอนการติดตั้ง %1</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>ถอนการติดตั้ง</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง?</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>ตรวจสอบ</translation>
-    </message>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>เวอร์ชั่นปัจจุบัน</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>ดาวน์โหลด</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>ติดตั้งตัวอัปเดต</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>ติดตั้ง</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>Branch ที่เลือก</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>เลือก</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>เลือก Branch</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>ถอนการติดตั้ง</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>ไม่สามารถตรวจสอบอัปเดตได้</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>ดาวน์โหลด</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>มีอัปเดตใหม่</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>ไม่เคย</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">เลือก</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">รีเซ็ตการคาลิเบรท</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">ดำเนินการต่อ</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">ยกเลิก</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>คีย์ SSH</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>คำเตือน: สิ่งนี้ให้สิทธิ์ SSH เข้าถึงคีย์สาธารณะทั้งหมดใน GitHub ของคุณ อย่าป้อนชื่อผู้ใช้ GitHub อื่นนอกเหนือจากของคุณเอง พนักงาน comma จะไม่ขอให้คุณเพิ่มชื่อผู้ใช้ GitHub ของพวกเขา</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>เพิ่ม</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>ป้อนชื่อผู้ใช้ GitHub ของคุณ</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>กำลังโหลด</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>ลบ</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>ชื่อผู้ใช้ &apos;%1&apos; ไม่มีคีย์บน GitHub</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>ตรวจสอบไม่สำเร็จ เนื่องจากใช้เวลามากเกินไป</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>ไม่พบชื่อผู้ใช้ &apos;%1&apos; บน GitHub</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>เปิดใช้งาน SSH</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">ไม่มี</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">จับคู่</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>ปฏิเสธ</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>ยอมรับ</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. 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>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>เปิดใช้งานการเตือนการออกนอกเลน</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>รับการแจ้งเตือนให้เลี้ยวกลับเข้าเลนเมื่อรถของคุณตรวจพบการข้ามช่องจราจรโดยไม่เปิดสัญญาณไฟเลี้ยวในขณะขับขี่ที่ความเร็วเกิน 31 ไมล์ต่อชั่วโมง (50 กม./ชม)</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>ใช้ระบบเมตริก</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>แสดงความเร็วเป็น กม./ชม. แทน ไมล์/ชั่วโมง</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>บันทึกและอัปโหลดภาพจากกล้องคนขับ</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย sunnypilot</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>โหมดทดลอง</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>โดยปกติ sunnypilot จะขับใน&lt;b&gt;โหมดชิล&lt;/b&gt; เปิดโหมดทดลองเพื่อใช้&lt;b&gt;ความสามารถในขั้นพัฒนา&lt;/b&gt; ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>ให้ sunnypilot ควบคุมการเร่ง/เบรค โดย sunnypilot จะขับอย่างที่มนุษย์คิด รวมถึงการหยุดที่ไฟแดง และป้ายหยุดรถ เนื่องจาก sunnypilot จะกำหนดความเร็วในการขับด้วยตัวเอง การตั้งความเร็วจะเป็นเพียงการกำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเกิดข้อผิดพลาดขึ้นได้</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>การแสดงภาพการขับขี่แบบใหม่</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>ระบบควบคุมการเร่ง/เบรคโดย sunnypilot อาจมาในการอัปเดตในอนาคต</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>ดุดัน</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>มาตรฐาน</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>ผ่อนคลาย</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>บุคลิกการขับขี่</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>ระบบควบคุมการเร่ง/เบรคโดย sunnypilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>ควบคุมเร่ง/เบรคแบบ End-to-End</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>เปิดระบบควบคุมการเร่ง/เบรคโดย sunnypilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน sunnypilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย sunnypilot จะอยู่ห่างจากรถคันหน้ามากขึ้น ในรถรุ่นที่รองรับคุณสามารถเปลี่ยนบุคลิกไปแบบต่าง ๆ โดยใช้ปุ่มปรับระยะห่างบนพวงมาลัย</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>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>เปิดใช้งาน sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>ใช้ระบบ sunnypilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>จำเป็นต้องอัปเดต</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>จำเป็นต้องมีการอัปเดตระบบปฏิบัติการ เชื่อมต่ออุปกรณ์ของคุณกับ Wi-Fi เพื่อประสบการณ์การอัปเดตที่เร็วที่สุด ขนาดดาวน์โหลดประมาณ 1GB</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>เชื่อมต่อกับ Wi-Fi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>ติดตั้ง</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>ย้อนกลับ</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>กำลังโหลด...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>การอัปเดตล้มเหลว</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</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>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>กำลังสแกนหาเครือข่าย...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>กำลังเชื่อมต่อ...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>เลิกใช้</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>เลิกใช้เครือข่าย Wi-Fi &quot;%1&quot;?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>เลิกใช้</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
deleted file mode 100644
index 1ddf267e4b..0000000000
--- a/selfdrive/ui/translations/main_tr.ts
+++ /dev/null
@@ -1,1928 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="tr_TR">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>Kapat</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>Güncellemeyi sessize al</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>Güncelle ve Yeniden başlat</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>Geri dön</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>Kişisel erişim noktasını aç</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>Kişisel erişim noktasının parolası</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>DÜZENLE</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>Erişim noktasına yeni bir sonraki başlatılışında çekilir. parola belirleyin.</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IP Adresi</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>Hücresel veri aç</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN Ayarları</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>APN Gir</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>otomatik yapılandırma için boş bırakın</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation type="unfinished">BAĞLANTI</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation type="unfinished">APN Gir</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation type="unfinished">Parolayı girin</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation type="unfinished">için &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>Tamam</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>Vazgeç</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>Openpilotu kullanmak için Kullanıcı Koşullarını kabul etmelisiniz.</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Geri</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>Reddet, Kurulumu kaldır. %1</translation>
-    </message>
-</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>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot 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, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot 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>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">BAK</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Adaptör ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>Seri Numara</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>Sürücü Kamerası</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>ÖN İZLEME</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Sürücü kamerasının görüş açısını test etmek için kamerayı önizleyin (Araç kapalı olmalıdır.) </translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>Kalibrasyonu sıfırla</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>SIFIRLA</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>Kalibrasyon ayarını sıfırlamak istediğinizden emin misiniz? </translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>Eğitim kılavuzunu inceleyin</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>GÖZDEN GEÇİR</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>sunnypilot sisteminin kurallarını ve sınırlamalarını gözden geçirin.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>Eğitim kılavuzunu incelemek istediğinizden emin misiniz?</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>Mevzuat</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>BAK</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>Dili değiştir</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>DEĞİŞTİR</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Dil seçin</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>Sistemi kapat</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. sunnypilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> Cihazınız %1° %2 ve %3° %4 yönünde ayarlı</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>aşağı</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>yukarı</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>sol</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>sağ</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>Cihazı Tekrar başlatmak istediğinizden eminmisiniz?</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>Bağlantıyı kes ve Cihazı Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>Cihazı kapatmak istediğizden eminmisiniz?</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>Bağlantıyı kes ve Cihazı kapat</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">Mevzuat</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">Eğitim kılavuzunu incelemek istediğinizden emin misiniz?</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">Dil seçin</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">Sistemi kapat</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Onayla</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>kamera başlatılıyor</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose 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 sunnypilot (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>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>Kapat</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>En az %n karakter gerekli!</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Yükleniyor...</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>Seç</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>İptal et</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>Gelişmiş Seçenekler</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>Parolayı girin</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>için &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>Yalnış parola</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <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>sunnypilot 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>sunnypilot 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>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>GÜNCELLE</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> UYARILAR</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> UYARI</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot 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>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>comma.ai hesabınız ile cihazı eşleştirin</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>Telefonuzdan https://connect.comma.ai sitesine gidin</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>Yeni cihaz eklemek için sağdaki QR kodunu okutun</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>Uygulama gibi kullanmak için connect.comma.ai sitesini yer işaretlerine ekleyin.</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">KALDIR</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">Onayla</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>Hemen yükselt</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai üzerinden comma prime üyesi olun</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>PRIME ABONELİĞİNİN ÖZELLİKLERİ:</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>Uzaktan erişim</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>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ ABONE</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Çık</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n dakika önce</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n saat önce</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n gün önce</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>Sıfırlama başarız oldu. Cihazı yeniden başlatın ve tekrar deneyin.</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>Cihazı sıfırlamak istediğinizden eminmisiniz ?</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>Sistemi sıfırla</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>İptal</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>Onayla</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation type="unfinished"></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>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>x</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>Cihaz</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>Ağ</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>Değiştirme</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>Yazılım</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">x</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">Cihaz</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">Ağ</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">Değiştirme</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">Yazılım</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>UYARI: Düşük voltaj</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>Cihazınızı emniyet kemeri olan bir arabada çalıştırın veya riski kabul ederek devam edin.</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>Sistemi kapat</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>Devam et</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>Başlarken</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>Yola çıkmadan önce kurulumu bitirin ve bazı detayları gözden geçirin..</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi ile bağlan</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Geri</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi bağlantısı olmadan devam edin</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>İnternet bağlantısı bekleniyor.</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>URL girin</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>özel yazılım için</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>İndiriliyor...</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>İndirme başarısız.</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>Girilen URL nin geçerli olduğundan ve cihazın internet bağlantısının olduğunu kontrol edin</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>Cihazı yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>Zacznij od początku</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 type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>Dil seçin</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished">sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>Kurulumu bitir</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>Cihazı eşleştirme</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>BAĞLANTI</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>ÇEVRİMDIŞI</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>ÇEVRİMİÇİ</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>HATA</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>SICAKLIK</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>YÜKSEK</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>İYİ</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>TAMAM</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>ARAÇ</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>HAYIR</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-FI</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">ÇEVRİMDIŞI</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">ÇEVRİMİÇİ</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">HATA</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>Kaldır %1</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>KALDIR</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>Kaldırmak istediğinden eminmisin?</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>KONTROL ET</translation>
-    </message>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>failed to check for update</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>up to date, last checked %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Devam et</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH Anahtarları</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>UYARI: Bu, GitHub ayarlarınızdaki tüm ortak anahtarlara SSH erişimi sağlar. Asla kendi kullanıcı adınız dışında bir sonraki başlatılışında çekilir. GitHub kullanıcı adı girmeyin.</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>EKLE</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>Github kullanıcı adınızı giriniz</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>YÜKLENİYOR</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>KALDIR</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>Kullanısının &apos;%1&apos; Github erişim anahtarı yok</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>İstek zaman aşımına uğradı</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>Github kullanıcısı %1 bulunamadı</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>SSH aç</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>Reddet</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>Kabul et</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. 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>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>Şerit ihlali uyarı alın</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>50 km/s (31 mph) hızın üzerinde sürüş sırasında aracınız dönüş sinyali vermeden algılanan bir sonraki başlatılışında çekilir. şerit çizgisi ihlalinde şeride geri dönmek için uyarılar alın.</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>Metrik sistemi kullan</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>Hızı mph yerine km/h şeklinde görüntüleyin.</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>Sürücü kamerasını kayıt et.</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>Sürücüye bakan kamera verisini yükleyin ve Cihazın algoritmasını geliştirmemize yardımcı olun.</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Aktifleştirilirse eğer gaz pedalına basınca sunnypilot devre dışı kalır.</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation type="unfinished"></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>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot 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 sunnypilot is not engaged.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>sunnypilot&apos;u aktifleştir</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için sunnypilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor.</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>Güncelleme yapılması gerekli</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>İşletim sistemi güncellemesi gerekmektedir. Lütfen Cihazı daha hızlı günceleyebilmesi için bir sonraki başlatılışında çekilir. Wi-Fi ağına bağlayın. Dosyanın boyutu yaklaşık 1GB dır. </translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi ağına bağlan</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>Yükle</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>Geri</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>Yükleniyor...</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>Güncelleme başarız oldu</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</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>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>Ağ aranıyor...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>BAĞLANILIYOR...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>UNUT</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Wi-Fi ağını unut &quot;%1&quot;?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
deleted file mode 100644
index d336fef2c7..0000000000
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ /dev/null
@@ -1,1930 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="zh_CN">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>关闭</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>暂停更新</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>重启并更新</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>返回</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>启用WiFi热点</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>WiFi热点密码</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>编辑</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>输入新的WiFi热点密码</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IP地址</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>启用数据漫游</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN设置</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>输入APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>留空以自动配置</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>按流量计费的手机移动网络</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>当使用按流量计费的连接时，避免上传大流量数据</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>隐藏的网络</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>连线</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>输入 SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>输入密码</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>网络名称：&quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>好的</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>您必须接受条款和条件以使用sunnypilot。</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>返回</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>拒绝并卸载%1</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>摇杆调试模式</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>纵向操控测试模式</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot纵向控制（Alpha 版）</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此车辆的 sunnypilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>在这辆车上，sunnypilot 默认使用车辆内建的主动巡航控制（ACC），而非 sunnypilot 的纵向控制。启用此项功能可切换至 sunnypilot 的纵向控制。当启用 sunnypilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation>启用 ADB</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调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">查看</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>设备ID（Dongle ID）</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>N/A</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>序列号</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>驾驶员摄像头</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>预览</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。（仅熄火时可用）</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>重置设备校准</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>重置</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>您确定要重置设备校准吗？</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>新手指南</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>查看</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>查看 sunnypilot 的使用规则，以及其功能和限制</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>您确定要查看新手指南吗？</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>监管信息</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>查看</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>切换语言</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>切换</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>选择语言</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>关机</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，sunnypilot会持续更新校准，很少需要重置。</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 您的设备校准为%1° %2、%3° %4。</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>朝下</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>朝上</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>朝左</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>朝右</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>您确定要重新启动吗？</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>取消sunnypilot以重新启动</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>您确定要关机吗？</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>取消sunnypilot以关机</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>重置</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>预览</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>配对设备</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>配对</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">监管信息</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">您确定要查看新手指南吗？</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">预览</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">选择语言</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">重启</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">关机</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">确认</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">重置</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>正在启动相机</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>试验模式运行</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>轻松模式运行</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 训练数据上传模式 🔥</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>训练数据上传模式：激活中</translation>
-    </message>
-    <message>
-        <source>ACTIVE</source>
-        <translation>激活中</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 sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation>为了达到最佳效果，请每周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。&lt;br&gt;&lt;br&gt;Firehose 模式在行驶时也能运行，但需连接到移动热点或使用不限流量的 SIM 卡。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常见问题&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我开车的方式或地点有影响吗？&lt;/i&gt;不会，请像平常一样驾驶即可。&lt;br&gt;&lt;br&gt;&lt;i&gt;Firehose 模式会上传所有的驾驶片段吗？&lt;/i&gt;不会，我们会选择性地上传部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什么是好的 USB-C 充电器？&lt;/i&gt;任何快速手机或笔记本电脑充电器都应该适用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的软件版本有影响吗？&lt;/i&gt;有的，只有官方 sunnypilot（以及特定的分支）可以用于训练。</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;目前已有 %n 段&lt;/b&gt; 您的驾驶数据被纳入训练数据集。</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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;闲置&lt;/span&gt;：请连接到不限流量的网络</translation>
-    </message>
-</context>
-<context>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高定速</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>至少需要 %n 个字符！</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>正在安装……</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">返回</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>选择</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>高级</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>输入密码</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>网络名称：&quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>密码错误</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>请立即连接网络检查更新。如果不连接网络，sunnypilot 将在 %1 后便无法使用</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>请连接至互联网以检查更新。在连接至互联网并完成更新检查之前，sunnypilot 将不会自动启动。</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>无法下载更新
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>正在使用相机拍摄中。在完成之前，系统将无法启动。</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>一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。</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>设备注册失败。它将无法连接或上传至 comma.ai 服务器，并且无法获得 comma.ai 的支持。如果这是一个官方设备，请访问 https://comma.ai/support。</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe固态硬盘未被挂载。</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>检测到不支持的 NVMe 固态硬盘。您的设备因为使用了不支持的 NVMe 固态硬盘可能会消耗更多电力并更易过热。</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。</translation>
-    </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>更新</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> 警报</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> 警报</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>无法使用 sunnypilot</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>立即接管</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>重启设备</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>等待开始</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>系统无响应</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>将您的设备与comma账号配对</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>在手机上访问 https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>点击“添加新设备”，扫描右侧二维码</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>请连接 Wi-Fi 以完成初始配对</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-    <message>
-        <source>Enable</source>
-        <translation>启用</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">启用</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">删除</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">确认</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>现在升级</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>打开connect.comma.ai以注册comma prime会员</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>comma prime特权：</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>远程访问</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>全天候 LTE 连接</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>一年的行驶记录储存空间</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>远程快照</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ 已订阅</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma prime</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>退出</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n 分钟前</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n 小时前</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n 天前</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>现在</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>重置失败。 重新启动以重试。</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>您确定要重置您的设备吗？</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>恢复出厂设置</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>确认</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>设备重置中…
-这可能需要一分钟的时间。</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>系统重置已触发。按下“确认”以清除所有内容和设置，按下“取消”以继续启动。</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>设备</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>网络</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>设定</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>软件</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>开发人员</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>训练上传</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">设备</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">网络</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">设定</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">软件</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">开发人员</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished">训练上传</translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：低电压</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>请使用car harness线束为您的设备供电，或自行承担风险。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>关机</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>继续</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>开始设置</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>开始旅程之前，让我们完成安装并介绍一些细节。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>连接到WiFi</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>返回</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>不连接WiFi并继续</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>等待网络连接</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>输入网址</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>以下载自定义软件</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>正在下载……</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>下载失败</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>请确保互联网连接良好且输入的URL有效。</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>重启设备</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>重来</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>在此网址找不到自定义软件。</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>发生了一些错误。请重新启动您的设备。</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>选择语言</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>选择要安装的软件</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>定制软件</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>完成设置</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>配对设备</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>CONNECT</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>离线</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>在线</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>连接出错</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>设备温度</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>过热</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>良好</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>一般</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>车辆连接</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>无</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>PANDA</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>以太网</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">离线</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">在线</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">连接出错</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>车辆熄火时才能下载升级文件。</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>当前版本</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>下载</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>安装更新</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>安装</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>目标分支</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>选择</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>选择分支</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>卸载</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>卸载 %1</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>您确定要卸载吗？</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>查看</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>卸载</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>检查更新失败</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>已经是最新版本，上次检查时间为 %1</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>下载</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>有可用的更新</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>从未更新</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">选择</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">重置设备校准</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">继续</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH密钥</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>添加</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>输入您的GitHub用户名</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>正在加载</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>删除</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>用户名“%1”在GitHub上没有密钥</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>请求超时</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>GitHub上不存在用户名“%1”</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>启用SSH</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">N/A</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">配对</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>拒绝</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>同意</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation>欢迎使用 sunnypilot</translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>您必须接受《条款与条件》才能使用 sunnypilot。在继续之前，请先阅读最新条款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>启用车道偏离警告</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>使用公制单位</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>显示车速时，以km/h代替mph。</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>录制并上传驾驶员摄像头</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>踩油门时取消控制</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>启用后，踩下油门踏板将取消sunnypilot。</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>测试模式</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>sunnypilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>允许驾驶模型控制加速和制动，sunnypilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>新驾驶视角</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot纵向控制可能会在未来的更新中提供。</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>积极</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>标准</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>舒适</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>驾驶风格</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在正式（release）版本以外的分支上，可以测试 sunnypilot 纵向控制的 Alpha 版本以及实验模式。</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>启用 sunnypilot 纵向控制（alpha）开关以允许实验模式。</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>端到端纵向控制</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>推荐使用标准模式。在积极模式下，sunnypilot 会更靠近前方车辆，并在油门和刹车方面更加激进。在放松模式下，sunnypilot 会与前方车辆保持更远距离。在支持的车型上，你可以使用方向盘上的距离按钮来循环切换这些驾驶风格。</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>在低速时，驾驶可视化将转换为道路朝向的广角摄像头，以更好地展示某些转弯。测试模式标志也将显示在右上角。</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>驾驶员监控常开</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>即使在sunnypilot未激活时也启用驾驶员监控。</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>启用sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用sunnypilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>需要更新</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>连接到WiFi</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>安装</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>返回</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>正在加载……</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>更新失败</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation>开启</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; 训练数据上传模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>正在扫描网络……</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>正在连接……</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>忽略</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>忽略WiFi网络 &quot;%1&quot;?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>忽略</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
deleted file mode 100644
index f69e106872..0000000000
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ /dev/null
@@ -1,1930 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!DOCTYPE TS>
-<TS version="2.1" language="zh_TW">
-<context>
-    <name>AbstractAlert</name>
-    <message>
-        <source>Close</source>
-        <translation>關閉</translation>
-    </message>
-    <message>
-        <source>Snooze Update</source>
-        <translation>暫停更新</translation>
-    </message>
-    <message>
-        <source>Reboot and Update</source>
-        <translation>重啟並更新</translation>
-    </message>
-</context>
-<context>
-    <name>AdvancedNetworking</name>
-    <message>
-        <source>Back</source>
-        <translation>回上頁</translation>
-    </message>
-    <message>
-        <source>Enable Tethering</source>
-        <translation>啟用網路分享</translation>
-    </message>
-    <message>
-        <source>Tethering Password</source>
-        <translation>網路分享密碼</translation>
-    </message>
-    <message>
-        <source>EDIT</source>
-        <translation>編輯</translation>
-    </message>
-    <message>
-        <source>Enter new tethering password</source>
-        <translation>輸入新的網路分享密碼</translation>
-    </message>
-    <message>
-        <source>IP Address</source>
-        <translation>IP 地址</translation>
-    </message>
-    <message>
-        <source>Enable Roaming</source>
-        <translation>啟用漫遊</translation>
-    </message>
-    <message>
-        <source>APN Setting</source>
-        <translation>APN 設置</translation>
-    </message>
-    <message>
-        <source>Enter APN</source>
-        <translation>輸入 APN</translation>
-    </message>
-    <message>
-        <source>leave blank for automatic configuration</source>
-        <translation>留空白將自動配置</translation>
-    </message>
-    <message>
-        <source>Cellular Metered</source>
-        <translation>行動網路</translation>
-    </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>防止使用行動網路上傳大量的數據</translation>
-    </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation>隱藏的網路</translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation>連線</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation>輸入 SSID</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>輸入密碼</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>給 &quot;%1&quot;</translation>
-    </message>
-</context>
-<context>
-    <name>AutoLaneChangeTimer</name>
-    <message>
-        <source>Auto Lane Change by Blinker</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Set a timer to delay the auto lane change operation when the blinker is used. No nudge on the steering wheel is required to auto lane change if a timer is set. Default is Nudge.
-Please use caution when using this feature. Only use the blinker when traffic and road conditions permit.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>s</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Off</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudge</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Nudgeless</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>ConfirmationDialog</name>
-    <message>
-        <source>Ok</source>
-        <translation>確定</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-</context>
-<context>
-    <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>您必須先接受條款和條件才能使用 sunnypilot。</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>回上頁</translation>
-    </message>
-    <message>
-        <source>Decline, uninstall %1</source>
-        <translation>拒絕並解除安裝 %1</translation>
-    </message>
-</context>
-<context>
-    <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation>搖桿調試模式</translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</source>
-        <translation>縱向操控測試模式</translation>
-    </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot 縱向控制 (Alpha 版)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 sunnypilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>在這輛車上，sunnypilot 預設使用車輛內建的主動巡航控制（ACC），而非 sunnypilot 的縱向控制。啟用此項功能可切換至 sunnypilot 的縱向控制。當啟用 sunnypilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
-    </message>
-    <message>
-        <source>Enable ADB</source>
-        <translation>啟用 ADB</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 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
-    </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable GitHub runner service</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enables or disables the github runner service.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Error Log</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation type="unfinished">觀看</translation>
-    </message>
-    <message>
-        <source>View the error log for sunnypilot crashes.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanel</name>
-    <message>
-        <source>Dongle ID</source>
-        <translation>Dongle ID</translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation>無法使用</translation>
-    </message>
-    <message>
-        <source>Serial</source>
-        <translation>序號</translation>
-    </message>
-    <message>
-        <source>Driver Camera</source>
-        <translation>駕駛員監控鏡頭</translation>
-    </message>
-    <message>
-        <source>PREVIEW</source>
-        <translation>預覽</translation>
-    </message>
-    <message>
-        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用）</translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation>重設校準</translation>
-    </message>
-    <message>
-        <source>RESET</source>
-        <translation>重設</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset calibration?</source>
-        <translation>您確定要重設校準嗎？</translation>
-    </message>
-    <message>
-        <source>Review Training Guide</source>
-        <translation>觀看使用教學</translation>
-    </message>
-    <message>
-        <source>REVIEW</source>
-        <translation>觀看</translation>
-    </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>觀看 sunnypilot 的使用規則、功能和限制</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation>您確定要觀看使用教學嗎？</translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation>法規/監管</translation>
-    </message>
-    <message>
-        <source>VIEW</source>
-        <translation>觀看</translation>
-    </message>
-    <message>
-        <source>Change Language</source>
-        <translation>更改語言</translation>
-    </message>
-    <message>
-        <source>CHANGE</source>
-        <translation>更改</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>選擇語言</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation>關機</translation>
-    </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>sunnypilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。</translation>
-    </message>
-    <message>
-        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 你的裝置目前朝%2 %1° 以及朝%4 %3° 。</translation>
-    </message>
-    <message>
-        <source>down</source>
-        <translation>下</translation>
-    </message>
-    <message>
-        <source>up</source>
-        <translation>上</translation>
-    </message>
-    <message>
-        <source>left</source>
-        <translation>左</translation>
-    </message>
-    <message>
-        <source>right</source>
-        <translation>右</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reboot?</source>
-        <translation>您確定要重新啟動嗎？</translation>
-    </message>
-    <message>
-        <source>Disengage to Reboot</source>
-        <translation>請先取消控車才能重新啟動</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to power off?</source>
-        <translation>您確定您要關機嗎？</translation>
-    </message>
-    <message>
-        <source>Disengage to Power Off</source>
-        <translation>請先取消控車才能關機</translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation>重設</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation>回顧</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
-    </message>
-    <message>
-        <source>Pair Device</source>
-        <translation>配對裝置</translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation>配對</translation>
-    </message>
-</context>
-<context>
-    <name>DevicePanelSP</name>
-    <message>
-        <source>Driver Camera Preview</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Training Guide</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Regulatory</source>
-        <translation type="unfinished">法規/監管</translation>
-    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to review the training guide?</source>
-        <translation type="unfinished">您確定要觀看使用教學嗎？</translation>
-    </message>
-    <message>
-        <source>Review</source>
-        <translation type="unfinished">回顧</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation type="unfinished">選擇語言</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">重新啟動</translation>
-    </message>
-    <message>
-        <source>Power Off</source>
-        <translation type="unfinished">關機</translation>
-    </message>
-    <message>
-        <source>Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to exit Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">確認</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to enter Always Offroad mode?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage to Enter Always Offroad Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset</source>
-        <translation type="unfinished">重設</translation>
-    </message>
-    <message>
-        <source>The reset cannot be undone. You have been warned.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriveStats</name>
-    <message>
-        <source>Drives</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Hours</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ALL TIME</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAST WEEK</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>KM</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Miles</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>DriverViewWindow</name>
-    <message>
-        <source>camera starting</source>
-        <translation>開啟相機中</translation>
-    </message>
-</context>
-<context>
-    <name>ExperimentalModeButton</name>
-    <message>
-        <source>EXPERIMENTAL MODE ON</source>
-        <translation>實驗模式 ON</translation>
-    </message>
-    <message>
-        <source>CHILL MODE ON</source>
-        <translation>輕鬆模式 ON</translation>
-    </message>
-</context>
-<context>
-    <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation>🔥 訓練資料上傳模式 🔥</translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation>訓練資料上傳模式：啟用中</translation>
-    </message>
-    <message>
-        <source>ACTIVE</source>
-        <translation>啟用中</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 sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation>為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。&lt;br&gt;&lt;br&gt;訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;常見問題&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;我開車的方式或地點有影響嗎？&lt;/i&gt; 不會，請像平常一樣駕駛即可。&lt;br&gt;&lt;br&gt;&lt;i&gt;訓練資料上傳模式會上傳所有的駕駛片段嗎？&lt;/i&gt;不會，我們會選擇性地上傳部分片段。&lt;br&gt;&lt;br&gt;&lt;i&gt;什麼是好的 USB-C 充電器？&lt;/i&gt;任何快速手機或筆電充電器都應該適用。&lt;br&gt;&lt;br&gt;&lt;i&gt;我使用的軟體版本有影響嗎？&lt;/i&gt;有的，只有官方 sunnypilot（以及特定的分支）可以用於訓練。</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;目前已有 %n 段&lt;/b&gt; 您的駕駛數據被納入訓練資料集。</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>&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">&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>
-    <name>HudRenderer</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高</translation>
-    </message>
-</context>
-<context>
-    <name>InputDialog</name>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-    <message numerus="yes">
-        <source>Need at least %n character(s)!</source>
-        <translation>
-            <numerusform>需要至少 %n 個字元！</numerusform>
-        </translation>
-    </message>
-</context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>安裝中…</translation>
-    </message>
-</context>
-<context>
-    <name>LaneChangeSettings</name>
-    <message>
-        <source>Back</source>
-        <translation type="unfinished">回上頁</translation>
-    </message>
-    <message>
-        <source>Auto Lane Change: Delay with Blind Spot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggle to enable a delay timer for seamless lane changes when blind spot monitoring (BSM) detects a obstructing vehicle, ensuring safe maneuvering.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>LateralPanel</name>
-    <message>
-        <source>Modular Assistive Driving System (MADS)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Customize Lane Change</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MadsSettings</name>
-    <message>
-        <source>Toggle with Main Cruise</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unified Engagement Mode (UEM)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Engage lateral and longitudinal control with cruise control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remain Active</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Disengage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Steering Mode on Brake Pedal</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
-    <message>
-        <source>Select</source>
-        <translation>選擇</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-</context>
-<context>
-    <name>Networking</name>
-    <message>
-        <source>Advanced</source>
-        <translation>進階</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation>輸入密碼</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>給 &quot;%1&quot;</translation>
-    </message>
-    <message>
-        <source>Wrong password</source>
-        <translation>密碼錯誤</translation>
-    </message>
-</context>
-<context>
-    <name>NetworkingSP</name>
-    <message>
-        <source>Scan</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scanning...</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>NeuralNetworkLateralControl</name>
-    <message>
-        <source>Neural Network Lateral Control (NNLC)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC is currently not available on this platform.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Start the car to check car compatibility</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Not Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NNLC Loaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Exact</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fuzzy</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Match: &quot;Exact&quot; is ideal, but &quot;Fuzzy&quot; is fine too.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Formerly known as &lt;b&gt;&quot;NNFF&quot;&lt;/b&gt;, this replaces the lateral &lt;b&gt;&quot;torque&quot;&lt;/b&gt; controller, with one using a neural network trained on each car&apos;s (actually, each separate EPS firmware) driving data for increased controls accuracy.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reach out to the sunnypilot team in the following channel at the sunnypilot Discord server</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>with feedback, or to provide log data for your car if your car is currently unsupported:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>if there are any issues:</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>and donate logs to get NNLC loaded for your car:</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadAlert</name>
-    <message>
-        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
-        <translation>請立即連接網路檢查更新。如果不連接網路，sunnypilot 將在 %1 後便無法使用</translation>
-    </message>
-    <message>
-        <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation>請連接至網際網路以檢查更新。在連接至網際網路並完成更新檢查之前，sunnypilot 將不會自動啟動。</translation>
-    </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation>無法下載更新
-%1</translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation>正在使用相機拍攝中。在完成之前，系統將無法啟動。</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>一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。</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>裝置註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方裝置，請訪問 https://comma.ai/support 。</translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation>NVMe 固態硬碟未被掛載。</translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation>檢測到不支援的 NVMe 固態硬碟。您的裝置因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的韌體版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
-    </message>
-    <message>
-        <source>sunnypilot 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>sunnypilot 偵測到裝置的安裝位置發生變化。請確保裝置完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>
-    </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation>裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
-    </message>
-    <message>
-        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>OffroadHome</name>
-    <message>
-        <source>UPDATE</source>
-        <translation>更新</translation>
-    </message>
-    <message>
-        <source> ALERTS</source>
-        <translation> 提醒</translation>
-    </message>
-    <message>
-        <source> ALERT</source>
-        <translation> 提醒</translation>
-    </message>
-</context>
-<context>
-    <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation>無法使用 sunnypilot</translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation>立即接管</translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation>請重新啟裝置</translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation>等待開始</translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation>系統無回應</translation>
-    </message>
-</context>
-<context>
-    <name>PairingPopup</name>
-    <message>
-        <source>Pair your device to your comma account</source>
-        <translation>將裝置與您的 comma 帳號配對</translation>
-    </message>
-    <message>
-        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>用手機連至 https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>點選 &quot;add new device&quot; 後掃描右邊的二維碼</translation>
-    </message>
-    <message>
-        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>將 connect.comma.ai 加入您的主螢幕，以便像手機 App 一樣使用它</translation>
-    </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation>請連接 Wi-Fi 以完成初始配對</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControl</name>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-    <message>
-        <source>Enable</source>
-        <translation>啟用</translation>
-    </message>
-</context>
-<context>
-    <name>ParamControlSP</name>
-    <message>
-        <source>Enable</source>
-        <translation type="unfinished">啟用</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
-    </message>
-</context>
-<context>
-    <name>PlatformSelector</name>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCH</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Search your vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enter model year (e.g., 2021) and model name (Toyota Corolla):</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SEARCHING</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation type="unfinished">移除</translation>
-    </message>
-    <message>
-        <source>This setting will take effect immediately.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>This setting will take effect once the device enters offroad state.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation type="unfinished">確認</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
-    </message>
-    <message>
-        <source>No vehicles found for query: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>PrimeAdWidget</name>
-    <message>
-        <source>Upgrade Now</source>
-        <translation>馬上升級</translation>
-    </message>
-    <message>
-        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>成為 connect.comma.ai 的高級會員</translation>
-    </message>
-    <message>
-        <source>PRIME FEATURES:</source>
-        <translation>高級會員特點：</translation>
-    </message>
-    <message>
-        <source>Remote access</source>
-        <translation>遠端存取</translation>
-    </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation>24/7 LTE 連線</translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation>一年的行駛記錄儲存空間</translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation>遠端快照</translation>
-    </message>
-</context>
-<context>
-    <name>PrimeUserWidget</name>
-    <message>
-        <source>✓ SUBSCRIBED</source>
-        <translation>✓ 已訂閱</translation>
-    </message>
-    <message>
-        <source>comma prime</source>
-        <translation>comma 高級會員</translation>
-    </message>
-</context>
-<context>
-    <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>離開</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message numerus="yes">
-        <source>%n minute(s) ago</source>
-        <translation>
-            <numerusform>%n 分鐘前</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n hour(s) ago</source>
-        <translation>
-            <numerusform>%n 小時前</numerusform>
-        </translation>
-    </message>
-    <message numerus="yes">
-        <source>%n day(s) ago</source>
-        <translation>
-            <numerusform>%n 天前</numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>now</source>
-        <translation>現在</translation>
-    </message>
-</context>
-<context>
-    <name>Reset</name>
-    <message>
-        <source>Reset failed. Reboot to try again.</source>
-        <translation>重設失敗。請重新啟動後再試。</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to reset your device?</source>
-        <translation>您確定要重設你的裝置嗎？</translation>
-    </message>
-    <message>
-        <source>System Reset</source>
-        <translation>系統重設</translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Confirm</source>
-        <translation>確認</translation>
-    </message>
-    <message>
-        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重置。</translation>
-    </message>
-    <message>
-        <source>Resetting device...
-This may take up to a minute.</source>
-        <translation>重置中…
-這可能需要一分鐘的時間。</translation>
-    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>系統重設已啟動。按下「確認」以清除所有內容和設定，或按下「取消」以繼續開機。</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindow</name>
-    <message>
-        <source>×</source>
-        <translation>×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation>裝置</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation>網路</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>設定</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>軟體</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>開發人員</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation>訓練上傳</translation>
-    </message>
-</context>
-<context>
-    <name>SettingsWindowSP</name>
-    <message>
-        <source>×</source>
-        <translation type="unfinished">×</translation>
-    </message>
-    <message>
-        <source>Device</source>
-        <translation type="unfinished">裝置</translation>
-    </message>
-    <message>
-        <source>Network</source>
-        <translation type="unfinished">網路</translation>
-    </message>
-    <message>
-        <source>sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation type="unfinished">設定</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation type="unfinished">軟體</translation>
-    </message>
-    <message>
-        <source>Trips</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Vehicle</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished">開發人員</translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished">訓練上傳</translation>
-    </message>
-    <message>
-        <source>Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>Setup</name>
-    <message>
-        <source>WARNING: Low Voltage</source>
-        <translation>警告：電壓過低</translation>
-    </message>
-    <message>
-        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。</translation>
-    </message>
-    <message>
-        <source>Power off</source>
-        <translation>關機</translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation>繼續</translation>
-    </message>
-    <message>
-        <source>Getting Started</source>
-        <translation>入門</translation>
-    </message>
-    <message>
-        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>在我們上路之前，讓我們完成安裝並介紹一些細節。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網路</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>回上頁</translation>
-    </message>
-    <message>
-        <source>Continue without Wi-Fi</source>
-        <translation>在沒有 Wi-Fi 的情況下繼續</translation>
-    </message>
-    <message>
-        <source>Waiting for internet</source>
-        <translation>連接至網路中</translation>
-    </message>
-    <message>
-        <source>Enter URL</source>
-        <translation>輸入網址</translation>
-    </message>
-    <message>
-        <source>for Custom Software</source>
-        <translation>訂製的軟體</translation>
-    </message>
-    <message>
-        <source>Downloading...</source>
-        <translation>下載中…</translation>
-    </message>
-    <message>
-        <source>Download Failed</source>
-        <translation>下載失敗</translation>
-    </message>
-    <message>
-        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>請確定您輸入的是有效的安裝網址，並且確定裝置的網路連線狀態良好。</translation>
-    </message>
-    <message>
-        <source>Reboot device</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Start over</source>
-        <translation>重新開始</translation>
-    </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation>在此網址找不到自訂軟體。</translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation>發生了一些錯誤。請重新啟動您的裝置。</translation>
-    </message>
-    <message>
-        <source>Select a language</source>
-        <translation>選擇語言</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>選擇要安裝的軟體</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>自訂軟體</translation>
-    </message>
-</context>
-<context>
-    <name>SetupWidget</name>
-    <message>
-        <source>Finish Setup</source>
-        <translation>完成設置</translation>
-    </message>
-    <message>
-        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>將您的裝置與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
-    </message>
-    <message>
-        <source>Pair device</source>
-        <translation>配對裝置</translation>
-    </message>
-</context>
-<context>
-    <name>Sidebar</name>
-    <message>
-        <source>CONNECT</source>
-        <translation>雲端服務</translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation>已離線</translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation>已連線</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation>錯誤</translation>
-    </message>
-    <message>
-        <source>TEMP</source>
-        <translation>溫度</translation>
-    </message>
-    <message>
-        <source>HIGH</source>
-        <translation>偏高</translation>
-    </message>
-    <message>
-        <source>GOOD</source>
-        <translation>正常</translation>
-    </message>
-    <message>
-        <source>OK</source>
-        <translation>一般</translation>
-    </message>
-    <message>
-        <source>VEHICLE</source>
-        <translation>車輛通訊</translation>
-    </message>
-    <message>
-        <source>NO</source>
-        <translation>未連線</translation>
-    </message>
-    <message>
-        <source>PANDA</source>
-        <translation>車輛通訊</translation>
-    </message>
-    <message>
-        <source>--</source>
-        <translation>--</translation>
-    </message>
-    <message>
-        <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
-    </message>
-    <message>
-        <source>ETH</source>
-        <translation>ETH</translation>
-    </message>
-    <message>
-        <source>2G</source>
-        <translation>2G</translation>
-    </message>
-    <message>
-        <source>3G</source>
-        <translation>3G</translation>
-    </message>
-    <message>
-        <source>LTE</source>
-        <translation>LTE</translation>
-    </message>
-    <message>
-        <source>5G</source>
-        <translation>5G</translation>
-    </message>
-</context>
-<context>
-    <name>SidebarSP</name>
-    <message>
-        <source>DISABLED</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>OFFLINE</source>
-        <translation type="unfinished">已離線</translation>
-    </message>
-    <message>
-        <source>REGIST...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ONLINE</source>
-        <translation type="unfinished">已連線</translation>
-    </message>
-    <message>
-        <source>ERROR</source>
-        <translation type="unfinished">錯誤</translation>
-    </message>
-    <message>
-        <source>SUNNYLINK</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanel</name>
-    <message>
-        <source>Updates are only downloaded while the car is off.</source>
-        <translation>系統更新只會在熄火時下載。</translation>
-    </message>
-    <message>
-        <source>Current Version</source>
-        <translation>當前版本</translation>
-    </message>
-    <message>
-        <source>Download</source>
-        <translation>下載</translation>
-    </message>
-    <message>
-        <source>Install Update</source>
-        <translation>安裝更新</translation>
-    </message>
-    <message>
-        <source>INSTALL</source>
-        <translation>安裝</translation>
-    </message>
-    <message>
-        <source>Target Branch</source>
-        <translation>目標分支</translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation>選取</translation>
-    </message>
-    <message>
-        <source>Select a branch</source>
-        <translation>選取一個分支</translation>
-    </message>
-    <message>
-        <source>UNINSTALL</source>
-        <translation>解除安裝</translation>
-    </message>
-    <message>
-        <source>Uninstall %1</source>
-        <translation>解除安裝 %1</translation>
-    </message>
-    <message>
-        <source>Are you sure you want to uninstall?</source>
-        <translation>您確定您要解除安裝嗎？</translation>
-    </message>
-    <message>
-        <source>CHECK</source>
-        <translation>檢查</translation>
-    </message>
-    <message>
-        <source>Uninstall</source>
-        <translation>解除安裝</translation>
-    </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation>檢查更新失敗</translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation>已經是最新版本，上次檢查時間為 %1</translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation>下載</translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation>有可用的更新</translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation>從未更新</translation>
-    </message>
-</context>
-<context>
-    <name>SoftwarePanelSP</name>
-    <message>
-        <source>Current Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SELECT</source>
-        <translation type="unfinished">選取</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">重設校準</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">繼續</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
-    </message>
-</context>
-<context>
-    <name>SshControl</name>
-    <message>
-        <source>SSH Keys</source>
-        <translation>SSH 金鑰</translation>
-    </message>
-    <message>
-        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
-        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 使用者名稱。comma 員工「永遠不會」要求您添加他們的 GitHub 使用者名稱。</translation>
-    </message>
-    <message>
-        <source>ADD</source>
-        <translation>新增</translation>
-    </message>
-    <message>
-        <source>Enter your GitHub username</source>
-        <translation>請輸入您 GitHub 的使用者名稱</translation>
-    </message>
-    <message>
-        <source>LOADING</source>
-        <translation>載入中</translation>
-    </message>
-    <message>
-        <source>REMOVE</source>
-        <translation>移除</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何金鑰</translation>
-    </message>
-    <message>
-        <source>Request timed out</source>
-        <translation>請求超時</translation>
-    </message>
-    <message>
-        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>GitHub 用戶 &apos;%1&apos; 不存在</translation>
-    </message>
-</context>
-<context>
-    <name>SshToggle</name>
-    <message>
-        <source>Enable SSH</source>
-        <translation>啟用 SSH 服務</translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkPanel</name>
-    <message>
-        <source>This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnylink</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">無法使用</translation>
-    </message>
-    <message>
-        <source>Sponsor Status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>SPONSOR</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Become a sponsor of sunnypilot to get early access to sunnylink features when they become available.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair GitHub Account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished">配對</translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to backup sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Back Up</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Are you sure you want to restore the last backed up sunnypilot settings?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Backup Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings backup completed.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore in progress %1%</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Restore Failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unable to restore the settings, try again later.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Settings restored. Confirm to restart the interface.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>SunnylinkSponsorPopup</name>
-    <message>
-        <source>Scan the QR code to login to your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Follow the prompts to complete the pairing process</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Re-enter the &quot;sunnylink&quot; panel to verify sponsorship status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>If sponsorship status was not updated, please contact a moderator on Discord at https://discord.gg/sunnypilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Scan the QR code to visit sunnyhaibin&apos;s GitHub Sponsors page</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Choose your sponsorship tier and confirm your support</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Join our community on Discord at https://discord.gg/sunnypilot and reach out to a moderator to confirm your sponsor status</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Pair your GitHub account</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Early Access: Become a sunnypilot Sponsor</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>TermsPage</name>
-    <message>
-        <source>Decline</source>
-        <translation>拒絕</translation>
-    </message>
-    <message>
-        <source>Agree</source>
-        <translation>接受</translation>
-    </message>
-    <message>
-        <source>Welcome to sunnypilot</source>
-        <translation>歡迎使用 sunnypilot</translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use sunnypilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation>您必須接受《條款與條件》才能使用 sunnypilot。在繼續之前，請先閱讀最新條款：&lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;。</translation>
-    </message>
-</context>
-<context>
-    <name>TogglesPanel</name>
-    <message>
-        <source>Enable Lane Departure Warnings</source>
-        <translation>啟用車道偏離警告</translation>
-    </message>
-    <message>
-        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
-    </message>
-    <message>
-        <source>Use Metric System</source>
-        <translation>使用公制單位</translation>
-    </message>
-    <message>
-        <source>Display speed in km/h instead of mph.</source>
-        <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
-    </message>
-    <message>
-        <source>Record and Upload Driver Camera</source>
-        <translation>記錄並上傳駕駛監控影像</translation>
-    </message>
-    <message>
-        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
-        <translation>上傳駕駛監控的錄影來協助我們提升駕駛監控的準確率。</translation>
-    </message>
-    <message>
-        <source>Disengage on Accelerator Pedal</source>
-        <translation>油門取消控車</translation>
-    </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>啟用後，踩踏油門將會取消 sunnypilot 控制。</translation>
-    </message>
-    <message>
-        <source>Experimental Mode</source>
-        <translation>實驗模式</translation>
-    </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>sunnypilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>讓駕駛模型來控制油門及煞車。sunnypilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。</translation>
-    </message>
-    <message>
-        <source>New Driving Visualization</source>
-        <translation>新的駕駛視覺介面</translation>
-    </message>
-    <message>
-        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
-    </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot 縱向控制可能會在未來的更新中提供。</translation>
-    </message>
-    <message>
-        <source>Aggressive</source>
-        <translation>積極</translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation>標準</translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation>舒適</translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation>駕駛風格</translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在正式 (release) 版以外的分支上可以測試 sunnypilot 縱向控制的 Alpha 版本以及實驗模式。</translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation>啟用 sunnypilot 縱向控制（alpha）切換以允許實驗模式。</translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation>端到端縱向控制</translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation>建議使用標準模式。在積極模式下，sunnypilot 會更接近前車並更積極地使用油門和剎車。在輕鬆模式下，sunnypilot 會與前車保持較遠距離。對於支援的汽車，您可以使用方向盤上的距離按鈕來切換這些駕駛風格。</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>在低速時，駕駛可視化將切換至道路朝向的廣角攝影機，以更好地顯示某些彎道。在右上角還會顯示「實驗模式」的標誌。</translation>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation>駕駛監控常開</translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
-        <translation>即使在sunnypilot未激活時也啟用駕駛監控。</translation>
-    </message>
-    <message>
-        <source>Enable Dynamic Experimental Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable sunnypilot</source>
-        <translation>啟用 sunnypilot</translation>
-    </message>
-    <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用 sunnypilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
-    </message>
-</context>
-<context>
-    <name>Updater</name>
-    <message>
-        <source>Update Required</source>
-        <translation>系統更新</translation>
-    </message>
-    <message>
-        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>需要進行作業系統更新。建議將您的裝置連接上 Wi-Fi 獲得更快的更新下載。下載大小約為 1GB。</translation>
-    </message>
-    <message>
-        <source>Connect to Wi-Fi</source>
-        <translation>連接到無線網路</translation>
-    </message>
-    <message>
-        <source>Install</source>
-        <translation>安裝</translation>
-    </message>
-    <message>
-        <source>Back</source>
-        <translation>回上頁</translation>
-    </message>
-    <message>
-        <source>Loading...</source>
-        <translation>載入中…</translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Update failed</source>
-        <translation>更新失敗</translation>
-    </message>
-</context>
-<context>
-    <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation>開啟</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; 訓練資料上傳模式 &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>WifiUI</name>
-    <message>
-        <source>Scanning for networks...</source>
-        <translation>掃描無線網路中...</translation>
-    </message>
-    <message>
-        <source>CONNECTING...</source>
-        <translation>連線中...</translation>
-    </message>
-    <message>
-        <source>FORGET</source>
-        <translation>清除</translation>
-    </message>
-    <message>
-        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>清除 Wi-Fi 網路 &quot;%1&quot;?</translation>
-    </message>
-    <message>
-        <source>Forget</source>
-        <translation>清除</translation>
-    </message>
-</context>
-</TS>
diff --git a/selfdrive/ui/translations/potools.py b/selfdrive/ui/translations/potools.py
new file mode 100644
index 0000000000..7571cccdd6
--- /dev/null
+++ b/selfdrive/ui/translations/potools.py
@@ -0,0 +1,362 @@
+"""Pure Python tools for managing .po translation files.
+
+Replaces GNU gettext CLI tools (xgettext, msginit, msgmerge) with Python
+implementations for extracting, creating, and updating .po files.
+"""
+
+import ast
+import os
+import re
+from dataclasses import dataclass, field
+from datetime import UTC, datetime
+from pathlib import Path
+
+
+@dataclass
+class POEntry:
+  msgid: str = ""
+  msgstr: str = ""
+  msgid_plural: str = ""
+  msgstr_plural: dict[int, str] = field(default_factory=dict)
+  comments: list[str] = field(default_factory=list)
+  source_refs: list[str] = field(default_factory=list)
+  flags: list[str] = field(default_factory=list)
+
+  @property
+  def is_plural(self) -> bool:
+    return bool(self.msgid_plural)
+
+
+# ──── PO file parsing ────
+
+def _parse_quoted(s: str) -> str:
+  """Parse a PO-format quoted string, handling escape sequences."""
+  s = s.strip()
+  if not (s.startswith('"') and s.endswith('"')):
+    raise ValueError(f"Expected quoted string: {s!r}")
+  s = s[1:-1]
+  result = []
+  i = 0
+  while i < len(s):
+    if s[i] == '\\' and i + 1 < len(s):
+      c = s[i + 1]
+      if c == 'n':
+        result.append('\n')
+      elif c == 't':
+        result.append('\t')
+      elif c == '"':
+        result.append('"')
+      elif c == '\\':
+        result.append('\\')
+      else:
+        result.append(s[i:i + 2])
+      i += 2
+    else:
+      result.append(s[i])
+      i += 1
+  return ''.join(result)
+
+
+def parse_po(path: str | Path) -> tuple[POEntry | None, list[POEntry]]:
+  """Parse a .po/.pot file. Returns (header_entry, entries)."""
+  with open(path, encoding='utf-8') as f:
+    lines = f.readlines()
+
+  entries: list[POEntry] = []
+  header: POEntry | None = None
+  cur: POEntry | None = None
+  cur_field: str | None = None
+  plural_idx = 0
+
+  def finish():
+    nonlocal cur, header
+    if cur is None:
+      return
+    if cur.msgid == "" and cur.msgstr:
+      header = cur
+    elif cur.msgid != "" or cur.is_plural:
+      entries.append(cur)
+    cur = None
+
+  for raw in lines:
+    line = raw.rstrip('\n')
+    stripped = line.strip()
+
+    if not stripped:
+      finish()
+      cur_field = None
+      continue
+
+    # Skip obsolete entries
+    if stripped.startswith('#~'):
+      continue
+
+    if stripped.startswith('#'):
+      if cur is None:
+        cur = POEntry()
+      if stripped.startswith('#:'):
+        cur.source_refs.append(stripped[2:].strip())
+      elif stripped.startswith('#,'):
+        cur.flags.extend(f.strip() for f in stripped[2:].split(',') if f.strip())
+      else:
+        cur.comments.append(line)
+      continue
+
+    if stripped.startswith('msgid_plural '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgid_plural = _parse_quoted(stripped[len('msgid_plural '):])
+      cur_field = 'msgid_plural'
+      continue
+
+    if stripped.startswith('msgid '):
+      if cur is None:
+        cur = POEntry()
+      cur.msgid = _parse_quoted(stripped[len('msgid '):])
+      cur_field = 'msgid'
+      continue
+
+    m = re.match(r'msgstr\[(\d+)]\s+(.*)', stripped)
+    if m:
+      plural_idx = int(m.group(1))
+      cur.msgstr_plural[plural_idx] = _parse_quoted(m.group(2))
+      cur_field = 'msgstr_plural'
+      continue
+
+    if stripped.startswith('msgstr '):
+      cur.msgstr = _parse_quoted(stripped[len('msgstr '):])
+      cur_field = 'msgstr'
+      continue
+
+    if stripped.startswith('"'):
+      val = _parse_quoted(stripped)
+      if cur_field == 'msgid':
+        cur.msgid += val
+      elif cur_field == 'msgid_plural':
+        cur.msgid_plural += val
+      elif cur_field == 'msgstr':
+        cur.msgstr += val
+      elif cur_field == 'msgstr_plural':
+        cur.msgstr_plural[plural_idx] += val
+
+  finish()
+  return header, entries
+
+
+# ──── PO file writing ────
+
+def _quote(s: str) -> str:
+  """Quote a string for .po file output."""
+  s = s.replace('\\', '\\\\').replace('"', '\\"').replace('\t', '\\t')
+  if '\n' in s and s != '\n':
+    parts = s.split('\n')
+    lines = ['""']
+    for i, part in enumerate(parts):
+      text = part + ('\\n' if i < len(parts) - 1 else '')
+      if text:
+        lines.append(f'"{text}"')
+    return '\n'.join(lines)
+  return f'"{s}"'.replace('\n', '\\n')
+
+
+def write_po(path: str | Path, header: POEntry | None, entries: list[POEntry]) -> None:
+  """Write a .po/.pot file."""
+  with open(path, 'w', encoding='utf-8') as f:
+    if header:
+      for c in header.comments:
+        f.write(c + '\n')
+      if header.flags:
+        f.write('#, ' + ', '.join(header.flags) + '\n')
+      f.write(f'msgid {_quote("")}\n')
+      f.write(f'msgstr {_quote(header.msgstr)}\n\n')
+
+    for entry in entries:
+      for c in entry.comments:
+        f.write(c + '\n')
+      for ref in entry.source_refs:
+        f.write(f'#: {ref}\n')
+      if entry.flags:
+        f.write('#, ' + ', '.join(entry.flags) + '\n')
+      f.write(f'msgid {_quote(entry.msgid)}\n')
+      if entry.is_plural:
+        f.write(f'msgid_plural {_quote(entry.msgid_plural)}\n')
+        for idx in sorted(entry.msgstr_plural):
+          f.write(f'msgstr[{idx}] {_quote(entry.msgstr_plural[idx])}\n')
+      else:
+        f.write(f'msgstr {_quote(entry.msgstr)}\n')
+      f.write('\n')
+
+
+# ──── String extraction (replaces xgettext) ────
+
+def extract_strings(files: list[str], basedir: str) -> list[POEntry]:
+  """Extract tr/trn/tr_noop calls from Python source files."""
+  seen: dict[str, POEntry] = {}
+
+  for filepath in files:
+    full = os.path.join(basedir, filepath)
+    with open(full, encoding='utf-8') as f:
+      source = f.read()
+    try:
+      tree = ast.parse(source, filename=filepath)
+    except SyntaxError:
+      continue
+
+    for node in ast.walk(tree):
+      if not isinstance(node, ast.Call):
+        continue
+
+      func = node.func
+      if isinstance(func, ast.Name):
+        name = func.id
+      elif isinstance(func, ast.Attribute):
+        name = func.attr
+      else:
+        continue
+
+      if name not in ('tr', 'trn', 'tr_noop'):
+        continue
+
+      ref = f'{filepath}:{node.lineno}'
+      is_flagged = name in ('tr', 'trn')
+
+      if name in ('tr', 'tr_noop'):
+        if not node.args or not isinstance(node.args[0], ast.Constant) or not isinstance(node.args[0].value, str):
+          continue
+        msgid = node.args[0].value
+        if msgid in seen:
+          if ref not in seen[msgid].source_refs:
+            seen[msgid].source_refs.append(ref)
+        else:
+          flags = ['python-format'] if is_flagged else []
+          seen[msgid] = POEntry(msgid=msgid, source_refs=[ref], flags=flags)
+
+      elif name == 'trn':
+        if len(node.args) < 2:
+          continue
+        a1, a2 = node.args[0], node.args[1]
+        if not (isinstance(a1, ast.Constant) and isinstance(a1.value, str)):
+          continue
+        if not (isinstance(a2, ast.Constant) and isinstance(a2.value, str)):
+          continue
+        msgid, msgid_plural = a1.value, a2.value
+        if msgid in seen:
+          if ref not in seen[msgid].source_refs:
+            seen[msgid].source_refs.append(ref)
+        else:
+          flags = ['python-format'] if is_flagged else []
+          seen[msgid] = POEntry(
+            msgid=msgid, msgid_plural=msgid_plural,
+            source_refs=[ref], flags=flags,
+            msgstr_plural={0: '', 1: ''},
+          )
+
+  return list(seen.values())
+
+
+# ──── POT generation ────
+
+def generate_pot(entries: list[POEntry], pot_path: str | Path) -> None:
+  """Generate a .pot template file from extracted entries."""
+  now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
+  header = POEntry(
+    comments=[
+      '# SOME DESCRIPTIVE TITLE.',
+      "# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
+      '# This file is distributed under the same license as the PACKAGE package.',
+      '# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.',
+      '#',
+    ],
+    flags=['fuzzy'],
+    msgstr='Project-Id-Version: PACKAGE VERSION\n' +
+      'Report-Msgid-Bugs-To: \n' +
+      f'POT-Creation-Date: {now}\n' +
+      'PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n' +
+      'Last-Translator: FULL NAME <EMAIL@ADDRESS>\n' +
+      'Language-Team: LANGUAGE <LL@li.org>\n' +
+      'Language: \n' +
+      'MIME-Version: 1.0\n' +
+      'Content-Type: text/plain; charset=UTF-8\n' +
+      'Content-Transfer-Encoding: 8bit\n' +
+      'Plural-Forms: nplurals=INTEGER; plural=EXPRESSION;\n',
+  )
+  write_po(pot_path, header, entries)
+
+
+# ──── PO init (replaces msginit) ────
+
+PLURAL_FORMS: dict[str, str] = {
+  'en': 'nplurals=2; plural=(n != 1);',
+  'de': 'nplurals=2; plural=(n != 1);',
+  'fr': 'nplurals=2; plural=(n > 1);',
+  'es': 'nplurals=2; plural=(n != 1);',
+  'pt-BR': 'nplurals=2; plural=(n > 1);',
+  'tr': 'nplurals=2; plural=(n != 1);',
+  'uk': 'nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && n%10<=4 && (n%100<12 || n%100>14) ? 1 : 2);',
+  'th': 'nplurals=1; plural=0;',
+  'zh-CHT': 'nplurals=1; plural=0;',
+  'zh-CHS': 'nplurals=1; plural=0;',
+  'ko': 'nplurals=1; plural=0;',
+  'ja': 'nplurals=1; plural=0;',
+}
+
+
+def init_po(pot_path: str | Path, po_path: str | Path, language: str) -> None:
+  """Create a new .po file from a .pot template (replaces msginit)."""
+  _, entries = parse_po(pot_path)
+  plural_forms = PLURAL_FORMS.get(language, 'nplurals=2; plural=(n != 1);')
+  now = datetime.now(UTC).strftime('%Y-%m-%d %H:%M%z')
+
+  header = POEntry(
+    comments=[
+      f'# {language} translations for PACKAGE package.',
+      "# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER",
+      '# This file is distributed under the same license as the PACKAGE package.',
+      '# Automatically generated.',
+      '#',
+    ],
+    msgstr='Project-Id-Version: PACKAGE VERSION\n' +
+      'Report-Msgid-Bugs-To: \n' +
+      f'POT-Creation-Date: {now}\n' +
+      f'PO-Revision-Date: {now}\n' +
+      'Last-Translator: Automatically generated\n' +
+      'Language-Team: none\n' +
+      f'Language: {language}\n' +
+      'MIME-Version: 1.0\n' +
+      'Content-Type: text/plain; charset=UTF-8\n' +
+      'Content-Transfer-Encoding: 8bit\n' +
+      f'Plural-Forms: {plural_forms}\n',
+  )
+
+  nplurals = int(re.search(r'nplurals=(\d+)', plural_forms).group(1))
+  for e in entries:
+    if e.is_plural:
+      e.msgstr_plural = dict.fromkeys(range(nplurals), '')
+
+  write_po(po_path, header, entries)
+
+
+# ──── PO merge (replaces msgmerge) ────
+
+def merge_po(po_path: str | Path, pot_path: str | Path) -> None:
+  """Update a .po file with entries from a .pot template (replaces msgmerge --update)."""
+  po_header, po_entries = parse_po(po_path)
+  _, pot_entries = parse_po(pot_path)
+
+  existing = {e.msgid: e for e in po_entries}
+  merged = []
+
+  for pot_e in pot_entries:
+    if pot_e.msgid in existing:
+      old = existing[pot_e.msgid]
+      old.source_refs = pot_e.source_refs
+      old.flags = pot_e.flags
+      old.comments = pot_e.comments
+      if pot_e.is_plural:
+        old.msgid_plural = pot_e.msgid_plural
+      merged.append(old)
+    else:
+      merged.append(pot_e)
+
+  merged.sort(key=lambda e: e.msgid)
+  write_po(po_path, po_header, merged)
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
deleted file mode 100644
index 3b565e0e13..0000000000
--- a/selfdrive/ui/ui.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "selfdrive/ui/ui.h"
-
-#include <algorithm>
-#include <cmath>
-
-#include <QtConcurrent>
-
-#include "common/transformations/orientation.hpp"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "common/watchdog.h"
-#include "qt/util.h"
-#include "system/hardware/hw.h"
-
-#define BACKLIGHT_DT 0.05
-#define BACKLIGHT_TS 10.00
-
-void update_sockets(UIState *s) {
-  s->sm->update(0);
-}
-
-void update_state(UIState *s) {
-  SubMaster &sm = *(s->sm);
-  UIScene &scene = s->scene;
-
-  if (sm.updated("liveCalibration")) {
-    auto list2rot = [](const capnp::List<float>::Reader &rpy_list) ->Eigen::Matrix3f {
-      return euler2rot({rpy_list[0], rpy_list[1], rpy_list[2]}).cast<float>();
-    };
-
-    auto live_calib = sm["liveCalibration"].getLiveCalibration();
-    if (live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED) {
-      auto device_from_calib = list2rot(live_calib.getRpyCalib());
-      auto wide_from_device = list2rot(live_calib.getWideFromDeviceEuler());
-      s->scene.view_from_calib = VIEW_FROM_DEVICE * device_from_calib;
-      s->scene.view_from_wide_calib = VIEW_FROM_DEVICE * wide_from_device * device_from_calib;
-    } else {
-      s->scene.view_from_calib = s->scene.view_from_wide_calib = VIEW_FROM_DEVICE;
-    }
-  }
-  if (sm.updated("pandaStates")) {
-    auto pandaStates = sm["pandaStates"].getPandaStates();
-    if (pandaStates.size() > 0) {
-      scene.pandaType = pandaStates[0].getPandaType();
-
-      if (scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
-        scene.ignition = false;
-        for (const auto& pandaState : pandaStates) {
-          scene.ignition |= pandaState.getIgnitionLine() || pandaState.getIgnitionCan();
-        }
-      }
-    }
-  } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) {
-    scene.pandaType = cereal::PandaState::PandaType::UNKNOWN;
-  }
-  if (sm.updated("wideRoadCameraState")) {
-    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
-    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
-  } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) {
-    scene.light_sensor = -1;
-  }
-  scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
-}
-
-void ui_update_params(UIState *s) {
-  auto params = Params();
-  s->scene.is_metric = params.getBool("IsMetric");
-}
-
-void UIState::updateStatus() {
-  if (scene.started && (sm->updated("selfdriveState") || sm->updated("selfdriveStateSP"))) {
-    auto ss = (*sm)["selfdriveState"].getSelfdriveState();
-    auto mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
-    auto state = ss.getState();
-    auto state_mads = mads.getState();
-    if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING ||
-        state_mads == cereal::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::PAUSED ||
-        state_mads == cereal::ModularAssistiveDrivingSystem::ModularAssistiveDrivingSystemState::OVERRIDING) {
-      status = STATUS_OVERRIDE;
-    } else {
-      if (mads.getAvailable()) {
-        if (mads.getEnabled()) {
-          status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY;
-        } else {
-          status = STATUS_DISENGAGED;
-        }
-      } else {
-        status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
-      }
-    }
-  }
-
-  // Handle onroad/offroad transition
-  if (scene.started != started_prev || sm->frame == 1) {
-    if (scene.started) {
-      status = STATUS_DISENGAGED;
-      scene.started_frame = sm->frame;
-    }
-    started_prev = scene.started;
-    emit offroadTransition(!scene.started);
-  }
-}
-
-UIState::UIState(QObject *parent) : QObject(parent) {
-  sm = std::make_unique<SubMaster>(std::vector<const char*>{
-    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
-    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
-  });
-  prime_state = new PrimeState(this);
-  language = QString::fromStdString(Params().get("LanguageSetting"));
-
-#ifndef SUNNYPILOT
-  // update timer
-  timer = new QTimer(this);
-  QObject::connect(timer, &QTimer::timeout, this, &UIState::update);
-  timer->start(1000 / UI_FREQ);
-#endif
-}
-
-void UIState::update() {
-#ifndef SUNNYPILOT
-  update_sockets(this);
-  update_state(this);
-  updateStatus();
-
-  if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick(nanos_since_boot());
-  }
-  emit uiUpdate(*this);
-#endif
-}
-
-Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
-  setAwake(true);
-  resetInteractiveTimeout();
-#ifndef SUNNYPILOT
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
-#endif
-}
-
-void Device::update(const UIState &s) {
-  updateBrightness(s);
-  updateWakefulness(s);
-}
-
-void Device::setAwake(bool on) {
-  if (on != awake) {
-    awake = on;
-    Hardware::set_display_power(awake);
-    LOGD("setting display power %d", awake);
-    emit displayPowerChanged(awake);
-  }
-}
-
-void Device::resetInteractiveTimeout(int timeout) {
-  if (timeout == -1) {
-    timeout = (ignition_on ? 10 : 30);
-  }
-  interactive_timeout = timeout * UI_FREQ;
-}
-
-void Device::updateBrightness(const UIState &s) {
-  float clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor >= 0) {
-    clipped_brightness = s.scene.light_sensor;
-
-    // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
-    if (clipped_brightness <= 8) {
-      clipped_brightness = (clipped_brightness / 903.3);
-    } else {
-      clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0);
-    }
-
-    // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
-  }
-
-  int brightness = brightness_filter.update(clipped_brightness);
-  if (!awake) {
-    brightness = 0;
-  }
-
-  if (brightness != last_brightness) {
-    if (!brightness_future.isRunning()) {
-      brightness_future = QtConcurrent::run(Hardware::set_brightness, brightness);
-      last_brightness = brightness;
-    }
-  }
-}
-
-void Device::updateWakefulness(const UIState &s) {
-  bool ignition_just_turned_off = !s.scene.ignition && ignition_on;
-  ignition_on = s.scene.ignition;
-
-  if (ignition_just_turned_off) {
-    resetInteractiveTimeout();
-  } else if (interactive_timeout > 0 && --interactive_timeout == 0) {
-    emit interactiveTimeout();
-  }
-
-  setAwake(s.scene.ignition || interactive_timeout > 0);
-}
-
-#ifndef SUNNYPILOT
-UIState *uiState() {
-  static UIState ui_state;
-  return &ui_state;
-}
-
-Device *device() {
-  static Device _device;
-  return &_device;
-}
-#endif
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
deleted file mode 100644
index 21e74af1d2..0000000000
--- a/selfdrive/ui/ui.h
+++ /dev/null
@@ -1,143 +0,0 @@
-#pragma once
-
-#include <eigen3/Eigen/Dense>
-#include <memory>
-#include <string>
-
-#include <QTimer>
-#include <QColor>
-#include <QFuture>
-
-#include "cereal/messaging/messaging.h"
-#include "common/mat.h"
-#include "common/params.h"
-#include "common/util.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/prime_state.h"
-
-const int UI_BORDER_SIZE = 30;
-const int UI_HEADER_HEIGHT = 420;
-
-const int UI_FREQ = 20; // Hz
-const int BACKLIGHT_OFFROAD = 50;
-
-const Eigen::Matrix3f VIEW_FROM_DEVICE = (Eigen::Matrix3f() <<
-  0.0, 1.0, 0.0,
-  0.0, 0.0, 1.0,
-  1.0, 0.0, 0.0).finished();
-
-const Eigen::Matrix3f FCAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
-  2648.0, 0.0, 1928.0 / 2,
-  0.0, 2648.0, 1208.0 / 2,
-  0.0, 0.0, 1.0).finished();
-
-// tici ecam focal probably wrong? magnification is not consistent across frame
-// Need to retrain model before this can be changed
-const Eigen::Matrix3f ECAM_INTRINSIC_MATRIX = (Eigen::Matrix3f() <<
-  567.0, 0.0, 1928.0 / 2,
-  0.0, 567.0, 1208.0 / 2,
-  0.0, 0.0, 1.0).finished();
-
-typedef enum UIStatus {
-  STATUS_DISENGAGED,
-  STATUS_OVERRIDE,
-  STATUS_ENGAGED,
-  STATUS_LAT_ONLY,
-  STATUS_LONG_ONLY,
-} UIStatus;
-
-const QColor bg_colors [] = {
-  [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
-  [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
-  [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
-  [STATUS_LAT_ONLY] = QColor(0x00, 0xc8, 0xc8, 0xf1),
-  [STATUS_LONG_ONLY] = QColor(0x96, 0x1C, 0xA8, 0xf1),
-};
-
-typedef struct UIScene {
-  Eigen::Matrix3f view_from_calib = VIEW_FROM_DEVICE;
-  Eigen::Matrix3f view_from_wide_calib = VIEW_FROM_DEVICE;
-  cereal::PandaState::PandaType pandaType;
-
-  cereal::LongitudinalPersonality personality;
-
-  float light_sensor = -1;
-  bool started, ignition, is_metric;
-  uint64_t started_frame;
-} UIScene;
-
-class UIState : public QObject {
-  Q_OBJECT
-
-public:
-  UIState(QObject* parent = 0);
-  virtual void updateStatus();
-  inline bool engaged() const {
-    return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
-  }
-
-  std::unique_ptr<SubMaster> sm;
-  UIStatus status;
-  UIScene scene = {};
-  QString language;
-  PrimeState *prime_state;
-
-signals:
-  void uiUpdate(const UIState &s);
-  void offroadTransition(bool offroad);
-
-protected slots:
-  virtual void update();
-
-protected:
-  QTimer *timer;
-
-private:
-  bool started_prev = false;
-};
-
-#ifndef SUNNYPILOT
-UIState *uiState();
-#endif
-
-// device management class
-class Device : public QObject {
-  Q_OBJECT
-
-public:
-  Device(QObject *parent = 0);
-  bool isAwake() { return awake; }
-  void setOffroadBrightness(int brightness) {
-    offroad_brightness = std::clamp(brightness, 0, 100);
-  }
-
-protected:
-  bool awake = false;
-  int interactive_timeout = 0;
-  bool ignition_on = false;
-
-  int offroad_brightness = BACKLIGHT_OFFROAD;
-  int last_brightness = 0;
-  FirstOrderFilter brightness_filter;
-  QFuture<void> brightness_future;
-
-  void updateBrightness(const UIState &s);
-  void updateWakefulness(const UIState &s);
-  void setAwake(bool on);
-
-signals:
-  void displayPowerChanged(bool on);
-  void interactiveTimeout();
-
-public slots:
-  void resetInteractiveTimeout(int timeout = -1);
-  void update(const UIState &s);
-};
-
-#ifndef SUNNYPILOT
-Device *device();
-#endif
-
-void ui_update_params(UIState *s);
-void update_state(UIState *s);
-void update_sockets(UIState *s);
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
new file mode 100755
index 0000000000..e3cac2618e
--- /dev/null
+++ b/selfdrive/ui/ui.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import os
+
+from openpilot.system.hardware import TICI
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.main import MainLayout
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+BIG_UI = gui_app.big_ui()
+
+
+def main():
+  cores = {5, }
+  config_realtime_process(0, 51)
+
+  gui_app.init_window("UI")
+  if BIG_UI:
+    MainLayout()
+  else:
+    MiciMainLayout()
+
+  for should_render in gui_app.render():
+    ui_state.update()
+    if should_render:
+      # reaffine after power save offlines our core
+      if TICI and os.sched_getaffinity(0) != cores:
+        try:
+          set_core_affinity(list(cores))
+        except OSError:
+          pass
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
new file mode 100644
index 0000000000..f7a5d44d9a
--- /dev/null
+++ b/selfdrive/ui/ui_state.py
@@ -0,0 +1,311 @@
+import pyray as rl
+import numpy as np
+import time
+import threading
+from collections.abc import Callable
+from enum import Enum
+from cereal import messaging, car, log
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.lib.prime_state import PrimeState
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.hardware import HARDWARE, PC
+
+from openpilot.selfdrive.ui.sunnypilot.ui_state import UIStateSP, DeviceSP
+
+BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
+
+
+class UIStatus(Enum):
+  DISENGAGED = "disengaged"
+  ENGAGED = "engaged"
+  OVERRIDE = "override"
+  LAT_ONLY = "lat_only"
+  LONG_ONLY = "long_only"
+
+
+class UIState(UIStateSP):
+  _instance: 'UIState | None' = None
+
+  def __new__(cls):
+    if cls._instance is None:
+      cls._instance = super().__new__(cls)
+      cls._instance._initialize()
+    return cls._instance
+
+  def _initialize(self):
+    UIStateSP.__init__(self)
+    self.params = Params()
+    self.sm = messaging.SubMaster(
+      [
+        "modelV2",
+        "controlsState",
+        "onroadEvents",
+        "liveCalibration",
+        "radarState",
+        "deviceState",
+        "pandaStates",
+        "carParams",
+        "driverMonitoringState",
+        "carState",
+        "driverStateV2",
+        "roadCameraState",
+        "wideRoadCameraState",
+        "managerState",
+        "selfdriveState",
+        "longitudinalPlan",
+        "gpsLocationExternal",
+        "carOutput",
+        "carControl",
+        "liveParameters",
+        "rawAudioData",
+      ] + self.sm_services_ext
+    )
+
+    self.prime_state = PrimeState()
+
+    # UI Status tracking
+    self.status: UIStatus = UIStatus.DISENGAGED
+    self.started_frame: int = 0
+    self.started_time: float = 0.0
+    self._engaged_prev: bool = False
+    self._started_prev: bool = False
+
+    # Core state variables
+    self.is_metric: bool = self.params.get_bool("IsMetric")
+    self.is_release = self.params.get_bool("IsReleaseBranch")
+    self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
+    self.started: bool = False
+    self.ignition: bool = False
+    self.recording_audio: bool = False
+    self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
+    self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
+    self.has_longitudinal_control: bool = False
+    self.CP: car.CarParams | None = None
+    self.light_sensor: float = -1.0
+    self._param_update_time: float = 0.0
+
+    # Callbacks
+    self._offroad_transition_callbacks: list[Callable[[], None]] = []
+    self._engaged_transition_callbacks: list[Callable[[], None]] = []
+
+    self.update_params()
+
+  def add_offroad_transition_callback(self, callback: Callable[[], None]):
+    self._offroad_transition_callbacks.append(callback)
+
+  def add_engaged_transition_callback(self, callback: Callable[[], None]):
+    self._engaged_transition_callbacks.append(callback)
+
+  @property
+  def engaged(self) -> bool:
+    return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
+
+  def is_onroad(self) -> bool:
+    return self.started
+
+  def is_offroad(self) -> bool:
+    return not self.started
+
+  def update(self) -> None:
+    self.prime_state.start()  # start thread after manager forks ui
+    self.sm.update(0)
+    self._update_state()
+    self._update_status()
+    if time.monotonic() - self._param_update_time > 5.0:
+      self.update_params()
+    device.update()
+    UIStateSP.update(self)
+
+  def _update_state(self) -> None:
+    # Handle panda states updates
+    if self.sm.updated["pandaStates"]:
+      panda_states = self.sm["pandaStates"]
+
+      if len(panda_states) > 0:
+        # Get panda type from first panda
+        self.panda_type = panda_states[0].pandaType
+        # Check ignition status across all pandas
+        if self.panda_type != log.PandaState.PandaType.unknown:
+          self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
+    elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
+      self.panda_type = log.PandaState.PandaType.unknown
+
+    # Handle wide road camera state updates
+    if self.sm.updated["wideRoadCameraState"]:
+      cam_state = self.sm["wideRoadCameraState"]
+      self.light_sensor = max(100.0 - cam_state.exposureValPercent, 0.0)
+    elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
+      self.light_sensor = -1
+
+    # Update started state
+    self.started = self.sm["deviceState"].started and self.ignition
+
+    # Update recording audio state
+    self.recording_audio = self.params.get_bool("RecordAudio") and self.started
+
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.always_on_dm = self.params.get_bool("AlwaysOnDM")
+
+  def _update_status(self) -> None:
+    if self.started and self.sm.updated["selfdriveState"]:
+      ss = self.sm["selfdriveState"]
+      state = ss.state
+
+      if state in (log.SelfdriveState.OpenpilotState.preEnabled, log.SelfdriveState.OpenpilotState.overriding):
+        self.status = UIStatus.OVERRIDE
+      else:
+        self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
+
+      self.status = UIStatus(UIStateSP.update_status(ss, self.sm["selfdriveStateSP"], self.sm["onroadEvents"]))
+
+    # Check for engagement state changes
+    if self.engaged != self._engaged_prev:
+      for callback in self._engaged_transition_callbacks:
+        callback()
+      self._engaged_prev = self.engaged
+
+    # Handle onroad/offroad transition
+    if self.started != self._started_prev or self.sm.frame == 1:
+      if self.started:
+        self.status = UIStatus.DISENGAGED
+        self.started_frame = self.sm.frame
+        self.started_time = time.monotonic()
+
+      for callback in self._offroad_transition_callbacks:
+        callback()
+
+      self._started_prev = self.started
+
+  def update_params(self) -> None:
+    # For slower operations
+    # Update longitudinal control state
+    CP_bytes = self.params.get("CarParamsPersistent")
+    if CP_bytes is not None:
+      self.CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+      if self.CP.alphaLongitudinalAvailable:
+        self.has_longitudinal_control = self.params.get_bool("AlphaLongitudinalEnabled")
+      else:
+        self.has_longitudinal_control = self.CP.openpilotLongitudinalControl
+    UIStateSP.update_params(self)
+    self._param_update_time = time.monotonic()
+
+
+class Device(DeviceSP):
+  def __init__(self):
+    DeviceSP.__init__(self)
+    self._ignition = False
+    self._interaction_time: float = -1
+    self._override_interactive_timeout: int | None = None
+    self._interactive_timeout_callbacks: list[Callable] = []
+    self._prev_timed_out = False
+    self._awake: bool = True
+
+    self._offroad_brightness: int = BACKLIGHT_OFFROAD
+    self._last_brightness: int = 0
+    self._brightness_filter = FirstOrderFilter(BACKLIGHT_OFFROAD, 10.00, 1 / gui_app.target_fps)
+    self._brightness_thread: threading.Thread | None = None
+
+  @property
+  def awake(self) -> bool:
+    return self._awake
+
+  def set_override_interactive_timeout(self, timeout: int | None) -> None:
+    # Override the interactive timeout duration temporarily
+    self._override_interactive_timeout = timeout
+    self._reset_interactive_timeout()
+
+  @property
+  def interactive_timeout(self) -> int:
+    if self._override_interactive_timeout is not None:
+      return self._override_interactive_timeout
+
+    if gui_app.sunnypilot_ui() and ui_state.custom_interactive_timeout != 0:
+      return ui_state.custom_interactive_timeout
+
+    ignition_timeout = 10 if gui_app.big_ui() else 5
+    return ignition_timeout if ui_state.ignition else 30
+
+  def _reset_interactive_timeout(self) -> None:
+    self._interaction_time = time.monotonic() + self.interactive_timeout
+
+  def add_interactive_timeout_callback(self, callback: Callable):
+    self._interactive_timeout_callbacks.append(callback)
+
+  def update(self):
+    # do initial reset
+    if self._interaction_time <= 0:
+      self._reset_interactive_timeout()
+
+    self._update_brightness()
+    self._update_wakefulness()
+
+  def set_offroad_brightness(self, brightness: int | None):
+    if brightness is None:
+      brightness = BACKLIGHT_OFFROAD
+    self._offroad_brightness = min(max(brightness, 0), 100)
+
+  def _update_brightness(self):
+    clipped_brightness = self._offroad_brightness
+
+    if ui_state.started and ui_state.light_sensor >= 0:
+      clipped_brightness = ui_state.light_sensor
+
+      # CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
+      if clipped_brightness <= 8:
+        clipped_brightness = clipped_brightness / 903.3
+      else:
+        clipped_brightness = ((clipped_brightness + 16.0) / 116.0) ** 3.0
+
+      min_brightness = 30
+      if gui_app.sunnypilot_ui():
+        min_brightness = DeviceSP.set_min_onroad_brightness(ui_state, min_brightness)
+
+      clipped_brightness = float(np.interp(clipped_brightness, [0, 1], [min_brightness, 100]))
+
+    brightness = round(self._brightness_filter.update(clipped_brightness))
+
+    if gui_app.sunnypilot_ui():
+      brightness = DeviceSP.set_onroad_brightness(ui_state, self._awake, brightness)
+
+    if not self._awake:
+      brightness = 0
+
+    if brightness != self._last_brightness:
+      if self._brightness_thread is None or not self._brightness_thread.is_alive():
+        self._brightness_thread = threading.Thread(target=HARDWARE.set_screen_brightness, args=(brightness,))
+        self._brightness_thread.start()
+        self._last_brightness = brightness
+
+  def _update_wakefulness(self):
+    # Handle interactive timeout
+    ignition_just_turned_off = not ui_state.ignition and self._ignition
+    self._ignition = ui_state.ignition
+
+    if ignition_just_turned_off or any(ev.left_down for ev in gui_app.mouse_events):
+      if gui_app.sunnypilot_ui():
+        DeviceSP.wake_from_dimmed_onroad_brightness(ui_state, gui_app.mouse_events)
+
+      self._reset_interactive_timeout()
+
+    interaction_timeout = time.monotonic() > self._interaction_time
+    if interaction_timeout and not self._prev_timed_out:
+      for callback in self._interactive_timeout_callbacks:
+        callback()
+    self._prev_timed_out = interaction_timeout
+
+    self._set_awake(ui_state.ignition or not interaction_timeout or PC)
+
+  def _set_awake(self, on: bool):
+    if on != self._awake:
+      DeviceSP._set_awake(on, ui_state)
+      self._awake = on
+      cloudlog.debug(f"setting display power {int(on)}")
+      HARDWARE.set_display_power(on)
+      gui_app.set_should_render(on)
+
+
+# Global instance
+ui_state = UIState()
+device = Device()
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 65880bdad9..6ff3667d8a 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -1,50 +1,36 @@
 #!/usr/bin/env python3
-import argparse
-import json
+from itertools import chain
 import os
-
 from openpilot.common.basedir import BASEDIR
+from openpilot.system.ui.lib.multilang import SYSTEM_UI_DIR, UI_DIR, TRANSLATIONS_DIR, multilang
+from openpilot.selfdrive.ui.translations.potools import extract_strings, generate_pot, merge_po, init_po
 
-UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
-TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
-LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
-TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h")
-PLURAL_ONLY = ["main_en"]  # base language, only create entries for strings with plural forms
+LANGUAGES_FILE = os.path.join(str(TRANSLATIONS_DIR), "languages.json")
+POT_FILE = os.path.join(str(TRANSLATIONS_DIR), "app.pot")
 
 
-def generate_translations_include():
-  # offroad alerts
-  # TODO translate events from openpilot.selfdrive/controls/lib/events.py
-  content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n"
-  with open(os.path.join(BASEDIR, "selfdrive/selfdrived/alerts_offroad.json")) as f:
-    for alert in json.load(f).values():
-      content += f'QT_TRANSLATE_NOOP("OffroadAlert", R"({alert["text"]})");\n'
+def update_translations():
+  files = []
+  for root, _, filenames in chain(os.walk(SYSTEM_UI_DIR),
+                                  os.walk(os.path.join(UI_DIR, "widgets")),
+                                  os.walk(os.path.join(UI_DIR, "layouts")),
+                                  os.walk(os.path.join(UI_DIR, "onroad"))):
+    for filename in filenames:
+      if filename.endswith(".py"):
+        files.append(os.path.relpath(os.path.join(root, filename), BASEDIR))
 
-  with open(TRANSLATIONS_INCLUDE_FILE, "w") as f:
-    f.write(content)
+  # Extract translatable strings and generate .pot template
+  entries = extract_strings(files, BASEDIR)
+  generate_pot(entries, POT_FILE)
 
-
-def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR):
-  if translation_files is None:
-    with open(LANGUAGES_FILE) as f:
-      translation_files = json.load(f).values()
-
-  for file in translation_files:
-    tr_file = os.path.join(translations_dir, f"{file}.ts")
-    args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}"
-    if vanish:
-      args += " -no-obsolete"
-    if file in PLURAL_ONLY:
-      args += " -pluralonly"
-    ret = os.system(args)
-    assert ret == 0
+  # Generate/update translation files for each language
+  for name in multilang.languages.values():
+    po_file = os.path.join(TRANSLATIONS_DIR, f"app_{name}.po")
+    if os.path.exists(po_file):
+      merge_po(po_file, POT_FILE)
+    else:
+      init_po(POT_FILE, po_file, name)
 
 
 if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="Update translation files for UI",
-                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
-  args = parser.parse_args()
-
-  generate_translations_include()
-  update_translations(args.vanish)
+  update_translations()
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
deleted file mode 100644
index 258e2a7bd6..0000000000
--- a/selfdrive/ui/watch3.cc
+++ /dev/null
@@ -1,33 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-  layout->setMargin(0);
-  layout->setSpacing(0);
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
-  }
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
-  }
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/watch3.py b/selfdrive/ui/watch3.py
new file mode 100755
index 0000000000..bb64cdc4d5
--- /dev/null
+++ b/selfdrive/ui/watch3.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import pyray as rl
+
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+    driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+    wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
diff --git a/selfdrive/ui/widgets/__init__.py b/selfdrive/ui/widgets/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py
new file mode 100644
index 0000000000..faa3bf877f
--- /dev/null
+++ b/selfdrive/ui/widgets/exp_mode_button.py
@@ -0,0 +1,64 @@
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget
+
+
+class ExperimentalModeButton(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self.img_width = 80
+    self.horizontal_padding = 25
+    self.button_height = 125
+
+    self.params = Params()
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+
+    self.chill_pixmap = gui_app.texture("icons/couch.png", self.img_width, self.img_width)
+    self.experimental_pixmap = gui_app.texture("icons/experimental_grey.png", self.img_width, self.img_width)
+
+  def show_event(self):
+    self.experimental_mode = self.params.get_bool("ExperimentalMode")
+
+  def _get_gradient_colors(self):
+    alpha = 0xCC if self.is_pressed else 0xFF
+
+    if self.experimental_mode:
+      return rl.Color(255, 155, 63, alpha), rl.Color(219, 56, 34, alpha)
+    else:
+      return rl.Color(20, 255, 171, alpha), rl.Color(35, 149, 255, alpha)
+
+  def _draw_gradient_background(self, rect):
+    start_color, end_color = self._get_gradient_colors()
+    rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), int(rect.width), int(rect.height),
+                                 start_color, end_color)
+
+  def _render(self, rect):
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    self._draw_gradient_background(rect)
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 0.19, 10, 5, rl.BLACK)
+    rl.end_scissor_mode()
+
+    # Draw vertical separator line
+    line_x = rect.x + rect.width - self.img_width - (2 * self.horizontal_padding)
+    separator_color = rl.Color(0, 0, 0, 77)  # 0x4d = 77
+    rl.draw_line_ex(rl.Vector2(line_x, rect.y), rl.Vector2(line_x, rect.y + rect.height), 3, separator_color)
+
+    # Draw text label (left aligned)
+    text = tr("EXPERIMENTAL MODE ON") if self.experimental_mode else tr("CHILL MODE ON")
+    text_x = rect.x + self.horizontal_padding
+    text_y = rect.y + rect.height / 2 - 45 * FONT_SCALE // 2  # Center vertically
+
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
+
+    # Draw icon (right aligned)
+    icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
+    icon_y = rect.y + (rect.height - self.img_width) / 2
+    icon_rect = rl.Rectangle(icon_x, icon_y, self.img_width, self.img_width)
+
+    # Draw current mode icon
+    current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
+    source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
new file mode 100644
index 0000000000..a87727e27f
--- /dev/null
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -0,0 +1,344 @@
+import pyray as rl
+from enum import IntEnum
+from abc import ABC, abstractmethod
+from collections.abc import Callable
+from dataclasses import dataclass
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.html_render import HtmlRenderer
+from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
+
+
+class AlertColors:
+  HIGH_SEVERITY = rl.Color(226, 44, 44, 255)
+  LOW_SEVERITY = rl.Color(41, 41, 41, 255)
+  BACKGROUND = rl.Color(57, 57, 57, 255)
+  BUTTON = rl.WHITE
+  BUTTON_PRESSED = rl.Color(200, 200, 200, 255)
+  BUTTON_TEXT = rl.BLACK
+  SNOOZE_BG = rl.Color(79, 79, 79, 255)
+  SNOOZE_BG_PRESSED = rl.Color(100, 100, 100, 255)
+  TEXT = rl.WHITE
+
+
+class AlertConstants:
+  MIN_BUTTON_WIDTH = 400
+  BUTTON_HEIGHT = 125
+  MARGIN = 50
+  SPACING = 30
+  FONT_SIZE = 48
+  BORDER_RADIUS = 30 * 2  # matches Qt's 30px
+  ALERT_HEIGHT = 120
+  ALERT_SPACING = 10
+  ALERT_INSET = 60
+
+
+@dataclass
+class AlertData:
+  key: str
+  text: str
+  severity: int
+  visible: bool = False
+
+
+class ButtonStyle(IntEnum):
+  LIGHT = 0
+  DARK = 1
+
+
+class ActionButton(Widget):
+  def __init__(self, text: str | Callable[[], str], style: ButtonStyle = ButtonStyle.LIGHT,
+               min_width: int = AlertConstants.MIN_BUTTON_WIDTH):
+    super().__init__()
+    self._text = text
+    self._style = style
+    self._min_width = min_width
+    self._font = gui_app.font(FontWeight.MEDIUM)
+
+  @property
+  def text(self) -> str:
+    return self._text if isinstance(self._text, str) else self._text()
+
+  def _render(self, _):
+    text_size = measure_text_cached(gui_app.font(FontWeight.MEDIUM), self.text, AlertConstants.FONT_SIZE)
+    self._rect.width = max(text_size.x + 60 * 2, self._min_width)
+    self._rect.height = AlertConstants.BUTTON_HEIGHT
+
+    roundness = AlertConstants.BORDER_RADIUS / self._rect.height
+    bg_color = AlertColors.BUTTON if self._style == ButtonStyle.LIGHT else AlertColors.SNOOZE_BG
+    if self.is_pressed:
+      bg_color = AlertColors.BUTTON_PRESSED if self._style == ButtonStyle.LIGHT else AlertColors.SNOOZE_BG_PRESSED
+
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, bg_color)
+
+    # center text
+    color = rl.WHITE if self._style == ButtonStyle.DARK else rl.BLACK
+    text_x = int(self._rect.x + (self._rect.width - text_size.x) // 2)
+    text_y = int(self._rect.y + (self._rect.height - text_size.y) // 2)
+    rl.draw_text_ex(self._font, self.text, rl.Vector2(text_x, text_y), AlertConstants.FONT_SIZE, 0, color)
+
+
+class AbstractAlert(Widget, ABC):
+  def __init__(self, has_reboot_btn: bool = False):
+    super().__init__()
+    self.params = Params()
+    self.has_reboot_btn = has_reboot_btn
+    self.dismiss_callback: Callable | None = None
+
+    def snooze_callback():
+      self.params.put_bool("SnoozeUpdate", True)
+      if self.dismiss_callback:
+        self.dismiss_callback()
+
+    def excessive_actuation_callback():
+      self.params.remove("Offroad_ExcessiveActuation")
+      if self.dismiss_callback:
+        self.dismiss_callback()
+
+    self.dismiss_btn = ActionButton(lambda: tr("Close"))
+
+    self.snooze_btn = ActionButton(lambda: tr("Snooze Update"), style=ButtonStyle.DARK)
+    self.snooze_btn.set_click_callback(snooze_callback)
+
+    self.excessive_actuation_btn = ActionButton(lambda: tr("Acknowledge Excessive Actuation"), style=ButtonStyle.DARK, min_width=800)
+    self.excessive_actuation_btn.set_click_callback(excessive_actuation_callback)
+
+    self.reboot_btn = ActionButton(lambda: tr("Reboot and Update"), min_width=600)
+    self.reboot_btn.set_click_callback(lambda: HARDWARE.reboot())
+
+    # TODO: just use a Scroller?
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.scroll_panel_rect = rl.Rectangle(0, 0, 0, 0)
+    self.scroll_panel = GuiScrollPanel()
+
+  def show_event(self):
+    self.scroll_panel.set_offset(0)
+
+  def set_dismiss_callback(self, callback: Callable):
+    self.dismiss_callback = callback
+    self.dismiss_btn.set_click_callback(self.dismiss_callback)
+
+  @abstractmethod
+  def refresh(self) -> bool:
+    pass
+
+  @abstractmethod
+  def get_content_height(self) -> float:
+    pass
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.height, 10, AlertColors.BACKGROUND)
+
+    footer_height = AlertConstants.BUTTON_HEIGHT + AlertConstants.SPACING
+    content_height = rect.height - 2 * AlertConstants.MARGIN - footer_height
+
+    self.content_rect = rl.Rectangle(
+      rect.x + AlertConstants.MARGIN,
+      rect.y + AlertConstants.MARGIN,
+      rect.width - 2 * AlertConstants.MARGIN,
+      content_height,
+    )
+    self.scroll_panel_rect = rl.Rectangle(
+      self.content_rect.x, self.content_rect.y, self.content_rect.width, self.content_rect.height
+    )
+
+    self._render_scrollable_content()
+    self._render_footer(rect)
+
+  def _render_scrollable_content(self):
+    content_total_height = self.get_content_height()
+    content_bounds = rl.Rectangle(0, 0, self.scroll_panel_rect.width, content_total_height)
+    scroll_offset = self.scroll_panel.update(self.scroll_panel_rect, content_bounds)
+
+    rl.begin_scissor_mode(
+      int(self.scroll_panel_rect.x),
+      int(self.scroll_panel_rect.y),
+      int(self.scroll_panel_rect.width),
+      int(self.scroll_panel_rect.height),
+    )
+
+    content_rect_with_scroll = rl.Rectangle(
+      self.scroll_panel_rect.x,
+      self.scroll_panel_rect.y + scroll_offset,
+      self.scroll_panel_rect.width,
+      content_total_height,
+    )
+
+    self._render_content(content_rect_with_scroll)
+    rl.end_scissor_mode()
+
+  @abstractmethod
+  def _render_content(self, content_rect: rl.Rectangle):
+    pass
+
+  def _render_footer(self, rect: rl.Rectangle):
+    footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_HEIGHT
+
+    dismiss_x = rect.x + AlertConstants.MARGIN
+    self.dismiss_btn.set_position(dismiss_x, footer_y)
+    self.dismiss_btn.render()
+
+    if self.has_reboot_btn:
+      reboot_x = rect.x + rect.width - AlertConstants.MARGIN - self.reboot_btn.rect.width
+      self.reboot_btn.set_position(reboot_x, footer_y)
+      self.reboot_btn.render()
+
+    elif self.excessive_actuation_btn.is_visible:
+      actuation_x = rect.x + rect.width - AlertConstants.MARGIN - self.excessive_actuation_btn.rect.width
+      self.excessive_actuation_btn.set_position(actuation_x, footer_y)
+      self.excessive_actuation_btn.render()
+
+    elif self.snooze_btn.is_visible:
+      snooze_x = rect.x + rect.width - AlertConstants.MARGIN - self.snooze_btn.rect.width
+      self.snooze_btn.set_position(snooze_x, footer_y)
+      self.snooze_btn.render()
+
+
+class OffroadAlert(AbstractAlert):
+  def __init__(self):
+    super().__init__(has_reboot_btn=False)
+    self.sorted_alerts: list[AlertData] = []
+
+  def refresh(self):
+    if not self.sorted_alerts:
+      self._build_alerts()
+
+    active_count = 0
+    connectivity_needed = False
+    excessive_actuation = False
+
+    for alert_data in self.sorted_alerts:
+      text = ""
+      alert_json = self.params.get(alert_data.key)
+
+      if alert_json:
+        text = alert_json.get("text", "").replace("%1", alert_json.get("extra", ""))
+
+      alert_data.text = text
+      alert_data.visible = bool(text)
+
+      if alert_data.visible:
+        active_count += 1
+
+      if alert_data.key == "Offroad_ConnectivityNeeded" and alert_data.visible:
+        connectivity_needed = True
+
+      if alert_data.key == "Offroad_ExcessiveActuation" and alert_data.visible:
+        excessive_actuation = True
+
+    self.excessive_actuation_btn.set_visible(excessive_actuation)
+    self.snooze_btn.set_visible(connectivity_needed and not excessive_actuation)
+    return active_count
+
+  def get_content_height(self) -> float:
+    if not self.sorted_alerts:
+      return 0
+
+    total_height = 20
+    font = gui_app.font(FontWeight.NORMAL)
+
+    for alert_data in self.sorted_alerts:
+      if not alert_data.visible:
+        continue
+
+      text_width = int(self.content_rect.width - (AlertConstants.ALERT_INSET * 2))
+      wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width)
+      line_count = len(wrapped_lines)
+      text_height = line_count * (AlertConstants.FONT_SIZE * FONT_SCALE)
+      alert_item_height = max(text_height + (AlertConstants.ALERT_INSET * 2), AlertConstants.ALERT_HEIGHT)
+      total_height += round(alert_item_height + AlertConstants.ALERT_SPACING)
+
+    if total_height > 20:
+      total_height = total_height - AlertConstants.ALERT_SPACING + 20
+
+    return total_height
+
+  def _build_alerts(self):
+    self.sorted_alerts = []
+    for key, config in sorted(OFFROAD_ALERTS.items(), key=lambda x: x[1].get("severity", 0), reverse=True):
+      severity = config.get("severity", 0)
+      alert_data = AlertData(key=key, text="", severity=severity)
+      self.sorted_alerts.append(alert_data)
+
+  def _render_content(self, content_rect: rl.Rectangle):
+    y_offset = AlertConstants.ALERT_SPACING
+    font = gui_app.font(FontWeight.NORMAL)
+
+    for alert_data in self.sorted_alerts:
+      if not alert_data.visible:
+        continue
+
+      bg_color = AlertColors.HIGH_SEVERITY if alert_data.severity > 0 else AlertColors.LOW_SEVERITY
+      text_width = int(content_rect.width - (AlertConstants.ALERT_INSET * 2))
+      wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width)
+      line_count = len(wrapped_lines)
+      text_height = line_count * (AlertConstants.FONT_SIZE * FONT_SCALE)
+      alert_item_height = max(text_height + (AlertConstants.ALERT_INSET * 2), AlertConstants.ALERT_HEIGHT)
+
+      alert_rect = rl.Rectangle(
+        content_rect.x + 10,
+        content_rect.y + y_offset,
+        content_rect.width - 30,
+        alert_item_height,
+      )
+
+      roundness = AlertConstants.BORDER_RADIUS / min(alert_rect.height, alert_rect.width)
+      rl.draw_rectangle_rounded(alert_rect, roundness, 10, bg_color)
+
+      text_x = alert_rect.x + AlertConstants.ALERT_INSET
+      text_y = alert_rect.y + AlertConstants.ALERT_INSET
+
+      for i, line in enumerate(wrapped_lines):
+        rl.draw_text_ex(
+          font,
+          line,
+          rl.Vector2(text_x, text_y + i * AlertConstants.FONT_SIZE * FONT_SCALE),
+          AlertConstants.FONT_SIZE,
+          0,
+          AlertColors.TEXT,
+        )
+
+      y_offset += round(alert_item_height + AlertConstants.ALERT_SPACING)
+
+
+class UpdateAlert(AbstractAlert):
+  def __init__(self):
+    super().__init__(has_reboot_btn=True)
+    self.release_notes = ""
+    self._wrapped_release_notes = ""
+    self._cached_content_height: float = 0.0
+    self._html_renderer = HtmlRenderer(text="")
+
+  def refresh(self) -> bool:
+    update_available: bool = self.params.get_bool("UpdateAvailable")
+    no_release_notes = "<h2>" + tr("No release notes available.") + "</h2>"
+
+    if update_available:
+      self.release_notes = (self.params.get("UpdaterNewReleaseNotes") or b"").decode("utf8").strip()
+      self._html_renderer.parse_html_content(self.release_notes or no_release_notes)
+      self._cached_content_height = 0
+    else:
+      self._html_renderer.parse_html_content(no_release_notes)
+
+    return update_available
+
+  def get_content_height(self) -> float:
+    if not self.release_notes:
+      return 100
+
+    if self._cached_content_height == 0:
+      self._wrapped_release_notes = self.release_notes
+      size = measure_text_cached(gui_app.font(FontWeight.NORMAL), self._wrapped_release_notes, AlertConstants.FONT_SIZE)
+      self._cached_content_height = max(size.y + 60, 100)
+
+    return self._cached_content_height
+
+  def _render_content(self, content_rect: rl.Rectangle):
+    notes_rect = rl.Rectangle(content_rect.x + 30, content_rect.y + 30, content_rect.width - 60, content_rect.height - 60)
+    self._html_renderer.render(notes_rect)
diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/selfdrive/ui/widgets/pairing_dialog.py
new file mode 100644
index 0000000000..1ff550e4b6
--- /dev/null
+++ b/selfdrive/ui/widgets/pairing_dialog.py
@@ -0,0 +1,170 @@
+import pyray as rl
+import qrcode
+import numpy as np
+import time
+
+from openpilot.common.api import Api
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets.button import IconButton
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+class PairingDialog(Widget):
+  """Dialog for device pairing with QR code."""
+
+  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
+
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.qr_texture: rl.Texture | None = None
+    self.last_qr_generation = float('-inf')
+    self._close_btn = IconButton(gui_app.texture("icons/close.png", 80, 80))
+    self._close_btn.set_click_callback(gui_app.pop_widget)
+
+  def _get_pairing_url(self) -> str:
+    try:
+      dongle_id = self.params.get("DongleId") or ""
+      token = Api(dongle_id).get_token({'pair': True})
+    except Exception:
+      cloudlog.exception("Failed to get pairing token")
+      token = ""
+    return f"https://connect.comma.ai/?pair={token}"
+
+  def _generate_qr_code(self) -> None:
+    try:
+      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4)
+      qr.add_data(self._get_pairing_url())
+      qr.make(fit=True)
+
+      pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA')
+      img_array = np.array(pil_img, dtype=np.uint8)
+
+      if self.qr_texture and self.qr_texture.id != 0:
+        rl.unload_texture(self.qr_texture)
+
+      rl_image = rl.Image()
+      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+      rl_image.width = pil_img.width
+      rl_image.height = pil_img.height
+      rl_image.mipmaps = 1
+      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+      self.qr_texture = rl.load_texture_from_image(rl_image)
+    except Exception:
+      cloudlog.exception("QR code generation failed")
+      self.qr_texture = None
+
+  def _check_qr_refresh(self) -> None:
+    current_time = time.monotonic()
+    if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL:
+      self._generate_qr_code()
+      self.last_qr_generation = current_time
+
+  def _update_state(self):
+    if ui_state.prime_state.is_paired():
+      gui_app.pop_widget()
+
+  def _render(self, rect: rl.Rectangle) -> int:
+    rl.clear_background(rl.Color(224, 224, 224, 255))
+
+    self._check_qr_refresh()
+
+    margin = 70
+    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin)
+    y = content_rect.y
+
+    # Close button
+    close_size = 80
+    pad = 20
+    close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2)
+    self._close_btn.render(close_rect)
+
+    y += close_size + 40
+
+    # Title
+    title = tr("Pair your device to your comma account")
+    title_font = gui_app.font(FontWeight.NORMAL)
+    left_width = int(content_rect.width * 0.5 - 15)
+
+    title_wrapped = wrap_text(title_font, title, 75, left_width)
+    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
+    y += len(title_wrapped) * 75 + 60
+
+    # Two columns: instructions and QR code
+    remaining_height = content_rect.height - (y - content_rect.y)
+    right_width = content_rect.width // 2 - 20
+
+    # Instructions
+    self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height))
+
+    # QR code
+    qr_size = min(right_width, content_rect.height) - 40
+    qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2
+    qr_y = content_rect.y
+    self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size))
+
+    return -1
+
+  def _render_instructions(self, rect: rl.Rectangle) -> None:
+    instructions = [
+      tr("Go to https://connect.comma.ai on your phone"),
+      tr("Click \"add new device\" and scan the QR code on the right"),
+      tr("Bookmark connect.comma.ai to your home screen to use it like an app"),
+    ]
+
+    font = gui_app.font(FontWeight.BOLD)
+    y = rect.y
+
+    for i, text in enumerate(instructions):
+      circle_radius = 25
+      circle_x = rect.x + circle_radius + 15
+      text_x = rect.x + circle_radius * 2 + 40
+      text_width = rect.width - (circle_radius * 2 + 40)
+
+      wrapped = wrap_text(font, text, 47, int(text_width))
+      text_height = len(wrapped) * 47
+      circle_y = y + text_height // 2
+
+      # Circle and number
+      rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255))
+      number = str(i + 1)
+      number_size = measure_text_cached(font, number, 30)
+      rl.draw_text_ex(font, number, (int(circle_x - number_size.x // 2), int(circle_y - number_size.y // 2)), 30, 0, rl.WHITE)
+
+      # Text
+      rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK)
+      y += text_height + 50
+
+  def _render_qr_code(self, rect: rl.Rectangle) -> None:
+    if not self.qr_texture:
+      rl.draw_rectangle_rounded(rect, 0.1, 20, rl.Color(240, 240, 240, 255))
+      error_font = gui_app.font(FontWeight.BOLD)
+      rl.draw_text_ex(
+        error_font, tr("QR Code Error"), rl.Vector2(rect.x + 20, rect.y + rect.height // 2 - 15), 30, 0.0, rl.RED
+      )
+      return
+
+    source = rl.Rectangle(0, 0, self.qr_texture.width, self.qr_texture.height)
+    rl.draw_texture_pro(self.qr_texture, source, rect, rl.Vector2(0, 0), 0, rl.WHITE)
+
+  def __del__(self):
+    if self.qr_texture and self.qr_texture.id != 0:
+      rl.unload_texture(self.qr_texture)
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = PairingDialog()
+  gui_app.push_widget(pairing)
+  try:
+    for _ in gui_app.render():
+      pass
+  finally:
+    del pairing
diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py
new file mode 100644
index 0000000000..e98e4c1e1c
--- /dev/null
+++ b/selfdrive/ui/widgets/prime.py
@@ -0,0 +1,63 @@
+import pyray as rl
+
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import gui_label
+
+
+class PrimeWidget(Widget):
+  """Widget for displaying comma prime subscription status"""
+
+  PRIME_BG_COLOR = rl.Color(51, 51, 51, 255)
+
+  def _render(self, rect):
+    if ui_state.prime_state.is_prime():
+      self._render_for_prime_user(rect)
+    else:
+      self._render_for_non_prime_users(rect)
+
+  def _render_for_non_prime_users(self, rect: rl.Rectangle):
+    """Renders the advertisement for non-Prime users."""
+
+    rl.draw_rectangle_rounded(rect, 0.025, 10, self.PRIME_BG_COLOR)
+
+    # Layout
+    x, y = rect.x + 80, rect.y + 90
+    w = rect.width - 160
+
+    # Title
+    gui_label(rl.Rectangle(x, y, w, 90), tr("Upgrade Now"), 75, font_weight=FontWeight.BOLD)
+
+    # Description with wrapping
+    desc_y = y + 140
+    font = gui_app.font(FontWeight.NORMAL)
+    wrapped_text = "\n".join(wrap_text(font, tr("Become a comma prime member at connect.comma.ai"), 56, int(w)))
+    text_size = measure_text_cached(font, wrapped_text, 56)
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
+
+    # Features section
+    features_y = desc_y + text_size.y + 50
+    gui_label(rl.Rectangle(x, features_y, w, 50), tr("PRIME FEATURES:"), 41, font_weight=FontWeight.BOLD)
+
+    # Feature list
+    features = [tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Remote snapshots")]
+    for i, feature in enumerate(features):
+      item_y = features_y + 80 + i * 65
+      gui_label(rl.Rectangle(x, item_y, 100, 60), "✓", 50, color=rl.Color(70, 91, 234, 255))
+      gui_label(rl.Rectangle(x + 60, item_y, w - 60, 60), feature, 50)
+
+  def _render_for_prime_user(self, rect: rl.Rectangle):
+    """Renders the prime user widget with subscription status."""
+
+    rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 230), 0.1, 10, self.PRIME_BG_COLOR)
+
+    x = rect.x + 56
+    y = rect.y + 40
+
+    font = gui_app.font(FontWeight.BOLD)
+    rl.draw_text_ex(font, tr("✓ SUBSCRIBED"), rl.Vector2(x, y), 41, 0, rl.Color(134, 255, 78, 255))
+    rl.draw_text_ex(font, tr("comma prime"), rl.Vector2(x, y + 61), 75, 0, rl.WHITE)
diff --git a/selfdrive/ui/widgets/setup.py b/selfdrive/ui/widgets/setup.py
new file mode 100644
index 0000000000..c9452fc535
--- /dev/null
+++ b/selfdrive/ui/widgets/setup.py
@@ -0,0 +1,95 @@
+import pyray as rl
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import Label
+
+
+class SetupWidget(Widget):
+  def __init__(self):
+    super().__init__()
+    self._open_settings_callback = None
+    self._pair_device_btn = Button(lambda: tr("Pair device"), self._show_pairing, button_style=ButtonStyle.PRIMARY)
+    self._open_settings_btn = Button(lambda: tr("Open"), lambda: self._open_settings_callback() if self._open_settings_callback else None,
+                                     button_style=ButtonStyle.PRIMARY)
+    self._firehose_label = Label(lambda: tr("🔥 Firehose Mode 🔥"), font_weight=FontWeight.MEDIUM, font_size=64)
+
+  def set_open_settings_callback(self, callback):
+    self._open_settings_callback = callback
+
+  def _render(self, rect: rl.Rectangle):
+    if not ui_state.prime_state.is_paired():
+      self._render_registration(rect)
+    else:
+      self._render_firehose_prompt(rect)
+
+  def _render_registration(self, rect: rl.Rectangle):
+    """Render registration prompt."""
+
+    rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, rect.height), 0.03, 20, rl.Color(51, 51, 51, 255))
+
+    x = rect.x + 64
+    y = rect.y + 48
+    w = rect.width - 128
+
+    # Title
+    font = gui_app.font(FontWeight.BOLD)
+    rl.draw_text_ex(font, tr("Finish Setup"), rl.Vector2(x, y), 75, 0, rl.WHITE)
+    y += 113  # 75 + 38 spacing
+
+    # Description
+    desc = tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")
+    light_font = gui_app.font(FontWeight.NORMAL)
+    wrapped = wrap_text(light_font, desc, 50, int(w))
+    for line in wrapped:
+      rl.draw_text_ex(light_font, line, rl.Vector2(x, y), 50, 0, rl.WHITE)
+      y += 50 * FONT_SCALE
+
+    button_rect = rl.Rectangle(x, y + 30, w, 200)
+    self._pair_device_btn.render(button_rect)
+
+  def _render_firehose_prompt(self, rect: rl.Rectangle):
+    """Render firehose prompt widget."""
+
+    rl.draw_rectangle_rounded(rl.Rectangle(rect.x, rect.y, rect.width, 500), 0.04, 20, rl.Color(51, 51, 51, 255))
+
+    # Content margins (56, 40, 56, 40)
+    x = rect.x + 56
+    y = rect.y + 40
+    w = rect.width - 112
+    spacing = 42
+
+    # Title with fire emojis
+    self._firehose_label.render(rl.Rectangle(rect.x, y, rect.width, 64))
+    y += 64 + spacing
+
+    # Description
+    desc_font = gui_app.font(FontWeight.NORMAL)
+    desc_text = tr("Maximize your training data uploads to improve openpilot's driving models.")
+    wrapped_desc = wrap_text(desc_font, desc_text, 40, int(w))
+
+    for line in wrapped_desc:
+      rl.draw_text_ex(desc_font, line, rl.Vector2(x, y), 40, 0, rl.WHITE)
+      y += 40 * FONT_SCALE
+
+    y += spacing
+
+    # Open button
+    button_height = 48 + 64  # font size + padding
+    button_rect = rl.Rectangle(x, y, w, button_height)
+    self._open_settings_btn.render(button_rect)
+
+  @staticmethod
+  def _show_pairing():
+    if not system_time_valid():
+      dlg = alert_dialog(tr("Please connect to Wi-Fi to complete initial pairing"))
+      gui_app.push_widget(dlg)
+      return
+
+    gui_app.push_widget(PairingDialog())
diff --git a/selfdrive/ui/widgets/ssh_key.py b/selfdrive/ui/widgets/ssh_key.py
new file mode 100644
index 0000000000..b31a9eb3bd
--- /dev/null
+++ b/selfdrive/ui/widgets/ssh_key.py
@@ -0,0 +1,132 @@
+import pyray as rl
+import requests
+import threading
+import copy
+from collections.abc import Callable
+from enum import Enum
+
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.list_view import (
+  ItemAction,
+  ListItem,
+  BUTTON_HEIGHT,
+  BUTTON_BORDER_RADIUS,
+  BUTTON_FONT_SIZE,
+  BUTTON_WIDTH,
+)
+
+VALUE_FONT_SIZE = 48
+
+
+class SshKeyActionState(Enum):
+  LOADING = tr_noop("LOADING")
+  ADD = tr_noop("ADD")
+  REMOVE = tr_noop("REMOVE")
+
+
+class SshKeyAction(ItemAction):
+  HTTP_TIMEOUT = 15  # seconds
+  MAX_WIDTH = 500
+
+  def __init__(self):
+    super().__init__(self.MAX_WIDTH, True)
+
+    self._keyboard = Keyboard(min_text_size=1)
+    self._params = Params()
+    self._error_message: str = ""
+    self._text_font = gui_app.font(FontWeight.NORMAL)
+    self._button = Button("", click_callback=self._handle_button_click, button_style=ButtonStyle.LIST_ACTION,
+                          border_radius=BUTTON_BORDER_RADIUS, font_size=BUTTON_FONT_SIZE)
+
+    self._refresh_state()
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self._button.set_touch_valid_callback(touch_callback)
+
+  def _refresh_state(self):
+    self._username = self._params.get("GithubUsername")
+    self._state = SshKeyActionState.REMOVE if self._params.get("GithubSshKeys") else SshKeyActionState.ADD
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    # Show error dialog if there's an error
+    if self._error_message:
+      message = copy.copy(self._error_message)
+      gui_app.push_widget(alert_dialog(message))
+      self._username = ""
+      self._error_message = ""
+
+    # Draw username if exists
+    if self._username:
+      text_size = measure_text_cached(self._text_font, self._username, VALUE_FONT_SIZE)
+      rl.draw_text_ex(
+        self._text_font,
+        self._username,
+        (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30, rect.y + (rect.height - text_size.y) / 2),
+        VALUE_FONT_SIZE,
+        1.0,
+        rl.Color(170, 170, 170, 255),
+      )
+
+    # Draw button
+    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._button.set_rect(button_rect)
+    self._button.set_text(tr(self._state.value))
+    self._button.set_enabled(self._state != SshKeyActionState.LOADING)
+    self._button.render(button_rect)
+    return False
+
+  def _handle_button_click(self):
+    if self._state == SshKeyActionState.ADD:
+      self._keyboard.reset()
+      self._keyboard.set_title(tr("Enter your GitHub username"))
+      self._keyboard.set_callback(self._on_username_submit)
+      gui_app.push_widget(self._keyboard)
+    elif self._state == SshKeyActionState.REMOVE:
+      self._params.remove("GithubUsername")
+      self._params.remove("GithubSshKeys")
+      self._refresh_state()
+
+  def _on_username_submit(self, result: DialogResult):
+    if result != DialogResult.CONFIRM:
+      return
+
+    username = self._keyboard.text.strip()
+    if not username:
+      return
+
+    self._state = SshKeyActionState.LOADING
+    threading.Thread(target=lambda: self._fetch_ssh_key(username), daemon=True).start()
+
+  def _fetch_ssh_key(self, username: str):
+    try:
+      url = f"https://github.com/{username}.keys"
+      response = requests.get(url, timeout=self.HTTP_TIMEOUT)
+      response.raise_for_status()
+      keys = response.text.strip()
+      if not keys:
+        raise requests.exceptions.HTTPError(tr("No SSH keys found"))
+
+      # Success - save keys
+      self._params.put("GithubUsername", username)
+      self._params.put("GithubSshKeys", keys)
+      self._state = SshKeyActionState.REMOVE
+      self._username = username
+
+    except requests.exceptions.Timeout:
+      self._error_message = tr("Request timed out")
+      self._state = SshKeyActionState.ADD
+    except Exception:
+      self._error_message = tr("No SSH keys found for user '{}'").format(username)
+      self._state = SshKeyActionState.ADD
+
+
+def ssh_key_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
+  return ListItem(title=title, description=description, action_item=SshKeyAction())
diff --git a/sunnypilot/SConscript b/sunnypilot/SConscript
index 3aa302b92b..09ad39ab43 100644
--- a/sunnypilot/SConscript
+++ b/sunnypilot/SConscript
@@ -1,2 +1,3 @@
-SConscript(['modeld/SConscript'])
-SConscript(['modeld_v2/SConscript'])
\ No newline at end of file
+SConscript(['common/transformations/SConscript'])
+SConscript(['modeld_v2/SConscript'])
+SConscript(['selfdrive/locationd/SConscript'])
diff --git a/sunnypilot/__init__.py b/sunnypilot/__init__.py
index e69de29bb2..ccacd0be0a 100644
--- a/sunnypilot/__init__.py
+++ b/sunnypilot/__init__.py
@@ -0,0 +1,39 @@
+"""
+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.
+"""
+
+from enum import IntEnum
+import hashlib
+
+PARAMS_UPDATE_PERIOD = 3  # seconds
+
+
+def get_file_hash(path: str) -> str:
+  sha256_hash = hashlib.sha256()
+  with open(path, "rb") as f:
+    for byte_block in iter(lambda: f.read(4096), b""):
+      sha256_hash.update(byte_block)
+  return sha256_hash.hexdigest()
+
+
+class IntEnumBase(IntEnum):
+  @classmethod
+  def min(cls):
+    return min(cls)
+
+  @classmethod
+  def max(cls):
+    return max(cls)
+
+
+def get_sanitize_int_param(key: str, min_val: int, max_val: int, params) -> int:
+  val: int = params.get(key, return_default=True)
+  clipped_val = max(min_val, min(max_val, val))
+
+  if clipped_val != val:
+    params.put(key, clipped_val)
+
+  return clipped_val
diff --git a/sunnypilot/common/transformations/SConscript b/sunnypilot/common/transformations/SConscript
new file mode 100644
index 0000000000..ffeaf18012
--- /dev/null
+++ b/sunnypilot/common/transformations/SConscript
@@ -0,0 +1,4 @@
+Import('env')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+Export('transformations')
diff --git a/common/transformations/coordinates.cc b/sunnypilot/common/transformations/coordinates.cc
similarity index 97%
rename from common/transformations/coordinates.cc
rename to sunnypilot/common/transformations/coordinates.cc
index f3f10e547f..776a5529d2 100644
--- a/common/transformations/coordinates.cc
+++ b/sunnypilot/common/transformations/coordinates.cc
@@ -1,6 +1,6 @@
 #define _USE_MATH_DEFINES
 
-#include "common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/coordinates.hpp"
 
 #include <iostream>
 #include <cmath>
diff --git a/common/transformations/coordinates.hpp b/sunnypilot/common/transformations/coordinates.hpp
similarity index 100%
rename from common/transformations/coordinates.hpp
rename to sunnypilot/common/transformations/coordinates.hpp
diff --git a/common/transformations/orientation.cc b/sunnypilot/common/transformations/orientation.cc
similarity index 97%
rename from common/transformations/orientation.cc
rename to sunnypilot/common/transformations/orientation.cc
index fb5e47a86a..42c92b68b7 100644
--- a/common/transformations/orientation.cc
+++ b/sunnypilot/common/transformations/orientation.cc
@@ -4,8 +4,8 @@
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "common/transformations/orientation.hpp"
-#include "common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/orientation.hpp"
+#include "sunnypilot/common/transformations/coordinates.hpp"
 
 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
   if (quat.w() > 0){
@@ -141,4 +141,3 @@ Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d
 
   return {phi, theta, psi};
 }
-
diff --git a/common/transformations/orientation.hpp b/sunnypilot/common/transformations/orientation.hpp
similarity index 92%
rename from common/transformations/orientation.hpp
rename to sunnypilot/common/transformations/orientation.hpp
index 0874a0a814..045340901c 100644
--- a/common/transformations/orientation.hpp
+++ b/sunnypilot/common/transformations/orientation.hpp
@@ -1,6 +1,6 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
-#include "common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/coordinates.hpp"
 
 
 Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
diff --git a/sunnypilot/common/version.h b/sunnypilot/common/version.h
new file mode 100644
index 0000000000..1c7fcd2e64
--- /dev/null
+++ b/sunnypilot/common/version.h
@@ -0,0 +1 @@
+#define SUNNYPILOT_VERSION "2026.001.000"
diff --git a/sunnypilot/livedelay/__init__.py b/sunnypilot/livedelay/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/livedelay/helpers.py b/sunnypilot/livedelay/helpers.py
new file mode 100644
index 0000000000..0f7437ceea
--- /dev/null
+++ b/sunnypilot/livedelay/helpers.py
@@ -0,0 +1,14 @@
+"""
+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.
+"""
+from openpilot.common.params import Params
+
+
+def get_lat_delay(params: Params, stock_lat_delay: float) -> float:
+  if params.get_bool("LagdToggle"):
+    return float(params.get("LagdValueCache", return_default=True))
+
+  return stock_lat_delay
diff --git a/sunnypilot/livedelay/lagd_toggle.py b/sunnypilot/livedelay/lagd_toggle.py
new file mode 100644
index 0000000000..8495dcee0a
--- /dev/null
+++ b/sunnypilot/livedelay/lagd_toggle.py
@@ -0,0 +1,38 @@
+"""
+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.
+"""
+from cereal import log
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+
+class LagdToggle:
+  def __init__(self, CP: structs.CarParams):
+    self.CP = CP
+    self.params = Params()
+    self.lag = 0.0
+
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def read_params(self) -> None:
+    self.lagd_toggle = self.params.get_bool("LagdToggle")
+    self.software_delay = self.params.get("LagdToggleDelay", return_default=True)
+
+  def update(self, lag_msg: log.LiveDelayData) -> None:
+    self.read_params()
+
+    if not self.lagd_toggle:
+      steer_actuator_delay = self.CP.steerActuatorDelay
+      delay = self.software_delay
+      self.lag = (steer_actuator_delay + delay)
+      self.params.put_nonblocking("LagdValueCache", self.lag)
+      return
+
+    lateral_delay = lag_msg.liveDelay.lateralDelay
+    self.lag = lateral_delay
+    self.params.put_nonblocking("LagdValueCache", self.lag)
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 831a75699e..f9c4057bab 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -9,17 +9,45 @@ from openpilot.common.params import Params
 from opendbc.car import structs
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
+from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 
 
-def set_alternative_experience(CP: structs.CarParams, params: Params):
+MADS_NO_ACC_MAIN_BUTTON = ("rivian", "tesla")
+
+
+class MadsSteeringModeOnBrake:
+  REMAIN_ACTIVE = 0
+  PAUSE = 1
+  DISENGAGE = 2
+
+
+def get_mads_limited_brands(CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> bool:
+  if CP.brand == 'rivian':
+    return True
+  if CP.brand == 'tesla':
+    return not CP_SP.flags & TeslaFlagsSP.HAS_VEHICLE_BUS
+
+  return False
+
+
+def read_steering_mode_param(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
+  if get_mads_limited_brands(CP, CP_SP):
+    return MadsSteeringModeOnBrake.DISENGAGE
+
+  return params.get("MadsSteeringMode", return_default=True)
+
+
+def set_alternative_experience(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
   enabled = params.get_bool("Mads")
-  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
+  steering_mode = read_steering_mode_param(CP, CP_SP, params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
@@ -31,12 +59,15 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
       CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
       CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
-  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-  if CP.brand == "tesla":
-    params.remove("Mads")
+  # MADS Partial Support
+  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
+  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
+  # TODO-SP: To enable MADS full support for Rivian and most Tesla, identify consistent signals for MADS toggling
+  mads_partial_support = get_mads_limited_brands(CP, CP_SP)
+  if mads_partial_support:
+    params.put("MadsSteeringMode", 2)
+    params.put_bool("MadsUnifiedEngagementMode", True)
 
-  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-  if CP.brand == "rivian":
-    params.remove("Mads")
+  # no ACC MAIN button for these brands
+  if CP.brand in MADS_NO_ACC_MAIN_BUTTON:
+    params.remove("MadsMainCruiseAllowed")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 2d7d41b4bc..7eab55e6ea 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -9,6 +9,8 @@ from cereal import log, custom
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,75 +26,109 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
+    self.CP = selfdrive.CP
+    self.CP_SP = selfdrive.CP_SP
     self.params = selfdrive.params
 
     self.enabled = False
     self.active = False
     self.available = False
     self.allow_always = False
+    self.no_main_cruise = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
     self.events_sp = self.selfdrive.events_sp
-
-    if self.selfdrive.CP.brand == "hyundai":
-      if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
+    self.disengage_on_accelerator = Params().get_bool("DisengageOnAccelerator")
+    if self.CP.brand == "hyundai":
+      if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
+    if self.CP.brand == "tesla":
+      self.allow_always = True
+
+    if self.CP.brand in MADS_NO_ACC_MAIN_BUTTON:
+      self.no_main_cruise = True
 
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.CP_SP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
+  def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
+    # ignore `pedalPressed` events caused by gas presses
+    if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
+      return True
+
+    return False
+
+  def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
+      return False
+
+    if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+      return False
+
+    return True
+
+  def block_unified_engagement_mode(self) -> bool:
+    # UEM disabled
+    if not self.unified_engagement_mode:
+      return True
+
+    if self.enabled:
+      return True
+
+    if self.selfdrive.enabled and self.selfdrive.enabled_prev:
+      return True
+
+    return False
+
+  def get_wrong_car_mode(self, alert_only: bool) -> None:
+    if alert_only:
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
+
+  def transition_paused_state(self):
+    if self.state_machine.state != State.paused:
+      self.events_sp.add(EventNameSP.silentLkasDisable)
+
+  def replace_event(self, old_event: int, new_event: int):
+    self.events.remove(old_event)
+    self.events_sp.add(new_event)
+
   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:
-        self.events.remove(EventName.pcmEnable)
-        self.events.remove(EventName.buttonEnable)
-
-    def transition_paused_state():
-      if self.state_machine.state != State.paused:
-        self.events_sp.add(EventNameSP.silentLkasDisable)
-
-    def replace_event(old_event: int, new_event: int):
-      self.events.remove(old_event)
-      self.events_sp.add(new_event)
-
     if not self.selfdrive.enabled and self.enabled:
-      if self.events.has(EventName.doorOpen):
-        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
-        transition_paused_state()
-      if self.events.has(EventName.seatbeltNotLatched):
-        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
-        transition_paused_state()
-      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
-        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
-        transition_paused_state()
+      if CS.standstill:
+        if self.events.has(EventName.doorOpen):
+          self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+          self.transition_paused_state()
+        if self.events.has(EventName.seatbeltNotLatched):
+          self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
+          self.transition_paused_state()
+      if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
+        self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
+        self.transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
-        transition_paused_state()
+        self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
+        self.transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
-        transition_paused_state()
+        self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
+        self.transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
-        transition_paused_state()
+        self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
+        self.transition_paused_state()
 
-      if self.pause_lateral_on_brake_toggle:
-        if CS.brakePressed:
-          transition_paused_state()
-
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-         not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
-        if self.state_machine.state == State.paused:
-          self.events_sp.add(EventNameSP.silentLkasEnable)
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
+        if self.pedal_pressed_non_gas_pressed(CS):
+          self.transition_paused_state()
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -100,8 +136,19 @@ class ModularAssistiveDrivingSystem:
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
 
-    if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
-      update_unified_engagement_mode()
+    selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
+
+    # wrongCarMode alert only or actively block control
+    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
+
+    if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
+      if self.block_unified_engagement_mode():
+        self.events.remove(EventName.pcmEnable)
+        self.events.remove(EventName.buttonEnable)
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
@@ -120,20 +167,29 @@ class ModularAssistiveDrivingSystem:
         else:
           self.events_sp.add(EventNameSP.lkasEnable)
 
-    if not CS.cruiseState.available:
+    if not CS.cruiseState.available and not self.no_main_cruise:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        if self.enabled:
+          self.events_sp.add(EventNameSP.lkasDisable)
+        else:
+          # block lkasEnable if being sent, then send pedalPressedAlertOnly event
+          if self.events_sp.contains(EventNameSP.lkasEnable):
+            self.events_sp.remove(EventNameSP.lkasEnable)
+            self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
+    if self.should_silent_lkas_enable(CS):
+      if self.state_machine.state == State.paused:
+        self.events_sp.add(EventNameSP.silentLkasEnable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    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: structs.CarState):
     if not self.enabled_toggle:
@@ -141,7 +197,7 @@ class ModularAssistiveDrivingSystem:
 
     self.update_events(CS)
 
-    if not self.selfdrive.CP.passive and self.selfdrive.initialized:
+    if not self.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update()
 
     # Copy of previous SelfdriveD states for MADS events handling
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 89ae506ac8..73240c790c 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -51,7 +51,7 @@ class StateMachine:
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if self.check_contains(ET.USER_DISABLE):
-        if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold):
+        if self._events_sp.has(EventNameSP.silentLkasDisable):
           self.state = State.paused
         else:
           self.state = State.disabled
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 51013b0baf..7bc556a0fc 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -73,7 +73,7 @@ class TestMADSStateMachine:
         self.clear_events()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, )
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.USER_DISABLE]))
diff --git a/sunnypilot/mapd/__init__.py b/sunnypilot/mapd/__init__.py
new file mode 100644
index 0000000000..7ad6f74149
--- /dev/null
+++ b/sunnypilot/mapd/__init__.py
@@ -0,0 +1,5 @@
+import os
+from openpilot.common.basedir import BASEDIR
+
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/sunnypilot/mapd/live_map_data/__init__.py
new file mode 100644
index 0000000000..557ad06515
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/__init__.py
@@ -0,0 +1,22 @@
+"""
+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.
+"""
+from openpilot.common.swaglog import cloudlog
+
+LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg.
+_DEBUG = False
+_CLOUDLOG_DEBUG = False
+ROAD_NAME_TIMEOUT = 30  # secs
+R = 6373000.0  # approximate radius of earth in mts
+QUERY_RADIUS = 3000  # mts. Radius to use on OSM data queries.
+QUERY_RADIUS_OFFLINE = 2250  # mts. Radius to use on offline OSM data queries.
+
+
+def get_debug(msg, log_to_cloud=True):
+  if _CLOUDLOG_DEBUG and log_to_cloud:
+    cloudlog.debug(msg)
+  if _DEBUG:
+    print(msg)
diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
new file mode 100644
index 0000000000..723864dd2a
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -0,0 +1,65 @@
+"""
+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.
+"""
+from abc import abstractmethod, ABC
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot.navd.helpers import coordinate_from_param
+
+MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS
+
+
+class BaseMapData(ABC):
+  def __init__(self):
+    self.params = Params()
+
+    self.sm = messaging.SubMaster(['liveLocationKalman'])
+    self.pm = messaging.PubMaster(['liveMapDataSP'])
+
+    self.localizer_valid = False
+    self.last_bearing = None
+    self.last_position = coordinate_from_param("LastGPSPositionLLK", self.params)
+
+  @abstractmethod
+  def update_location(self) -> None:
+    pass
+
+  @abstractmethod
+  def get_current_speed_limit(self) -> float:
+    pass
+
+  @abstractmethod
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    pass
+
+  @abstractmethod
+  def get_current_road_name(self) -> str:
+    pass
+
+  def publish(self) -> None:
+    speed_limit = self.get_current_speed_limit()
+    next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
+
+    mapd_sp_send = messaging.new_message('liveMapDataSP')
+    mapd_sp_send.valid = self.sm['liveLocationKalman'].gpsOK
+    live_map_data = mapd_sp_send.liveMapDataSP
+
+    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
+    live_map_data.speedLimit = speed_limit
+    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
+    live_map_data.speedLimitAhead = next_speed_limit
+    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
+    live_map_data.roadName = self.get_current_road_name()
+
+    self.pm.send('liveMapDataSP', mapd_sp_send)
+
+  def tick(self) -> None:
+    self.sm.update(0)
+    self.update_location()
+    self.publish()
diff --git a/sunnypilot/mapd/live_map_data/debug.py b/sunnypilot/mapd/live_map_data/debug.py
new file mode 100644
index 0000000000..794f2ef8ff
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/debug.py
@@ -0,0 +1,56 @@
+"""
+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.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
+  while True:
+    live_map_data_sp_thread_debug(gps_location_service)
+
+
+def live_map_data_sp_thread_debug(gps_location_service):
+  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', 'carStateSP', gps_location_service])
+  _sub_master.update()
+
+  v_ego = _sub_master['carState'].vEgo
+  _resolver = SpeedLimitResolver()
+  _resolver.policy = Policy.car_state_priority
+  _resolver.update(v_ego, _sub_master)
+  print(_resolver.speed_limit, _resolver.distance, _resolver.source)
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
new file mode 100644
index 0000000000..0662e2d589
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -0,0 +1,61 @@
+"""
+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.
+"""
+import json
+import math
+import platform
+
+from cereal import log
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class OsmMapData(BaseMapData):
+  def __init__(self):
+    super().__init__()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+
+  def update_location(self) -> None:
+    location = self.sm['liveLocationKalman']
+    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+
+    if self.localizer_valid:
+      self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
+      self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+
+    if self.last_position is None:
+      return
+
+    params = {
+      "latitude": self.last_position.latitude,
+      "longitude": self.last_position.longitude,
+    }
+
+    if self.last_bearing is not None:
+      params['bearing'] = self.last_bearing
+
+    self.mem_params.put("LastGPSPosition", json.dumps(params))
+
+  def get_current_speed_limit(self) -> float:
+    return float(self.mem_params.get("MapSpeedLimit") or 0.0)
+
+  def get_current_road_name(self) -> str:
+    return str(self.mem_params.get("RoadName") or "")
+
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit")
+    next_speed_limit_section = next_speed_limit_section_str if next_speed_limit_section_str else {}
+    next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
+    next_speed_limit_latitude = next_speed_limit_section.get('latitude')
+    next_speed_limit_longitude = next_speed_limit_section.get('longitude')
+    next_speed_limit_distance = 0.0
+
+    if next_speed_limit_latitude and next_speed_limit_longitude:
+      next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude)
+      next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates)
+
+    return next_speed_limit, next_speed_limit_distance
diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/sunnypilot/mapd/live_map_data/standalone.py
new file mode 100644
index 0000000000..f73ecc7724
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/standalone.py
@@ -0,0 +1,42 @@
+"""
+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.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  live_map_sp = OsmMapData()
+  rk = Ratekeeper(1, print_delay_threshold=None)
+
+  while True:
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
new file mode 100755
index 0000000000..08d17376d6
--- /dev/null
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import logging
+import os
+import stat
+import time
+import traceback
+import requests
+from pathlib import Path
+from urllib.request import urlopen
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.spinner import Spinner
+from openpilot.system.version import is_prebuilt
+from openpilot.sunnypilot.mapd import MAPD_PATH, MAPD_BIN_DIR
+import openpilot.system.sentry as sentry
+
+VERSION = "v1.12.0"
+URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
+
+
+def update_installed_version(version: str, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  params.put("MapdVersion", version)
+
+
+class MapdInstallManager:
+  def __init__(self, spinner_ref: Spinner):
+    self._spinner = spinner_ref
+    self._params = Params()
+
+  def download(self) -> None:
+    self.ensure_directories_exist()
+    self._download_file()
+    update_installed_version(VERSION, self._params)
+
+  def check_and_download(self) -> None:
+    if self.download_needed():
+      self.download()
+
+  def download_needed(self) -> bool:
+    return not os.path.exists(MAPD_PATH) or self.get_installed_version() != VERSION
+
+  @staticmethod
+  def ensure_directories_exist() -> None:
+    if not os.path.exists(Paths.mapd_root()):
+      os.makedirs(Paths.mapd_root())
+    if not os.path.exists(MAPD_BIN_DIR):
+      os.makedirs(MAPD_BIN_DIR)
+
+  @staticmethod
+  def _safe_write_and_set_executable(file_path: Path, content: bytes) -> None:
+    with open(file_path, 'wb') as output:
+      output.write(content)
+      output.flush()
+      os.fsync(output.fileno())
+    current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode)
+    os.chmod(file_path, current_permissions | stat.S_IEXEC)
+
+  def _download_file(self, num_retries=5) -> None:
+    temp_file = Path(MAPD_PATH + ".tmp")
+    download_timeout = 60
+    for cnt in range(num_retries):
+      try:
+        response = requests.get(URL, stream=True, timeout=download_timeout)
+        response.raise_for_status()
+        self._safe_write_and_set_executable(temp_file, response.content)
+        # No exceptions encountered. Safe to replace original file.
+        temp_file.replace(MAPD_PATH)
+        return
+      except requests.exceptions.ReadTimeout:
+        self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+      except requests.exceptions.RequestException as e:
+        self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+
+    # Delete temp file if the process was not successful.
+    if temp_file.exists():
+      temp_file.unlink()
+    logging.error("Failed to download file after all retries")
+
+  def get_installed_version(self) -> str:
+    return str(self._params.get("MapdVersion") or "")
+
+  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
+    max_retries = 10
+    for retries in range(max_retries + 1):
+      self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]")
+      time.sleep(2)
+      try:
+        _ = urlopen('https://sentry.io', timeout=10)
+        return True
+      except Exception as e:
+        print(f'Wait for internet failed: {e}')
+        if return_on_failure and retries == max_retries:
+          return False
+
+    return False
+
+  def non_prebuilt_install(self) -> None:
+    sm = messaging.SubMaster(['deviceState'])
+    metered = sm['deviceState'].networkMetered
+
+    if metered:
+      self._spinner.update("Can't proceed with mapd install since network is metered!")
+      time.sleep(5)
+      return
+
+    try:
+      self.ensure_directories_exist()
+      if not self.download_needed():
+        self._spinner.update("Mapd is good!")
+        time.sleep(0.1)
+        return
+
+      if self.wait_for_internet_connection(return_on_failure=True):
+        self._spinner.update(f"Downloading pfeiferj's mapd [{self.get_installed_version()}] => [{VERSION}].")
+        time.sleep(0.1)
+        self.check_and_download()
+      self._spinner.close()
+
+    except Exception:
+      for i in range(6):
+        self._spinner.update("Failed to download OSM maps won't work until properly downloaded!" +
+                             "Try again manually rebooting. " +
+                             f"Boot will continue in {5 - i}s...")
+        time.sleep(1)
+
+      sentry.init(sentry.SentryProject.SELFDRIVE)
+      traceback.print_exc()
+      sentry.capture_exception()
+
+
+if __name__ == "__main__":
+  spinner = Spinner()
+  install_manager = MapdInstallManager(spinner)
+  install_manager.ensure_directories_exist()
+  if is_prebuilt():
+    debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]"
+    spinner.update(debug_msg)
+    update_installed_version(VERSION)
+  else:
+    spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
+    install_manager.non_prebuilt_install()
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
new file mode 100755
index 0000000000..9de7dee8b9
--- /dev/null
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import json
+import platform
+import os
+import glob
+import shutil
+from datetime import datetime
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+from openpilot.system.hardware.hw import Paths
+from openpilot.sunnypilot.mapd import MAPD_PATH
+from openpilot.sunnypilot.mapd.mapd_installer import VERSION, update_installed_version
+
+# PFEIFER - MAPD {{
+params = Params()
+mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
+# }} PFEIFER - MAPD
+
+
+def get_files_for_cleanup() -> list[str]:
+  paths = [
+    f"{Paths.mapd_root()}/db",
+    f"{Paths.mapd_root()}/v*"
+  ]
+  files_to_remove = []
+  for path in paths:
+    if os.path.exists(path):
+      files = glob.glob(path + '/**', recursive=True)
+      files_to_remove.extend(files)
+  # check for version and mapd files
+  if not os.path.isfile(MAPD_PATH):
+    files_to_remove.append(MAPD_PATH)
+  return files_to_remove
+
+
+def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
+  for file in files_to_remove:
+    # Remove trailing slash if path is file
+    if file.endswith('/') and os.path.isfile(file[:-1]):
+      file = file[:-1]
+    # Try to remove as file or symbolic link first
+    if os.path.islink(file) or os.path.isfile(file):
+      os.remove(file)
+    elif os.path.isdir(file):  # If it's a directory
+      shutil.rmtree(file, ignore_errors=False)
+
+
+def request_refresh_osm_location_data(nations: list[str], states: list[str] | None = None) -> None:
+  params.put("OsmDownloadedDate", str(datetime.now().timestamp()))
+  params.put_bool("OsmDbUpdatesCheck", False)
+
+  osm_download_locations = {
+    "nations": nations,
+    "states": states or []
+  }
+
+  print(f"Downloading maps for {json.dumps(osm_download_locations)}")
+  mem_params.put("OSMDownloadLocations", osm_download_locations)
+
+
+def filter_nations_and_states(nations: list[str], states: list[str] | None = None) -> tuple[list[str], list[str]]:
+  """Filters and prepares nation and state data for OSM map download.
+
+  If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list.
+  If the nation is 'US' and the state is 'All', the 'All' is removed from the list.
+  The idea behind these filters is that if a specific state in the US is provided,
+  there's no need to download map data for the entire US. Conversely,
+  if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US,
+  and 'All' isn't a valid state name, so it's removed.
+
+  Parameters:
+  nations (list): A list of nations for which the map data is to be downloaded.
+  states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None.
+
+  Returns:
+  tuple: Two lists. The first list is filtered nations and the second list is filtered states.
+  """
+
+  if "US" in nations and states and not any(x.lower() == "all" for x in states):
+    # If a specific state in the US is provided, remove 'US' from nations
+    nations.remove("US")
+  elif "US" in nations and states and any(x.lower() == "all" for x in states):
+    # If 'All' is provided as a state (case invariant), remove those instances from states
+    states = [x for x in states if x.lower() != "all"]
+  elif "US" not in nations and states and any(x.lower() == "all" for x in states):
+    states.remove("All")
+  return nations, states or []
+
+
+def update_osm_db() -> None:
+  if params.get_bool("OsmDbUpdatesCheck"):
+    cleanup_old_osm_data(get_files_for_cleanup())
+    country = params.get("OsmLocationName", return_default=True)
+    state = params.get("OsmStateName", return_default=True)
+    filtered_nations, filtered_states = filter_nations_and_states([country], [state])
+    request_refresh_osm_location_data(filtered_nations, filtered_states)
+
+  if not mem_params.get("OSMDownloadBounds"):
+    mem_params.put("OSMDownloadBounds", "")
+
+  if not mem_params.get("LastGPSPosition"):
+    mem_params.put("LastGPSPosition", "{}")
+
+
+def main_thread():
+  update_installed_version(VERSION, params)
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  live_map_sp = OsmMapData()
+
+  # Create folder needed for OSM
+  try:
+    os.mkdir(Paths.mapd_root())
+  except FileExistsError:
+    pass
+  except PermissionError:
+    cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}")
+
+  while True:
+    show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal")
+    set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.")
+
+    update_osm_db()
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  main_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/tests/__init__.py b/sunnypilot/mapd/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/mapd/tests/mapd_hash b/sunnypilot/mapd/tests/mapd_hash
new file mode 100644
index 0000000000..0322ea97ca
--- /dev/null
+++ b/sunnypilot/mapd/tests/mapd_hash
@@ -0,0 +1 @@
+fdb3b49ee19956e6ce09fdc3373cbba557f1263b2180e9f344c1d4053852284b
\ No newline at end of file
diff --git a/sunnypilot/mapd/tests/test_mapd_version.py b/sunnypilot/mapd/tests/test_mapd_version.py
new file mode 100644
index 0000000000..5619d2ec29
--- /dev/null
+++ b/sunnypilot/mapd/tests/test_mapd_version.py
@@ -0,0 +1,19 @@
+"""
+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.
+"""
+from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.mapd import MAPD_PATH
+from openpilot.sunnypilot.mapd.update_version import MAPD_HASH_PATH
+
+
+class TestMapdVersion:
+  def test_compare_versions(self):
+    mapd_hash = get_file_hash(MAPD_PATH)
+
+    with open(MAPD_HASH_PATH) as f:
+      current_hash = f.read().strip()
+
+    assert current_hash == mapd_hash, "Run sunnypilot/mapd/update_version.py to update the current mapd version and hash"
diff --git a/sunnypilot/mapd/update_version.py b/sunnypilot/mapd/update_version.py
new file mode 100755
index 0000000000..c5e08b3f8f
--- /dev/null
+++ b/sunnypilot/mapd/update_version.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import argparse
+import os
+import re
+
+from openpilot.sunnypilot import get_file_hash
+from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot.mapd import MAPD_PATH
+
+MAPD_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "tests", "mapd_hash")
+MAPD_VERSION_PATH = os.path.join(BASEDIR, "sunnypilot", "mapd", "mapd_installer.py")
+
+
+def update_mapd_hash():
+  mapd_hash = get_file_hash(MAPD_PATH)
+
+  with open(MAPD_HASH_PATH, "w") as f:
+    f.write(mapd_hash)
+
+  print(f"Generated and updated new mapd hash to {MAPD_HASH_PATH}")
+
+
+def get_current_mapd_version(path: str) -> str:
+  print("[GET CURRENT MAPD VERSION]")
+  with open(path) as f:
+    for line in f:
+      if line.strip().startswith("VERSION"):
+        # Match VERSION = 'v1.11.0' or VERSION="v1.11.0" (with optional spaces)
+        match = re.search(r'VERSION\s*=\s*[\'"]([^\'"]+)[\'"]', line)
+        if match:
+          ver = match.group(1)
+          print(f'Current mapd version: "{ver}"')
+          return ver
+        else:
+          print("[ERROR] VERSION line found but no quoted value detected.")
+          return ""
+  print("[ERROR] VERSION not found in file!")
+  return ""
+
+
+def update_mapd_version(ver: str, path: str):
+  print("[CHANGE CURRENT MAPD VERSION]")
+
+  with open(path) as f:
+    lines = f.readlines()
+
+  found = False
+  new_lines = []
+  for line in lines:
+    if not found and line.startswith("VERSION ="):
+      new_lines.append(f'VERSION = "{ver}"\n')
+      found = True
+      new_lines.extend(lines[lines.index(line) + 1:])
+      break
+    else:
+      new_lines.append(line)
+
+  if not found:
+    print("[ERROR] VERSION line not found! Aborting without writing.")
+    return
+
+  with open(path, "w") as f:
+    f.writelines(new_lines)
+
+  print(f'New mapd version: "{ver}"')
+  print("[DONE]")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update mapd version and hash")
+  parser.add_argument("--new_ver", type=str, help="New mapd version")
+  args = parser.parse_args()
+
+  if not args.new_ver:
+    print("Warning: No new mapd version provided. Use --new_ver to specify")
+    print("Example:")
+    print("  python sunnypilot/mapd/update_version.py --new_ver \"v1.12.0\"")
+    print("Current mapd version and hash will not be updated! (aborted)")
+    exit(0)
+
+  current_ver = get_current_mapd_version(MAPD_VERSION_PATH)
+  new_ver = f"{args.new_ver}"
+  if current_ver == new_ver:
+    print(f'Proposed mapd version: "{new_ver}"')
+    confirm = input("Proposed mapd version is the same as the current mapd version. Confirm? (y/n): ").upper().strip()
+    if confirm != "Y":
+      print("Current mapd version and hash will not be updated! (aborted)")
+      exit(0)
+
+  update_mapd_version(new_ver, MAPD_VERSION_PATH)
+  update_mapd_hash()
diff --git a/sunnypilot/mapd/version.py b/sunnypilot/mapd/version.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/modeld/.gitignore b/sunnypilot/modeld/.gitignore
deleted file mode 100644
index 742d3d1205..0000000000
--- a/sunnypilot/modeld/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*_pyx.cpp
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
deleted file mode 100644
index df897e3049..0000000000
--- a/sunnypilot/modeld/SConscript
+++ /dev/null
@@ -1,59 +0,0 @@
-import glob
-
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
-lenv = env.Clone()
-lenvCython = envCython.Clone()
-
-libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
-
-thneed_src_common = [
-  "thneed/clutil_legacy.cc",
-  "thneed/thneed_common.cc",
-  "thneed/serialize.cc",
-]
-
-thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
-thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
-thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
-
-# SNPE except on Mac and ARM Linux
-snpe_lib = []
-if arch != "Darwin" and arch != "aarch64":
-  common_src += ['runners/snpemodel.cc']
-  snpe_lib += ['SNPE']
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
-cython_libs = envCython["LIBS"] + libs
-snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-
-lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks)
-lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-
-if arch == "larch64":
-  thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
-  thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
deleted file mode 100644
index 1c40425bdd..0000000000
--- a/sunnypilot/modeld/fill_model_msg.py
+++ /dev/null
@@ -1,233 +0,0 @@
-import os
-import capnp
-import numpy as np
-from cereal import log
-from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
-from openpilot.sunnypilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_lag_adjusted_curvature, MIN_SPEED
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-ConfidenceClass = log.ModelDataV2.ConfidenceClass
-
-class PublishState:
-  def __init__(self):
-    self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
-    self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
-    self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
-
-def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.z = z.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if z_std is not None:
-    builder.zStd = z_std.tolist()
-
-def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
-  builder.t = t
-  builder.x = x.tolist()
-  builder.y = y.tolist()
-  builder.v = v.tolist()
-  builder.a = a.tolist()
-  if x_std is not None:
-    builder.xStd = x_std.tolist()
-  if y_std is not None:
-    builder.yStd = y_std.tolist()
-  if v_std is not None:
-    builder.vStd = v_std.tolist()
-  if a_std is not None:
-    builder.aStd = a_std.tolist()
-
-def fill_xyz_poly(builder, degree, x, y, z):
-  xyz = np.stack([x, y, z], axis=1)
-  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
-  builder.xCoefficients = coeffs[:, 0].tolist()
-  builder.yCoefficients = coeffs[:, 1].tolist()
-  builder.zCoefficients = coeffs[:, 2].tolist()
-
-def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], 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,
-                   v_ego: float, steer_delay: float, meta_const) -> None:
-  frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  frame_drop_perc = frame_drop * 100
-  extended_msg.valid = valid
-  base_msg.valid = valid
-
-  if 'lat_planner_solution' in net_output_data:
-    x, y, yaw, yawRate = [net_output_data['lat_planner_solution'][0, :, i].tolist() for i in range(4)]
-    x_sol = np.column_stack([x, y, yaw, yawRate])
-    v_ego = max(MIN_SPEED, v_ego)
-    psis = x_sol[0:CONTROL_N, 2].tolist()
-    curvatures = (x_sol[0:CONTROL_N, 3] / v_ego).tolist()
-    desired_curvature = get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures)
-  else:
-    desired_curvature = float(net_output_data['desired_curvature'][0, 0])
-
-  driving_model_data = base_msg.drivingModelData
-
-  driving_model_data.frameId = vipc_frame_id
-  driving_model_data.frameIdExtra = vipc_frame_id_extra
-  driving_model_data.frameDropPerc = frame_drop_perc
-  driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
-
-  modelV2 = extended_msg.modelV2
-  modelV2.frameId = vipc_frame_id
-  modelV2.frameIdExtra = vipc_frame_id_extra
-  modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop_perc
-  modelV2.timestampEof = timestamp_eof
-  modelV2.modelExecutionTime = model_execution_time
-
-  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
-
-  # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-  temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
-  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
-
-  # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curvature
-
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
-
-  # lane lines
-  modelV2.init('laneLines', 4)
-  for i in range(4):
-    lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
-  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
-  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
-
-  lane_line_meta = driving_model_data.laneLineMeta
-  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
-  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
-  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
-  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
-
-  # road edges
-  modelV2.init('roadEdges', 2)
-  for i in range(2):
-    road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
-  modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
-
-  # leads
-  modelV2.init('leadsV3', 3)
-  for i in range(3):
-    lead = modelV2.leadsV3[i]
-    fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
-    lead.prob = net_output_data['lead_prob'][0,i].tolist()
-    lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
-
-  # meta
-  meta = modelV2.meta
-  meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
-  meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
-  meta.engagedProb = net_output_data['meta'][0,meta_const.ENGAGED].item()
-  meta.init('disengagePredictions')
-  disengage_predictions = meta.disengagePredictions
-  disengage_predictions.t = ModelConstants.META_T_IDXS
-  disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE].tolist()
-  disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE].tolist()
-  disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE].tolist()
-  disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_3].tolist()
-  disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_4].tolist()
-  disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,meta_const.HARD_BRAKE_5].tolist()
-  if 'sim_pose' not in net_output_data:
-    disengage_predictions.gasPressProbs = net_output_data['meta'][0,meta_const.GAS_PRESS].tolist()
-    disengage_predictions.brakePressProbs = net_output_data['meta'][0,meta_const.BRAKE_PRESS].tolist()
-
-  publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
-  publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_5][0]
-  publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
-  publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,meta_const.HARD_BRAKE_3][0]
-  hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
-    (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
-  meta.hardBrakePredicted = hard_brake_predicted.item()
-
-  # confidence
-  if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0:
-    # any disengage prob
-    brake_disengage_probs = net_output_data['meta'][0,meta_const.BRAKE_DISENGAGE]
-    gas_disengage_probs = net_output_data['meta'][0,meta_const.GAS_DISENGAGE]
-    steer_override_probs = net_output_data['meta'][0,meta_const.STEER_OVERRIDE]
-    any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
-    # independent disengage prob for each 2s slice
-    ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
-    # rolling buf for 2, 4, 6, 8, 10s
-    publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
-    publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
-
-  score = 0.
-  for i in range(ModelConstants.DISENGAGE_WIDTH):
-    score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
-  if score < ModelConstants.RYG_GREEN:
-    modelV2.confidence = ConfidenceClass.green
-  elif score < ModelConstants.RYG_YELLOW:
-    modelV2.confidence = ConfidenceClass.yellow
-  else:
-    modelV2.confidence = ConfidenceClass.red
-
-  # raw prediction if enabled
-  if SEND_RAW_PRED:
-    modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
-
-def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
-                  vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
-  msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
-  cameraOdometry = msg.cameraOdometry
-
-  cameraOdometry.frameId = vipc_frame_id
-  cameraOdometry.timestampEof = timestamp_eof
-
-  cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
-  cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
-  cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
-  cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
-  cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
-  cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
-  cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
diff --git a/sunnypilot/modeld/get_model_metadata.py b/sunnypilot/modeld/get_model_metadata.py
deleted file mode 100755
index 144860204f..0000000000
--- a/sunnypilot/modeld/get_model_metadata.py
+++ /dev/null
@@ -1,28 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
-import codecs
-import pickle
-
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
-  return name, shape
-
-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
-
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
-
-  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
-  with open(metadata_path, 'wb') as f:
-    pickle.dump(metadata, f)
-
-  print(f'saved metadata to {metadata_path}')
diff --git a/sunnypilot/modeld/modeld b/sunnypilot/modeld/modeld
deleted file mode 100755
index e1cef4dcc3..0000000000
--- a/sunnypilot/modeld/modeld
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd "$DIR/../../"
-
-if [ -f "$DIR/libthneed.so" ]; then
-  export LD_PRELOAD="$DIR/libthneed.so"
-fi
-
-exec "$DIR/modeld.py" "$@"
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
deleted file mode 100755
index 744b90465b..0000000000
--- a/sunnypilot/modeld/modeld.py
+++ /dev/null
@@ -1,316 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import numpy as np
-import cereal.messaging as messaging
-from cereal import car, log
-from pathlib import Path
-from setproctitle import setproctitle
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-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 DT_MDL, config_realtime_process
-from numpy import interp
-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.sunnypilot.modeld.runners import ModelRunner, Runtime
-from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.models.helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
-
-PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
-  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
-
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
-
-class FrameMeta:
-  frame_id: int = 0
-  timestamp_sof: int = 0
-  timestamp_eof: int = 0
-
-  def __init__(self, vipc=None):
-    if vipc is not None:
-      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
-
-class ModelState:
-  frame: ModelFrame
-  wide_frame: ModelFrame
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-  prev_desire: np.ndarray  # for tracking the rising edge of the pulse
-  model: ModelRunner
-
-  def __init__(self, context: CLContext):
-    self.frame = ModelFrame(context)
-    self.wide_frame = ModelFrame(context)
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-
-    model_paths = get_model_path()
-    self.model_metadata = load_metadata()
-    self.inputs = prepare_inputs(self.model_metadata)
-    self.meta = load_meta_constants(self.model_metadata)
-
-    self.output_slices = self.model_metadata['output_slices']
-    net_output_size = self.model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
-    self.parser = Parser()
-
-    self.model = ModelRunner(model_paths, self.output, Runtime.GPU, False, context)
-    self.model.addInput("input_imgs", None)
-    self.model.addInput("big_input_imgs", None)
-    for k,v in self.inputs.items():
-      self.model.addInput(k, v)
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
-
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
-    # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:]
-    self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
-
-    for k in self.inputs:
-      if k in inputs and k != 'desire':
-        self.inputs[k][:] = inputs[k]
-
-    # if getCLBuffer is not None, frame will be None
-    self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
-    if wbuf is not None:
-      self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs")))
-
-    if prepare_only:
-      return None
-
-    self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
-
-    self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
-    self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
-
-    if "lat_planner_solution" in outputs and "lat_planner_state" in self.inputs.keys():
-      self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
-      self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
-
-    if "desired_curvature" in outputs:
-      if "prev_desired_curvs" in self.inputs.keys():
-        self.inputs['prev_desired_curvs'][:-1] = self.inputs['prev_desired_curvs'][1:]
-        self.inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][0, 0]
-
-      if "prev_desired_curv" in self.inputs.keys():
-        self.inputs['prev_desired_curv'][:-1] = self.inputs['prev_desired_curv'][1:]
-        self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
-    return outputs
-
-
-def main(demo=False):
-  cloudlog.warning("modeld init")
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-  setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
-
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
-
-  # visionipc clients
-  while True:
-    available_streams = VisionIpcClient.available_streams("camerad", block=False)
-    if available_streams:
-      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
-      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
-      break
-    time.sleep(.1)
-
-  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
-  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
-
-  while not vipc_client_main.connect(False):
-    time.sleep(0.1)
-  while use_extra_client and not vipc_client_extra.connect(False):
-    time.sleep(0.1)
-
-  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
-  if use_extra_client:
-    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
-
-  # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
-
-  publish_state = PublishState()
-  params = Params()
-
-  # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
-  frame_id = 0
-  last_vipc_frame_id = 0
-  run_count = 0
-
-  model_transform_main = np.zeros((3, 3), dtype=np.float32)
-  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
-  live_calib_seen = False
-  buf_main, buf_extra = None, None
-  meta_main = FrameMeta()
-  meta_extra = FrameMeta()
-
-
-  if demo:
-    CP = get_demo_car_params()
-  else:
-    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-
-  cloudlog.info("modeld got CarParams: %s", CP.brand)
-
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
-
-  DH = DesireHelper()
-
-  while True:
-    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
-    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-      buf_main = vipc_client_main.recv()
-      meta_main = FrameMeta(vipc_client_main)
-      if buf_main is None:
-        break
-
-    if buf_main is None:
-      cloudlog.debug("vipc_client_main no frame")
-      continue
-
-    if use_extra_client:
-      # Keep receiving extra frames until frame id matches main camera
-      while True:
-        buf_extra = vipc_client_extra.recv()
-        meta_extra = FrameMeta(vipc_client_extra)
-        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
-          break
-
-      if buf_extra is None:
-        cloudlog.debug("vipc_client_extra no frame")
-        continue
-
-      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-
-    else:
-      # Use single camera
-      buf_extra = buf_main
-      meta_extra = meta_main
-
-    sm.update(0)
-    desire = DH.desire
-    v_ego = sm["carState"].vEgo
-    is_rhd = sm["driverMonitoringState"].isRHD
-    frame_id = sm["roadCameraState"].frameId
-    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))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
-      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
-      live_calib_seen = True
-
-    traffic_convention = np.zeros(2)
-    traffic_convention[int(is_rhd)] = 1
-
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
-      vec_desire[desire] = 1
-
-    # tracked dropped frames
-    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
-    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
-    if run_count < 10: # let frame drops warm up
-      frame_dropped_filter.x = 0.
-      frames_dropped = 0.
-    run_count = run_count + 1
-
-    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
-    prepare_only = vipc_dropped_frames > 0
-    if prepare_only:
-      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
-
-    inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
-      'traffic_convention': traffic_convention,
-      }
-
-    if "lateral_control_params" in model.inputs.keys():
-      inputs['lateral_control_params'] = np.array([max(v_ego, 0.), steer_delay], dtype=np.float32)
-
-    if "driving_style" in model.inputs.keys():
-      inputs['driving_style'] = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
-
-    if "nav_features" in model.inputs.keys():
-      inputs['nav_features'] = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
-
-    if "nav_instructions" in model.inputs.keys():
-      inputs['nav_instructions'] = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
-
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
-
-    if model_output is not None:
-      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, 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,
-                     v_ego, steer_delay, model.meta)
-
-      desire_state = modelv2_send.modelV2.meta.desireState
-      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
-      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
-      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
-      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
-      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
-      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
-      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
-
-      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
-      pm.send('modelV2', modelv2_send)
-      pm.send('drivingModelData', drivingdata_send)
-      pm.send('cameraOdometry', posenet_send)
-
-    last_vipc_frame_id = meta_main.frame_id
-
-
-if __name__ == "__main__":
-  try:
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
-    args = parser.parse_args()
-    main(demo=args.demo)
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld/models/commonmodel.cc b/sunnypilot/modeld/models/commonmodel.cc
deleted file mode 100644
index f1e15e5a4e..0000000000
--- a/sunnypilot/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "sunnypilot/modeld/models/commonmodel.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
-
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
-  u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
-
-  transform_init(&transform, context, device_id);
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
-  transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
-
-  if (output == NULL) {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
-
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  } else {
-    loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
-    // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-    clFinish(q);
-    return NULL;
-  }
-}
-
-ModelFrame::~ModelFrame() {
-  transform_destroy(&transform);
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(net_input_cl));
-  CL_CHECK(clReleaseMemObject(v_cl));
-  CL_CHECK(clReleaseMemObject(u_cl));
-  CL_CHECK(clReleaseMemObject(y_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld/models/commonmodel.h b/sunnypilot/modeld/models/commonmodel.h
deleted file mode 100644
index 9d34ebb6d3..0000000000
--- a/sunnypilot/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-#include "sunnypilot/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context);
-  ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-
-private:
-  Transform transform;
-  LoadYUVState loadyuv;
-  cl_command_queue q;
-  cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
-};
diff --git a/sunnypilot/modeld/models/commonmodel.pxd b/sunnypilot/modeld/models/commonmodel.pxd
deleted file mode 100644
index c7fd85411d..0000000000
--- a/sunnypilot/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,18 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-
-cdef extern from "sunnypilot/modeld/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pxd b/sunnypilot/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld/models/commonmodel_pyx.pyx b/sunnypilot/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index d66fddea54..0000000000
--- a/sunnypilot/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,45 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
-from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-
-  def __cinit__(self, CLContext context):
-    self.frame = new cppModelFrame(context.device_id, context.context)
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
-    if output is None:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
-    else:
-      data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
-    if not data:
-      return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
deleted file mode 100644
index 9cd5f1465c..0000000000
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ /dev/null
@@ -1,107 +0,0 @@
-import numpy as np
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-def safe_exp(x, out=None):
-  # -11 is around 10**14, more causes float16 overflow
-  return np.exp(np.clip(x, -np.inf, 11), out=out)
-
-def sigmoid(x):
-  return 1. / (1. + safe_exp(-x))
-
-def softmax(x, axis=-1):
-  x -= np.max(x, axis=axis, keepdims=True)
-  if x.dtype == np.float32 or x.dtype == np.float64:
-    safe_exp(x, out=x)
-  else:
-    x = safe_exp(x)
-  x /= np.sum(x, axis=axis, keepdims=True)
-  return x
-
-class Parser:
-  def __init__(self, ignore_missing=False):
-    self.ignore_missing = ignore_missing
-
-  def check_missing(self, outs, name):
-    if name not in outs and not self.ignore_missing:
-      raise ValueError(f"Missing output {name}")
-    return name not in outs
-
-  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    if out_shape is not None:
-      raw = raw.reshape((raw.shape[0],) + out_shape)
-    outs[name] = softmax(raw, axis=-1)
-
-  def parse_binary_crossentropy(self, name, outs):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    outs[name] = sigmoid(raw)
-
-  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
-    if self.check_missing(outs, name):
-      return
-    raw = outs[name]
-    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
-
-    n_values = (raw.shape[2] - out_N)//2
-    pred_mu = raw[:,:,:n_values]
-    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
-
-    if in_N > 1:
-      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
-      for i in range(out_N):
-        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
-
-      if out_N == 1:
-        for fidx in range(weights.shape[0]):
-          idxs = np.argsort(weights[fidx][:,0])[::-1]
-          weights[fidx] = weights[fidx][idxs]
-          pred_mu[fidx] = pred_mu[fidx][idxs]
-          pred_std[fidx] = pred_std[fidx][idxs]
-      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
-      outs[name + '_weights'] = weights
-      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
-      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
-
-      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
-      for fidx in range(weights.shape[0]):
-        for hidx in range(out_N):
-          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
-          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
-          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
-    else:
-      pred_mu_final = pred_mu
-      pred_std_final = pred_std
-
-    if out_N > 1:
-      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
-    else:
-      final_shape = tuple([raw.shape[0],] + list(out_shape))
-    outs[name] = pred_mu_final.reshape(final_shape)
-    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
-
-  def parse_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('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    if 'sim_pose' in outs:
-      self.parse_mdn('sim_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('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', 'meta']:
-      self.parse_binary_crossentropy(k, outs)
-    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
-    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
-    return outs
diff --git a/sunnypilot/modeld/runners/__init__.py b/sunnypilot/modeld/runners/__init__.py
deleted file mode 100644
index 3f4507e4eb..0000000000
--- a/sunnypilot/modeld/runners/__init__.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import os
-from openpilot.system.hardware import TICI
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel, Runtime
-assert Runtime
-
-USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
-USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI))))
-
-class ModelRunner(RunModel):
-  THNEED = 'THNEED'
-  SNPE = 'SNPE'
-  ONNX = 'ONNX'
-
-  def __new__(cls, paths, *args, **kwargs):
-    if ModelRunner.THNEED in paths and USE_THNEED:
-      from openpilot.sunnypilot.modeld.runners.thneedmodel_pyx import ThneedModel as Runner
-      runner_type = ModelRunner.THNEED
-    elif ModelRunner.SNPE in paths and USE_SNPE:
-      from openpilot.sunnypilot.modeld.runners.snpemodel_pyx import SNPEModel as Runner
-      runner_type = ModelRunner.SNPE
-    elif ModelRunner.ONNX in paths:
-      from openpilot.sunnypilot.modeld.runners.onnxmodel import ONNXModel as Runner
-      runner_type = ModelRunner.ONNX
-    else:
-      raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path")
-
-    return Runner(str(paths[runner_type]), *args, **kwargs)
diff --git a/sunnypilot/modeld/runners/onnxmodel.py b/sunnypilot/modeld/runners/onnxmodel.py
deleted file mode 100644
index 047f13dc9d..0000000000
--- a/sunnypilot/modeld/runners/onnxmodel.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import onnx
-import itertools
-import os
-import sys
-import numpy as np
-from typing import Any
-
-from openpilot.sunnypilot.modeld.runners.runmodel_pyx import RunModel
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(onnx_path_or_bytes):
-  if isinstance(onnx_path_or_bytes, bytes):
-    model = onnx.load_from_string(onnx_path_or_bytes)
-  elif isinstance(onnx_path_or_bytes, str):
-    model = onnx.load(onnx_path_or_bytes)
-
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-def create_ort_session(path, fp16_to_fp32):
-  os.environ["OMP_NUM_THREADS"] = "4"
-  os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
-
-  import onnxruntime as ort
-  print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
-  options = ort.SessionOptions()
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
-
-  provider: str | tuple[str, dict[Any, Any]]
-  if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    provider = 'OpenVINOExecutionProvider'
-  elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
-    options.intra_op_num_threads = 2
-    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
-  else:
-    options.intra_op_num_threads = 2
-    options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-    options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-    provider = 'CPUExecutionProvider'
-
-  model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path
-  print("Onnx selected provider: ", [provider], file=sys.stderr)
-  ort_session = ort.InferenceSession(model_data, options, providers=[provider])
-  print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
-  return ort_session
-
-
-class ONNXModel(RunModel):
-  def __init__(self, path, output, runtime, use_tf8, cl_context):
-    self.inputs = {}
-    self.output = output
-
-    self.session = create_ort_session(path, fp16_to_fp32=True)
-    self.input_names = [x.name for x in self.session.get_inputs()]
-    self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()}
-    self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()}
-
-    # run once to initialize CUDA provider
-    if "CUDAExecutionProvider" in self.session.get_providers():
-      self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names})
-    print("ready to run onnx model", self.input_shapes, file=sys.stderr)
-
-  def addInput(self, name, buffer):
-    assert name in self.input_names
-    self.inputs[name] = buffer
-
-  def setInputBuffer(self, name, buffer):
-    assert name in self.inputs
-    self.inputs[name] = buffer
-
-  def getCLBuffer(self, name):
-    return None
-
-  def execute(self):
-    inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()}
-    inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()}
-    outputs = self.session.run(None, inputs)
-    assert len(outputs) == 1, "Only single model outputs are supported"
-    self.output[:] = outputs[0]
-    return self.output
diff --git a/sunnypilot/modeld/runners/run.h b/sunnypilot/modeld/runners/run.h
deleted file mode 100644
index 84d99fd10f..0000000000
--- a/sunnypilot/modeld/runners/run.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/runners/snpemodel.h"
diff --git a/sunnypilot/modeld/runners/runmodel.h b/sunnypilot/modeld/runners/runmodel.h
deleted file mode 100644
index 18cc180cb7..0000000000
--- a/sunnypilot/modeld/runners/runmodel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include <string>
-#include <vector>
-#include <memory>
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/swaglog.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
-
-struct ModelInput {
-  const std::string name;
-  float *buffer;
-  int size;
-
-  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
-  virtual void setBuffer(float *_buffer, int _size) {
-    assert(size == _size || size == 0);
-    buffer = _buffer;
-    size = _size;
-  }
-};
-
-class RunModel {
-public:
-  std::vector<std::unique_ptr<ModelInput>> inputs;
-
-  virtual ~RunModel() {}
-  virtual void execute() {}
-  virtual void* getCLBuffer(const std::string name) { return nullptr; }
-
-  virtual void addInput(const std::string name, float *buffer, int size) {
-    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
-  }
-  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
-    for (auto &input : inputs) {
-      if (name == input->name) {
-        input->setBuffer(buffer, size);
-        return;
-      }
-    }
-    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-};
diff --git a/sunnypilot/modeld/runners/runmodel.pxd b/sunnypilot/modeld/runners/runmodel.pxd
deleted file mode 100644
index b83434473d..0000000000
--- a/sunnypilot/modeld/runners/runmodel.pxd
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-cdef extern from "sunnypilot/modeld/runners/runmodel.h":
-  cdef int USE_CPU_RUNTIME
-  cdef int USE_GPU_RUNTIME
-  cdef int USE_DSP_RUNTIME
-
-  cdef cppclass RunModel:
-    void addInput(string, float*, int)
-    void setInputBuffer(string, float*, int)
-    void * getCLBuffer(string)
-    void execute()
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pxd b/sunnypilot/modeld/runners/runmodel_pyx.pxd
deleted file mode 100644
index b6ede7cf37..0000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pxd
+++ /dev/null
@@ -1,6 +0,0 @@
-# distutils: language = c++
-
-from .runmodel cimport RunModel as cppRunModel
-
-cdef class RunModel:
-  cdef cppRunModel * model
diff --git a/sunnypilot/modeld/runners/runmodel_pyx.pyx b/sunnypilot/modeld/runners/runmodel_pyx.pyx
deleted file mode 100644
index e224b1e4f2..0000000000
--- a/sunnypilot/modeld/runners/runmodel_pyx.pyx
+++ /dev/null
@@ -1,37 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp.string cimport string
-
-from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLMem
-
-class Runtime:
-  CPU = USE_CPU_RUNTIME
-  GPU = USE_GPU_RUNTIME
-  DSP = USE_DSP_RUNTIME
-
-cdef class RunModel:
-  def __dealloc__(self):
-    del self.model
-
-  def addInput(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.addInput(name, &buffer[0], len(buffer))
-    else:
-      self.model.addInput(name, NULL, 0)
-
-  def setInputBuffer(self, string name, float[:] buffer):
-    if buffer is not None:
-      self.model.setInputBuffer(name, &buffer[0], len(buffer))
-    else:
-      self.model.setInputBuffer(name, NULL, 0)
-
-  def getCLBuffer(self, string name):
-    cdef void * cl_buf = self.model.getCLBuffer(name)
-    if not cl_buf:
-      return None
-    return CLMem.create(cl_buf)
-
-  def execute(self):
-    self.model.execute()
diff --git a/sunnypilot/modeld/runners/snpemodel.cc b/sunnypilot/modeld/runners/snpemodel.cc
deleted file mode 100644
index ce06ba39f7..0000000000
--- a/sunnypilot/modeld/runners/snpemodel.cc
+++ /dev/null
@@ -1,116 +0,0 @@
-#pragma clang diagnostic ignored "-Wexceptions"
-
-#include "sunnypilot/modeld/runners/snpemodel.h"
-
-#include <cstring>
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "common/util.h"
-#include "common/timing.h"
-
-void PrintErrorStringAndExit() {
-  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
-  output = _output;
-  output_size = _output_size;
-  use_tf8 = _use_tf8;
-
-#ifdef QCOM2
-  if (runtime == USE_GPU_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime == USE_DSP_RUNTIME) {
-    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else {
-    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
-#endif
-  model_data = util::read_file(path);
-  assert(model_data.size() > 0);
-
-  // load model
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
-  if (!container) { PrintErrorStringAndExit(); }
-  LOGW("loaded model with size: %lu", model_data.size());
-
-  // create model runner
-  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
-  while (!snpe) {
-#ifdef QCOM2
-    snpe = snpe_builder.setOutputLayers({})
-                       .setRuntimeProcessor(snpe_runtime)
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#else
-    snpe = snpe_builder.setOutputLayers({})
-                       .setUseUserSuppliedBuffers(true)
-                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                       .build();
-#endif
-    if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
-  }
-
-  // create output buffer
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-
-  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
-  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
-  const auto &output_tensor_names = *output_tensor_names_opt;
-  assert(output_tensor_names.size() == 1);
-  const char *output_tensor_name = output_tensor_names.at(0);
-  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-  if (output_size != 0) {
-    assert(output_size == buffer_shape[1]);
-  } else {
-    output_size = buffer_shape[1];
-  }
-  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
-  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
-  output_map.add(output_tensor_name, output_buffer.get());
-}
-
-void SNPEModel::addInput(const std::string name, float *buffer, int size) {
-  const int idx = inputs.size();
-  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
-  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
-  const auto &input_tensor_names = *input_tensor_names_opt;
-  const char *input_tensor_name = input_tensor_names.at(idx);
-  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
-  LOGW("adding index %d: %s", idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
-  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
-
-  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
-  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
-  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
-  std::vector<size_t> strides(buffer_shape.rank());
-  strides[strides.size() - 1] = size_of_input;
-  size_t product = 1;
-  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
-  size_t stride = strides[strides.size() - 1];
-  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
-    stride *= buffer_shape[i];
-    strides[i-1] = stride;
-  }
-
-  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
-  input_map.add(input_tensor_name, input_buffer.get());
-  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
-}
-
-void SNPEModel::execute() {
-  if (!snpe->execute(input_map, output_map)) {
-    PrintErrorStringAndExit();
-  }
-}
diff --git a/sunnypilot/modeld/runners/snpemodel.h b/sunnypilot/modeld/runners/snpemodel.h
deleted file mode 100644
index bd76624213..0000000000
--- a/sunnypilot/modeld/runners/snpemodel.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#pragma once
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
-#include <memory>
-#include <string>
-#include <utility>
-
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <DlSystem/IUserBuffer.hpp>
-#include <DlSystem/IUserBufferFactory.hpp>
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-
-struct SNPEModelInput : public ModelInput {
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
-
-  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
-  void setBuffer(float *_buffer, int _size) {
-    ModelInput::setBuffer(_buffer, _size);
-    assert(snpe_buffer->setBufferAddress(_buffer) == true);
-  }
-};
-
-class SNPEModel : public RunModel {
-public:
-  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void addInput(const std::string name, float *buffer, int size);
-  void execute();
-
-private:
-  std::string model_data;
-
-#ifdef QCOM2
-  zdl::DlSystem::Runtime_t snpe_runtime;
-#endif
-
-  // snpe model stuff
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  zdl::DlSystem::UserBufferMap input_map;
-  zdl::DlSystem::UserBufferMap output_map;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
-
-  bool use_tf8;
-  float *output;
-  size_t output_size;
-};
diff --git a/sunnypilot/modeld/runners/snpemodel.pxd b/sunnypilot/modeld/runners/snpemodel.pxd
deleted file mode 100644
index f19501d37d..0000000000
--- a/sunnypilot/modeld/runners/snpemodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/snpemodel.h":
-  cdef cppclass SNPEModel:
-    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/snpemodel_pyx.pyx b/sunnypilot/modeld/runners/snpemodel_pyx.pyx
deleted file mode 100644
index d1f24d1ead..0000000000
--- a/sunnypilot/modeld/runners/snpemodel_pyx.pyx
+++ /dev/null
@@ -1,17 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import os
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .snpemodel cimport SNPEModel as cppSNPEModel
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/"
-
-cdef class SNPEModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/runners/thneedmodel.cc b/sunnypilot/modeld/runners/thneedmodel.cc
deleted file mode 100644
index d83fc0a5f9..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel.cc
+++ /dev/null
@@ -1,58 +0,0 @@
-#include "sunnypilot/modeld/runners/thneedmodel.h"
-
-#include <string>
-
-#include "common/swaglog.h"
-
-ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
-  thneed = new Thneed(true, context);
-  thneed->load(path.c_str());
-  thneed->clexec();
-
-  recorded = false;
-  output = _output;
-}
-
-void* ThneedModel::getCLBuffer(const std::string name) {
-  int index = -1;
-  for (int i = 0; i < inputs.size(); i++) {
-    if (name == inputs[i]->name) {
-      index = i;
-      break;
-    }
-  }
-
-  if (index == -1) {
-    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
-    assert(false);
-  }
-
-  if (thneed->input_clmem.size() >= inputs.size()) {
-    return &thneed->input_clmem[inputs.size() - index - 1];
-  } else {
-    return nullptr;
-  }
-}
-
-void ThneedModel::execute() {
-  if (!recorded) {
-    thneed->record = true;
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-
-    thneed->copy_inputs(input_buffers);
-    thneed->clexec();
-    thneed->copy_output(output);
-    thneed->stop();
-
-    recorded = true;
-  } else {
-    float *input_buffers[inputs.size()];
-    for (int i = 0; i < inputs.size(); i++) {
-      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
-    }
-    thneed->execute(input_buffers, output);
-  }
-}
diff --git a/sunnypilot/modeld/runners/thneedmodel.h b/sunnypilot/modeld/runners/thneedmodel.h
deleted file mode 100644
index ecc7207c1f..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-
-#include <string>
-
-#include "sunnypilot/modeld/runners/runmodel.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-class ThneedModel : public RunModel {
-public:
-  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
-  void *getCLBuffer(const std::string name);
-  void execute();
-private:
-  Thneed *thneed = NULL;
-  bool recorded;
-  float *output;
-};
diff --git a/sunnypilot/modeld/runners/thneedmodel.pxd b/sunnypilot/modeld/runners/thneedmodel.pxd
deleted file mode 100644
index ace7443b50..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel.pxd
+++ /dev/null
@@ -1,9 +0,0 @@
-# distutils: language = c++
-
-from libcpp.string cimport string
-
-from msgq.visionipc.visionipc cimport cl_context
-
-cdef extern from "sunnypilot/modeld/runners/thneedmodel.h":
-  cdef cppclass ThneedModel:
-    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx b/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
deleted file mode 100644
index 49de8344c0..0000000000
--- a/sunnypilot/modeld/runners/thneedmodel_pyx.pyx
+++ /dev/null
@@ -1,14 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-from libcpp cimport bool
-from libcpp.string cimport string
-
-from .thneedmodel cimport ThneedModel as cppThneedModel
-from sunnypilot.modeld.models.commonmodel_pyx cimport CLContext
-from sunnypilot.modeld.runners.runmodel_pyx cimport RunModel
-from sunnypilot.modeld.runners.runmodel cimport RunModel as cppRunModel
-
-cdef class ThneedModel(RunModel):
-  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
-    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/sunnypilot/modeld/thneed/README b/sunnypilot/modeld/thneed/README
deleted file mode 100644
index f3bc66d8fc..0000000000
--- a/sunnypilot/modeld/thneed/README
+++ /dev/null
@@ -1,8 +0,0 @@
-thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster..
-
-It runs on the local device, and caches a single model run. Then it replays it, but fast.
-
-thneed slices through abstraction layers like a fish.
-
-You need a thneed.
-
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.cc b/sunnypilot/modeld/thneed/clutil_legacy.cc
deleted file mode 100644
index 3bf9316432..0000000000
--- a/sunnypilot/modeld/thneed/clutil_legacy.cc
+++ /dev/null
@@ -1,126 +0,0 @@
-#include "common/clutil.h"
-
-#include <cassert>
-#include <iostream>
-#include <memory>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/clutil_legacy.h"
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
-  cl_build_status status;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
-  size_t log_size;
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
-  std::string log(log_size, '\0');
-  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
-  LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
-    assert(0);
-  }
-  return prg;
-}
-
-// Given a cl code and return a string representation
-#define CL_ERR_TO_STR(err) case err: return #err
-const char* cl_get_error_string(int err) {
-  switch (err) {
-    CL_ERR_TO_STR(CL_SUCCESS);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND);
-    CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE);
-    CL_ERR_TO_STR(CL_OUT_OF_RESOURCES);
-    CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY);
-    CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH);
-    CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED);
-    CL_ERR_TO_STR(CL_MAP_FAILURE);
-    CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET);
-    CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST);
-    CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE);
-    CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED);
-    CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE);
-    CL_ERR_TO_STR(CL_INVALID_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE);
-    CL_ERR_TO_STR(CL_INVALID_PLATFORM);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE);
-    CL_ERR_TO_STR(CL_INVALID_CONTEXT);
-    CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES);
-    CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE);
-    CL_ERR_TO_STR(CL_INVALID_HOST_PTR);
-    CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_SAMPLER);
-    CL_ERR_TO_STR(CL_INVALID_BINARY);
-    CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM);
-    CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL);
-    CL_ERR_TO_STR(CL_INVALID_ARG_INDEX);
-    CL_ERR_TO_STR(CL_INVALID_ARG_VALUE);
-    CL_ERR_TO_STR(CL_INVALID_ARG_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS);
-    CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION);
-    CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET);
-    CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST);
-    CL_ERR_TO_STR(CL_INVALID_EVENT);
-    CL_ERR_TO_STR(CL_INVALID_OPERATION);
-    CL_ERR_TO_STR(CL_INVALID_GL_OBJECT);
-    CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL);
-    CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE);
-    CL_ERR_TO_STR(CL_INVALID_PROPERTY);
-    CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR);
-    CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS);
-    CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT);
-    case -69: return "CL_INVALID_PIPE_SIZE";
-    case -70: return "CL_INVALID_DEVICE_QUEUE";
-    case -71: return "CL_INVALID_SPEC_ID";
-    case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
-    case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
-    case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
-    case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
-    case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
-    case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
-    case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
-    case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
-    case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
-    case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
-    case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
-    case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
-    case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
-    case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
-    case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
-    case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
-    case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
-    case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
-    case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
-    case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
-    case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
-    case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
-    case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
-    case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
-    case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
-    default: return "CL_UNKNOWN_ERROR";
-  }
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/clutil_legacy.h b/sunnypilot/modeld/thneed/clutil_legacy.h
deleted file mode 100644
index 8aebdcf1a9..0000000000
--- a/sunnypilot/modeld/thneed/clutil_legacy.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include <string>
-
-cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
-const char* cl_get_error_string(int err);
\ No newline at end of file
diff --git a/sunnypilot/modeld/thneed/serialize.cc b/sunnypilot/modeld/thneed/serialize.cc
deleted file mode 100644
index 9279a90e0f..0000000000
--- a/sunnypilot/modeld/thneed/serialize.cc
+++ /dev/null
@@ -1,155 +0,0 @@
-#include <cassert>
-#include <set>
-
-#include "third_party/json11/json11.hpp"
-#include "common/util.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
-#include "sunnypilot/modeld/thneed/thneed.h"
-#include "sunnypilot/modeld/thneed/clutil_legacy.h"
-using namespace json11;
-
-extern map<cl_program, string> g_program_source;
-
-void Thneed::load(const char *filename) {
-  LOGD("Thneed::load: loading from %s\n", filename);
-
-  string buf = util::read_file(filename);
-  int jsz = *(int *)buf.data();
-  string jsonerr;
-  string jj(buf.data() + sizeof(int), jsz);
-  Json jdat = Json::parse(jj, jsonerr);
-
-  map<cl_mem, cl_mem> real_mem;
-  real_mem[NULL] = NULL;
-
-  int ptr = sizeof(int)+jsz;
-  for (auto &obj : jdat["objects"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem clbuf = NULL;
-
-    if (mobj["buffer_id"].string_value().size() > 0) {
-      // image buffer must already be allocated
-      clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-      assert(mobj["needs_load"].bool_value() == false);
-    } else {
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL);
-        if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
-        ptr += sz;
-      } else {
-        // TODO: is there a faster way to init zeroed out buffers?
-        void *host_zeros = calloc(sz, 1);
-        clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL);
-        free(host_zeros);
-      }
-    }
-    assert(clbuf != NULL);
-
-    if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
-      cl_image_desc desc = {0};
-      desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER;
-      desc.image_width = mobj["width"].int_value();
-      desc.image_height = mobj["height"].int_value();
-      desc.image_row_pitch = mobj["row_pitch"].int_value();
-      assert(sz == desc.image_height*desc.image_row_pitch);
-#ifdef QCOM2
-      desc.buffer = clbuf;
-#else
-      // TODO: we are creating unused buffers on PC
-      clReleaseMemObject(clbuf);
-#endif
-      cl_image_format format = {0};
-      format.image_channel_order = CL_RGBA;
-      format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT;
-
-      cl_int errcode;
-
-#ifndef QCOM2
-      if (mobj["needs_load"].bool_value()) {
-        clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode);
-      } else {
-        clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-      }
-#else
-      clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
-#endif
-      if (clbuf == NULL) {
-        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
-      }
-      assert(clbuf != NULL);
-    }
-
-    real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf;
-  }
-
-  map<string, cl_program> g_programs;
-  for (const auto &[name, source] : jdat["programs"].object_items()) {
-    if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size());
-    g_programs[name] = cl_program_from_source(context, device_id, source.string_value());
-  }
-
-  for (auto &obj : jdat["inputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    input_clmem.push_back(aa);
-    input_sizes.push_back(sz);
-    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
-
-    cl_int cl_err;
-    void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
-    assert(cl_err == CL_SUCCESS);
-    inputs.push_back(ret);
-  }
-
-  for (auto &obj : jdat["outputs"].array_items()) {
-    auto mobj = obj.object_items();
-    int sz = mobj["size"].int_value();
-    LOGD("Thneed::save: adding output with size %d\n", sz);
-    // TODO: support multiple outputs
-    output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
-    assert(output != NULL);
-  }
-
-  for (auto &obj : jdat["binaries"].array_items()) {
-    string name = obj["name"].string_value();
-    size_t length = obj["length"].int_value();
-    if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length);
-    g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length);
-    ptr += length;
-  }
-
-  for (auto &obj : jdat["kernels"].array_items()) {
-    auto gws = obj["global_work_size"];
-    auto lws = obj["local_work_size"];
-    auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this));
-
-    kk->name = obj["name"].string_value();
-    kk->program = g_programs[kk->name];
-    kk->work_dim = obj["work_dim"].int_value();
-    for (int i = 0; i < kk->work_dim; i++) {
-      kk->global_work_size[i] = gws[i].int_value();
-      kk->local_work_size[i] = lws[i].int_value();
-    }
-    kk->num_args = obj["num_args"].int_value();
-    for (int i = 0; i < kk->num_args; i++) {
-      string arg = obj["args"].array_items()[i].string_value();
-      int arg_size = obj["args_size"].array_items()[i].int_value();
-      kk->args_size.push_back(arg_size);
-      if (arg_size == 8) {
-        cl_mem val = *(cl_mem*)(arg.data());
-        val = real_mem[val];
-        kk->args.push_back(string((char*)&val, sizeof(val)));
-      } else {
-        kk->args.push_back(arg);
-      }
-    }
-    kq.push_back(kk);
-  }
-
-  clFinish(command_queue);
-}
diff --git a/sunnypilot/modeld/thneed/thneed.h b/sunnypilot/modeld/thneed/thneed.h
deleted file mode 100644
index 47e18e0be3..0000000000
--- a/sunnypilot/modeld/thneed/thneed.h
+++ /dev/null
@@ -1,133 +0,0 @@
-#pragma once
-
-#ifndef __user
-#define __user __attribute__(())
-#endif
-
-#include <cstdint>
-#include <cstdlib>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include <CL/cl.h>
-
-#include "third_party/linux/include/msm_kgsl.h"
-
-using namespace std;
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value);
-
-namespace json11 {
-  class Json;
-}
-class Thneed;
-
-class GPUMalloc {
-  public:
-    GPUMalloc(int size, int fd);
-    ~GPUMalloc();
-    void *alloc(int size);
-  private:
-    uint64_t base;
-    int remaining;
-};
-
-class CLQueuedKernel {
-  public:
-    CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
-    CLQueuedKernel(Thneed *lthneed,
-                   cl_kernel _kernel,
-                   cl_uint _work_dim,
-                   const size_t *_global_work_size,
-                   const size_t *_local_work_size);
-    cl_int exec();
-    void debug_print(bool verbose);
-    int get_arg_num(const char *search_arg_name);
-    cl_program program;
-    string name;
-    cl_uint num_args;
-    vector<string> arg_names;
-    vector<string> arg_types;
-    vector<string> args;
-    vector<int> args_size;
-    cl_kernel kernel = NULL;
-    json11::Json to_json() const;
-
-    cl_uint work_dim;
-    size_t global_work_size[3] = {0};
-    size_t local_work_size[3] = {0};
-  private:
-    Thneed *thneed;
-};
-
-class CachedIoctl {
-  public:
-    virtual void exec() {}
-};
-
-class CachedSync: public CachedIoctl {
-  public:
-    CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
-    void exec();
-  private:
-    Thneed *thneed;
-    string data;
-};
-
-class CachedCommand: public CachedIoctl {
-  public:
-    CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
-    void exec();
-  private:
-    void disassemble(int cmd_index);
-    struct kgsl_gpu_command cache;
-    unique_ptr<kgsl_command_object[]> cmds;
-    unique_ptr<kgsl_command_object[]> objs;
-    Thneed *thneed;
-    vector<shared_ptr<CLQueuedKernel> > kq;
-};
-
-class Thneed {
-  public:
-    Thneed(bool do_clinit=false, cl_context _context = NULL);
-    void stop();
-    void execute(float **finputs, float *foutput, bool slow=false);
-    void wait();
-
-    vector<cl_mem> input_clmem;
-    vector<void *> inputs;
-    vector<size_t> input_sizes;
-    cl_mem output = NULL;
-
-    cl_context context = NULL;
-    cl_command_queue command_queue;
-    cl_device_id device_id;
-    int context_id;
-
-    // protected?
-    bool record = false;
-    int debug;
-    int timestamp;
-
-#ifdef QCOM2
-    unique_ptr<GPUMalloc> ram;
-    vector<unique_ptr<CachedIoctl> > cmds;
-    int fd;
-#endif
-
-    // all CL kernels
-    void copy_inputs(float **finputs, bool internal=false);
-    void copy_output(float *foutput);
-    cl_int clexec();
-    vector<shared_ptr<CLQueuedKernel> > kq;
-
-    // pending CL kernels
-    vector<shared_ptr<CLQueuedKernel> > ckq;
-
-    // loading
-    void load(const char *filename);
-  private:
-    void clinit();
-};
-
diff --git a/sunnypilot/modeld/thneed/thneed_common.cc b/sunnypilot/modeld/thneed/thneed_common.cc
deleted file mode 100644
index 56fbe70d8f..0000000000
--- a/sunnypilot/modeld/thneed/thneed_common.cc
+++ /dev/null
@@ -1,216 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-#include <cstring>
-#include <map>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-map<pair<cl_kernel, int>, string> g_args;
-map<pair<cl_kernel, int>, int> g_args_size;
-map<cl_program, string> g_program_source;
-
-void Thneed::stop() {
-  //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
-  record = false;
-}
-
-void Thneed::clinit() {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-  //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
-  cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
-  command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
-  printf("Thneed::clinit done\n");
-}
-
-cl_int Thneed::clexec() {
-  if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
-  for (auto &k : kq) {
-    if (record) ckq.push_back(k);
-    cl_int ret = k->exec();
-    assert(ret == CL_SUCCESS);
-  }
-  return clFinish(command_queue);
-}
-
-void Thneed::copy_inputs(float **finputs, bool internal) {
-  for (int idx = 0; idx < inputs.size(); ++idx) {
-    if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
-
-    if (internal) {
-      // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
-      if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
-    } else {
-      if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
-    }
-  }
-}
-
-void Thneed::copy_output(float *foutput) {
-  if (output != NULL) {
-    size_t sz;
-    clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-    if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
-    CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
-  } else {
-    printf("CAUTION: model output is NULL, does it have no outputs?\n");
-  }
-}
-
-// *********** CLQueuedKernel ***********
-
-CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
-                               cl_kernel _kernel,
-                               cl_uint _work_dim,
-                               const size_t *_global_work_size,
-                               const size_t *_local_work_size) {
-  thneed = lthneed;
-  kernel = _kernel;
-  work_dim = _work_dim;
-  assert(work_dim <= 3);
-  for (int i = 0; i < work_dim; i++) {
-    global_work_size[i] = _global_work_size[i];
-    local_work_size[i] = _local_work_size[i];
-  }
-
-  char _name[0x100];
-  clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
-  name = string(_name);
-  clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
-
-  // get args
-  for (int i = 0; i < num_args; i++) {
-    char arg_name[0x100] = {0};
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_names.push_back(string(arg_name));
-    clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-    arg_types.push_back(string(arg_name));
-
-    args.push_back(g_args[make_pair(kernel, i)]);
-    args_size.push_back(g_args_size[make_pair(kernel, i)]);
-  }
-
-  // get program
-  clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
-}
-
-int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
-  for (int i = 0; i < num_args; i++) {
-    if (arg_names[i] == search_arg_name) return i;
-  }
-  printf("failed to find %s in %s\n", search_arg_name, name.c_str());
-  assert(false);
-}
-
-cl_int CLQueuedKernel::exec() {
-  if (kernel == NULL) {
-    kernel = clCreateKernel(program, name.c_str(), NULL);
-    arg_names.clear();
-    arg_types.clear();
-
-    for (int j = 0; j < num_args; j++) {
-      char arg_name[0x100] = {0};
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_names.push_back(string(arg_name));
-      clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
-      arg_types.push_back(string(arg_name));
-
-      cl_int ret;
-      if (args[j].size() != 0) {
-        assert(args[j].size() == args_size[j]);
-        ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
-      } else {
-        ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
-      }
-      assert(ret == CL_SUCCESS);
-    }
-  }
-
-  if (thneed->debug >= 1) {
-    debug_print(thneed->debug >= 2);
-  }
-
-  return clEnqueueNDRangeKernel(thneed->command_queue,
-    kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
-}
-
-void CLQueuedKernel::debug_print(bool verbose) {
-  printf("%p %56s -- ", kernel, name.c_str());
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", global_work_size[i]);
-  }
-  printf(" -- ");
-  for (int i = 0; i < work_dim; i++) {
-    printf("%4zu ", local_work_size[i]);
-  }
-  printf("\n");
-
-  if (verbose) {
-    for (int i = 0; i < num_args; i++) {
-      string arg = args[i];
-      printf("  %s %s", arg_types[i].c_str(), arg_names[i].c_str());
-      void *arg_value = (void*)arg.data();
-      int arg_size = arg.size();
-      if (arg_size == 0) {
-        printf(" (size) %d", args_size[i]);
-      } else if (arg_size == 1) {
-        printf(" = %d", *((char*)arg_value));
-      } else if (arg_size == 2) {
-        printf(" = %d", *((short*)arg_value));
-      } else if (arg_size == 4) {
-        if (arg_types[i] == "float") {
-          printf(" = %f", *((float*)arg_value));
-        } else {
-          printf(" = %d", *((int*)arg_value));
-        }
-      } else if (arg_size == 8) {
-        cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
-        printf(" = %p", val);
-        if (val != NULL) {
-          cl_mem_object_type obj_type;
-          clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
-          if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
-            cl_image_format format;
-            size_t width, height, depth, array_size, row_pitch, slice_pitch;
-            cl_mem buf;
-            clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
-            assert(format.image_channel_order == CL_RGBA);
-            assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
-            clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
-            clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
-            clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
-            clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
-            clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
-            clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
-            assert(depth == 0);
-            assert(array_size == 0);
-            assert(slice_pitch == 0);
-
-            clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
-            size_t sz = 0;
-            if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
-          } else {
-            size_t sz;
-            clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
-            printf(" buffer %zu", sz);
-          }
-        }
-      }
-      printf("\n");
-    }
-  }
-}
-
-cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
-  g_args_size[make_pair(kernel, arg_index)] = arg_size;
-  if (arg_value != NULL) {
-    g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
-  } else {
-    g_args[make_pair(kernel, arg_index)] = string("");
-  }
-  cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
-  return ret;
-}
diff --git a/sunnypilot/modeld/thneed/thneed_pc.cc b/sunnypilot/modeld/thneed/thneed_pc.cc
deleted file mode 100644
index 629d0ee359..0000000000
--- a/sunnypilot/modeld/thneed/thneed_pc.cc
+++ /dev/null
@@ -1,32 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <cassert>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  context = _context;
-  if (do_clinit) clinit();
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs);
-
-  // ****** run commands
-  clexec();
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/thneed/thneed_qcom2.cc b/sunnypilot/modeld/thneed/thneed_qcom2.cc
deleted file mode 100644
index b940da1ce1..0000000000
--- a/sunnypilot/modeld/thneed/thneed_qcom2.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "sunnypilot/modeld/thneed/thneed.h"
-
-#include <dlfcn.h>
-#include <sys/mman.h>
-
-#include <cassert>
-#include <cerrno>
-#include <cstring>
-#include <map>
-#include <string>
-
-#include "common/clutil.h"
-#include "common/timing.h"
-
-Thneed *g_thneed = NULL;
-int g_fd = -1;
-
-void hexdump(uint8_t *d, int len) {
-  assert((len%4) == 0);
-  printf("  dumping %p len 0x%x\n", d, len);
-  for (int i = 0; i < len/4; i++) {
-    if (i != 0 && (i%0x10) == 0) printf("\n");
-    printf("%8x ", d[i]);
-  }
-  printf("\n");
-}
-
-// *********** ioctl interceptor ***********
-
-extern "C" {
-
-int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
-#undef ioctl
-int ioctl(int filedes, unsigned long request, void *argp) {
-  request &= 0xFFFFFFFF;  // needed on QCOM2
-  if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
-  Thneed *thneed = g_thneed;
-
-  // save the fd
-  if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes;
-
-  // note that this runs always, even without a thneed object
-  if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
-    struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
-    create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
-    printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
-  }
-
-  if (thneed != NULL) {
-    if (request == IOCTL_KGSL_GPU_COMMAND) {
-      struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp;
-      if (thneed->record) {
-        thneed->timestamp = cmd->timestamp;
-        thneed->context_id = cmd->context_id;
-        thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd)));
-      }
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx    context_id: %u  timestamp: %u  numcmds: %d  numobjs: %d\n",
-            thneed->cmds.size(),
-            cmd->flags,
-            cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs);
-      }
-    } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) {
-      struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp;
-      struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs);
-
-      if (thneed->debug >= 2) {
-        printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count);
-        for (int i = 0; i < cmd->count; i++) {
-          printf(" -- offset:0x%lx len:0x%lx id:%d op:%d  ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op);
-        }
-        printf("\n");
-      }
-
-      if (thneed->record) {
-        thneed->cmds.push_back(unique_ptr<CachedSync>(new
-              CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count))));
-      }
-    } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) {
-      struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp;
-      if (thneed->debug >= 1) {
-        printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d  timestamp: %d  timeout: %d\n",
-            cmd->context_id, cmd->timestamp, cmd->timeout);
-      }
-    } else if (request == IOCTL_KGSL_SETPROPERTY) {
-      if (thneed->debug >= 1) {
-        struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp;
-        printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes);
-        if (thneed->debug >= 2) {
-          hexdump((uint8_t *)prop->value, prop->sizebytes);
-          if (prop->type == KGSL_PROP_PWR_CONSTRAINT) {
-            struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value;
-            hexdump((uint8_t *)constraint->data, constraint->size);
-          }
-        }
-      }
-    } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) {
-      // this happens
-    } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) {
-      // this happens
-    } else {
-      if (thneed->debug >= 1) {
-        printf("other ioctl %lx\n", request);
-      }
-    }
-  }
-
-  int ret = my_ioctl(filedes, request, argp);
-  // NOTE: This error message goes into stdout and messes up pyenv
-  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
-  return ret;
-}
-
-}
-
-// *********** GPUMalloc ***********
-
-GPUMalloc::GPUMalloc(int size, int fd) {
-  struct kgsl_gpuobj_alloc alloc;
-  memset(&alloc, 0, sizeof(alloc));
-  alloc.size = size;
-  alloc.flags = 0x10000a00;
-  ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
-  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
-  assert(addr != MAP_FAILED);
-
-  base = (uint64_t)addr;
-  remaining = size;
-}
-
-GPUMalloc::~GPUMalloc() {
-  // TODO: free the GPU malloced area
-}
-
-void *GPUMalloc::alloc(int size) {
-  void *ret = (void*)base;
-  size = (size+0xff) & (~0xFF);
-  assert(size <= remaining);
-  remaining -= size;
-  base += size;
-  return ret;
-}
-
-// *********** CachedSync, at the ioctl layer ***********
-
-void CachedSync::exec() {
-  struct kgsl_gpuobj_sync cmd;
-
-  cmd.objs = (uint64_t)data.data();
-  cmd.obj_len = data.length();
-  cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj);
-
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd);
-  assert(ret == 0);
-}
-
-// *********** CachedCommand, at the ioctl layer ***********
-
-CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) {
-  thneed = lthneed;
-  assert(cmd->numsyncs == 0);
-
-  memcpy(&cache, cmd, sizeof(cache));
-
-  if (cmd->numcmds > 0) {
-    cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds);
-    memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds);
-    cache.cmdlist = (uint64_t)cmds.get();
-    for (int i = 0; i < cmd->numcmds; i++) {
-      void *nn = thneed->ram->alloc(cmds[i].size);
-      memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size);
-      cmds[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  if (cmd->numobjs > 0) {
-    objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs);
-    memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs);
-    cache.objlist = (uint64_t)objs.get();
-    for (int i = 0; i < cmd->numobjs; i++) {
-      void *nn = thneed->ram->alloc(objs[i].size);
-      memset(nn, 0, objs[i].size);
-      objs[i].gpuaddr = (uint64_t)nn;
-    }
-  }
-
-  kq = thneed->ckq;
-  thneed->ckq.clear();
-}
-
-void CachedCommand::exec() {
-  cache.timestamp = ++thneed->timestamp;
-  int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache);
-
-  if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret);
-
-  if (thneed->debug >= 2) {
-    for (auto &it : kq) {
-      it->debug_print(false);
-    }
-  }
-
-  assert(ret == 0);
-}
-
-// *********** Thneed ***********
-
-Thneed::Thneed(bool do_clinit, cl_context _context) {
-  // TODO: QCOM2 actually requires a different context
-  //context = _context;
-  if (do_clinit) clinit();
-  assert(g_fd != -1);
-  fd = g_fd;
-  ram = make_unique<GPUMalloc>(0x80000, fd);
-  timestamp = -1;
-  g_thneed = this;
-  char *thneed_debug_env = getenv("THNEED_DEBUG");
-  debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
-}
-
-void Thneed::wait() {
-  struct kgsl_device_waittimestamp_ctxtid wait;
-  wait.context_id = context_id;
-  wait.timestamp = timestamp;
-  wait.timeout = -1;
-
-  uint64_t tb = nanos_since_boot();
-  int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait);
-  uint64_t te = nanos_since_boot();
-
-  if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000);
-}
-
-void Thneed::execute(float **finputs, float *foutput, bool slow) {
-  uint64_t tb, te;
-  if (debug >= 1) tb = nanos_since_boot();
-
-  // ****** copy inputs
-  copy_inputs(finputs, true);
-
-  // ****** run commands
-  int i = 0;
-  for (auto &it : cmds) {
-    ++i;
-    if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000);
-    it->exec();
-    if ((i == cmds.size()) || slow) wait();
-  }
-
-  // ****** copy outputs
-  copy_output(foutput);
-
-  if (debug >= 1) {
-    te = nanos_since_boot();
-    printf("model exec in %lu us\n", (te-tb)/1000);
-  }
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cc b/sunnypilot/modeld/transforms/loadyuv.cc
deleted file mode 100644
index f7d571416c..0000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,74 +0,0 @@
-#include "sunnypilot/modeld/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift) {
-  cl_int global_out_off = 0;
-  if (do_shift) {
-    // shift the image in slot 1 to slot 0, then place the new image in slot 1
-    global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2;
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl));
-    CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off));
-    const size_t copy_work_size = global_out_off/8;
-    CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                                &copy_work_size, NULL, 0, 0, NULL));
-  }
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.cl b/sunnypilot/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 7dd3d973a3..0000000000
--- a/sunnypilot/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
-
-    // 02
-    // 13
-
-    __global float* outy0;
-    __global float* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
-}
-
-__kernel void copy(__global float8 * inout,
-                   int in_offset)
-{
-  const int gid = get_global_id(0);
-  inout[gid] = inout[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld/transforms/loadyuv.h b/sunnypilot/modeld/transforms/loadyuv.h
deleted file mode 100644
index 7d27ef5d46..0000000000
--- a/sunnypilot/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl, bool do_shift = false);
diff --git a/sunnypilot/modeld/transforms/transform.cc b/sunnypilot/modeld/transforms/transform.cc
deleted file mode 100644
index ebab670b53..0000000000
--- a/sunnypilot/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld/transforms/transform.cl b/sunnypilot/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/sunnypilot/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld/transforms/transform.h b/sunnypilot/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/sunnypilot/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 4ade1469f0..ddf889c0c0 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -1,32 +1,59 @@
+import os
 import glob
 
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+Import('env', 'arch')
 lenv = env.Clone()
-lenvCython = envCython.Clone()
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
 
-libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'kj', 'pthread']
-frameworks = []
+# Get model metadata
+PC = not os.path.isfile('/TICI')
+if PC:
+  inputs = tinygrad_files + [File(Dir("#sunnypilot/modeld_v2").File("install_models_pc.py").abspath)]
+  outputs = []
+  model_dir = Dir("models").abspath
+  cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/install_models_pc.py {model_dir}'
 
-common_src = [
-  "models/commonmodel.cc",
-  "transforms/loadyuv.cc",
-  "transforms/transform.cc",
-]
+  for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
+    if File(f"models/{model_name}.onnx").exists():
+        inputs.append(File(f"models/{model_name}.onnx"))
+        inputs.append(File(f"models/{model_name}_tinygrad.pkl"))
+        outputs.append(File(f"models/{model_name}_metadata.pkl"))
+  if outputs:
+    lenv.Command(outputs, inputs, cmd)
 
+tg_flags = {
+  'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+  'Darwin': f'DEV=CPU THREADS=0 HOME={os.path.expanduser("~")}',
+}.get(arch, 'DEV=CPU CPU_LLVM=1 THREADS=0')
 
-# OpenCL is a framework on Mac
-if arch == "Darwin":
-  frameworks += ['OpenCL']
-else:
-  libs += ['OpenCL']
+image_flag = {
+  'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
 
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
-  for xenv in (lenv, lenvCython):
-    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  fn = File(f"models/{model_name}").abspath
+  out = fn + "_tinygrad.pkl"
 
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+  return lenv.Command(
+    out,
+    [fn + ".onnx"] + tinygrad_files,
+    f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {out}'
+  )
 
+# Compile models
+for model_name in ['supercombo', 'driving_vision', 'driving_off_policy', 'driving_policy']:
+  if File(f"models/{model_name}.onnx").exists():
+    tg_compile(tg_flags, model_name)
+
+script_files = [File("warp.py"), File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
+pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + ':' + env.Dir("#").abspath + '"'
+compile_warp_cmd = f'{pythonpath_string} {tg_flags} python3 -m sunnypilot.modeld_v2.warp'
+
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+warp_targets = []
+for cam in [_ar_ox_fisheye, _os_fisheye]:
+  w, h = cam.width, cam.height
+  for bl in [2, 5]:
+    warp_targets.append(File(f"models/warp_{w}x{h}_b{bl}_tinygrad.pkl").abspath)
+lenv.Command(warp_targets, tinygrad_files + script_files, compile_warp_cmd)
diff --git a/sunnypilot/modeld_v2/camera_offset_helper.py b/sunnypilot/modeld_v2/camera_offset_helper.py
new file mode 100644
index 0000000000..7502c3eeb0
--- /dev/null
+++ b/sunnypilot/modeld_v2/camera_offset_helper.py
@@ -0,0 +1,39 @@
+"""
+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.
+"""
+import numpy as np
+
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+
+
+class CameraOffsetHelper:
+  def __init__(self):
+    self.camera_offset = 0.0
+    self.actual_camera_offset = 0.0
+
+  @staticmethod
+  def apply_camera_offset(model_transform, intrinsics, height, offset_param):
+    cy = intrinsics[1, 2]
+    shear = np.eye(3, dtype=np.float32)
+    shear[0, 1] = offset_param / height
+    shear[0, 2] = -offset_param / height * cy
+    model_transform = (shear @ model_transform).astype(np.float32)
+    return model_transform
+
+  def set_offset(self, offset):
+    self.camera_offset = offset
+
+  def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera):
+    self.actual_camera_offset = (0.9 * self.actual_camera_offset) + (0.1 * self.camera_offset)
+    dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+    height = sm["liveCalibration"].height[0] if sm['liveCalibration'].height else 1.22
+
+    intrinsics_main = dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics
+    model_transform_main = self.apply_camera_offset(model_transform_main, intrinsics_main, height, self.actual_camera_offset)
+
+    intrinsics_extra = dc.ecam.intrinsics
+    model_transform_extra = self.apply_camera_offset(model_transform_extra, intrinsics_extra, height, self.actual_camera_offset)
+    return model_transform_main, model_transform_extra
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index c6129936ca..57e968d02f 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -3,30 +3,21 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.sunnypilot.models.helpers import plan_x_idxs_helper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2 * curv_from_psi - psi_rate / vego
+def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
+  if not mlsim:
+    if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
+      return float(desired_curv[0, 0])
 
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
-
-def get_curvature_from_output(output, vego, delay):
-  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
-    return float(desired_curv[0, 0])
-
-  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
+  return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
+                                       ModelConstants.T_IDXS, vego, lat_action_t))
 
 
 class PublishState:
@@ -76,7 +67,7 @@ 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, model_meta) -> None:
@@ -85,15 +76,13 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
   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 = desired_curvature
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -111,7 +100,7 @@ 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 = modelV2.temporalPoseDEPRECATED
   if 'sim_pose' in net_output_data:
     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()
@@ -126,33 +115,17 @@ 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 = desired_curvature
+  # action (includes lateral planning now)
+  modelV2.action = action
 
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+  # times at X_IDXS of edges and lines
+  LINE_T_IDXS: list[float] = plan_x_idxs_helper(ModelConstants, Plan, net_output_data)
 
   # lane lines
   modelV2.init('laneLines', 4)
   for i in range(4):
     lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+    fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
@@ -162,7 +135,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.init('roadEdges', 2)
   for i in range(2):
     road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+    fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
   modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
 
   # leads
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py
index 144860204f..838b1e9f40 100755
--- a/sunnypilot/modeld_v2/get_model_metadata.py
+++ b/sunnypilot/modeld_v2/get_model_metadata.py
@@ -1,25 +1,52 @@
 #!/usr/bin/env python3
 import sys
 import pathlib
-import onnx
 import codecs
 import pickle
+from typing import Any
 
-def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
-  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
-  name = value_info.name
+from tinygrad.nn.onnx import OnnxPBParser
+
+
+class MetadataOnnxPBParser(OnnxPBParser):
+  def _parse_ModelProto(self) -> dict:
+    obj: dict[str, Any] = {"graph": {"input": [], "output": []}, "metadata_props": []}
+    for fid, wire_type in self._parse_message(self.reader.len):
+      match fid:
+        case 7:
+          obj["graph"] = self._parse_GraphProto()
+        case 14:
+          obj["metadata_props"].append(self._parse_StringStringEntryProto())
+        case _:
+          self.reader.skip_field(wire_type)
+    return obj
+
+
+def get_name_and_shape(value_info: dict[str, Any]) -> tuple[str, tuple[int, ...]]:
+  shape = tuple(int(dim) if isinstance(dim, int) else 0 for dim in value_info["parsed_type"].shape)
+  name = value_info["name"]
   return name, shape
 
+
+def get_metadata_value_by_name(model: dict[str, Any], name: str) -> str | Any:
+  for prop in model["metadata_props"]:
+    if prop["key"] == name:
+      return prop["value"]
+  return None
+
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
-  model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
+  model = MetadataOnnxPBParser(model_path).parse()
+  output_slices = get_metadata_value_by_name(model, 'output_slices')
+  assert output_slices is not None, 'output_slices not found in metadata'
 
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+  metadata = {
+    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+    'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
+  }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
   with open(metadata_path, 'wb') as f:
diff --git a/sunnypilot/modeld_v2/install_models_pc.py b/sunnypilot/modeld_v2/install_models_pc.py
new file mode 100755
index 0000000000..d203de3487
--- /dev/null
+++ b/sunnypilot/modeld_v2/install_models_pc.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import sys
+import shutil
+import pickle
+import codecs
+from pathlib import Path
+
+from openpilot.system.hardware.hw import Paths
+from sunnypilot.modeld_v2.get_model_metadata import MetadataOnnxPBParser, get_name_and_shape, get_metadata_value_by_name
+
+
+def generate_metadata_pkl(model_path, output_path):
+  try:
+    model = MetadataOnnxPBParser(model_path).parse()
+    output_slices = get_metadata_value_by_name(model, 'output_slices')
+    if not output_slices:
+      return False
+    metadata = {
+      'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+      'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+      'input_shapes': dict(get_name_and_shape(x) for x in model["graph"]["input"]),
+      'output_shapes': dict(get_name_and_shape(x) for x in model["graph"]["output"]),
+    }
+    with open(output_path, 'wb') as f:
+      pickle.dump(metadata, f)
+    return True
+  except Exception:
+    return False
+
+
+def install_models(model_dir):
+  model_dir = Path(model_dir)
+  models = ["driving_off_policy", "driving_policy", "driving_vision"]
+  found_models = []
+
+  for model in models:
+    if (model_dir / f"{model}.onnx").exists():
+      found_models.append(model)
+
+  if not found_models:
+    return
+
+  try:
+    custom_name = input(f"Found models ({', '.join(found_models)}). Enter model short name (e.g. wmiv4): ").strip()
+  except EOFError:
+    return
+
+  if not custom_name:
+    print("No name provided, skipping installation.")
+    return
+
+  dest_dir = Path(Paths.model_root())
+  dest_dir.mkdir(parents=True, exist_ok=True)
+
+  for model in found_models:
+    onnx_path = model_dir / f"{model}.onnx"
+    tinygrad_pkl = model_dir / f"{model}_tinygrad.pkl"
+    metadata_pkl = model_dir / f"{model}_metadata.pkl"
+
+    if not metadata_pkl.exists():
+      generate_metadata_pkl(onnx_path, metadata_pkl)
+
+    dest_tinygrad = dest_dir / f"{model}_{custom_name}_tinygrad.pkl"
+    dest_metadata = dest_dir / f"{model}_{custom_name}_metadata.pkl"
+
+    if tinygrad_pkl.exists():
+      shutil.move(str(tinygrad_pkl), str(dest_tinygrad))
+    if metadata_pkl.exists():
+      shutil.move(str(metadata_pkl), str(dest_metadata))
+
+if __name__ == "__main__":
+  if len(sys.argv) < 2:
+    print("Usage: install_models_pc.py <model_dir>")
+    sys.exit(1)
+  install_models(sys.argv[1])
diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
deleted file mode 100644
index 10c80b8769..0000000000
--- a/sunnypilot/modeld_v2/model_runner.py
+++ /dev/null
@@ -1,142 +0,0 @@
-import os
-import pickle
-from abc import ABC, abstractmethod
-import numpy as np
-
-from cereal import custom
-from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
-from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
-from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.system.hardware import TICI
-from openpilot.system.hardware.hw import Paths
-
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from tinygrad.tensor import Tensor
-
-if TICI:
-  os.environ['QCOM'] = '1'
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-CUSTOM_MODEL_PATH = Paths.model_root()
-ModelManager = custom.ModelManagerSP
-
-
-class ModelRunner(ABC):
-  """Abstract base class for model runners that defines the interface for running ML models."""
-
-  def __init__(self):
-    """Initialize the model runner with paths to model and metadata files."""
-    metadata_path = METADATA_PATH
-    self.is_20hz = None
-    self._drive_model = None
-    self._metadata_model = None
-
-    if bundle := get_active_bundle():
-      bundle_models = {model.type.raw: model for model in bundle.models}
-      self._drive_model = bundle_models.get(ModelManager.Model.Type.supercombo)
-      self._metadata_model = self._drive_model.metadata
-      self.is_20hz = bundle.is20hz
-
-    # Override the metadata path if a metadata model is found in the active bundle
-    if self._metadata_model:
-      metadata_path = f"{CUSTOM_MODEL_PATH}/{self._metadata_model.fileName}"
-
-    with open(metadata_path, 'rb') as f:
-      self.model_metadata = pickle.load(f)
-
-    self.input_shapes = self.model_metadata['input_shapes']
-    self.output_slices = self.model_metadata['output_slices']
-    self.inputs: dict = {}
-    self.parser = Parser()
-
-  @abstractmethod
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    """Prepare inputs for model inference."""
-    raise NotImplementedError
-
-  @abstractmethod
-  def _run_model(self):
-    """Run model inference with prepared inputs."""
-    raise NotImplementedError("This method should be implemented in subclasses.")
-
-  def _slice_outputs(self, model_outputs: np.ndarray) -> dict:
-    """Slice model outputs according to metadata configuration."""
-    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_outputs
-
-  def run_model(self) -> dict[str, np.ndarray]:
-    """Run model inference with prepared inputs and parse outputs."""
-    result: dict[str, np.ndarray] = self.parser.parse_outputs(self._slice_outputs(self._run_model()))
-    return result
-
-
-class TinygradRunner(ModelRunner):
-  """Tinygrad implementation of model runner for TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-
-    model_pkl_path = MODEL_PKL_PATH
-    if self._drive_model:
-      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.artifact.fileName}"
-      assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"
-
-    # Load Tinygrad model
-    with open(model_pkl_path, "rb") as f:
-      try:
-        self.model_run = pickle.load(f)
-      except FileNotFoundError as e:
-        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
-        raise
-
-    self.input_to_dtype = {}
-    self.input_to_device = {}
-
-    for idx, name in enumerate(self.model_run.captured.expected_names):
-      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
-      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    # Initialize image tensors if not already done
-    for key in imgs_cl:
-      if TICI and key not in self.inputs:
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
-      elif not TICI:
-        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-    # Update numpy inputs
-    for key, value in numpy_inputs.items():
-      if key not in imgs_cl:
-        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-    return self.inputs
-
-  def _run_model(self):
-    return self.model_run(**self.inputs).numpy().flatten()
-
-
-class ONNXRunner(ModelRunner):
-  """ONNX implementation of model runner for non-TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-
-    self.input_to_nptype = {
-      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
-      for model_input in self.runner.get_inputs()
-    }
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    self.inputs = numpy_inputs
-    for key in imgs_cl:
-      self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
-    return self.inputs
-
-  def _run_model(self):
-    return self.runner.run(None, self.inputs)[0].flatten()
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index a52d844aeb..f862286181 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,7 +1,11 @@
 #!/usr/bin/env python3
+import os
 from openpilot.system.hardware import TICI
-
-#
+os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['DEV'] = 'AMD'
+  os.environ['AMD_IFACE'] = 'USB'
 import time
 import numpy as np
 import cereal.messaging as messaging
@@ -13,20 +17,25 @@ 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.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
+from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.warp import Warp
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
+from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
 
-PROCESS_NAME = "selfdrive.modeld.modeld"
-LAT_SMOOTH_SECONDS = 0.0
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.helpers import get_model_runner
+
+PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
 
 
 class FrameMeta:
@@ -38,62 +47,91 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
-class ModelState:
-  frames: dict[str, DrivingModelFrame]
+
+class ModelState(ModelStateBase):
+  frames: dict[str, Warp]
   inputs: dict[str, np.ndarray]
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  temporal_idxs: slice | np.ndarray
 
-  def __init__(self, context: CLContext):
+  def __init__(self):
+    ModelStateBase.__init__(self)
     try:
-      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
+      self.model_runner = get_model_runner()
+      self.constants = self.model_runner.constants
     except Exception as e:
       cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
+      raise
+
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
+    overrides = {override.key: override.value for override in model_bundle.overrides}
+
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0"))
+    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
+    self.MIN_LAT_CONTROL_SPEED = 0.3
+    self.PLANPLUS_CONTROL: float = 1.0
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if self.model_runner.is_20hz:
-      self.full_features_buffer = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.full_desire = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
-
-    # img buffers are managed in openCL transform code
+    self.warp = Warp(buffer_length)
+    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
     self.numpy_inputs = {}
+    self.temporal_buffers = {}
+    self.temporal_idxs_map = {}
 
     for key, shape in self.model_runner.input_shapes.items():
-      if key not in self.frames: # Managed by opencl
+      if key not in self.model_runner.vision_input_names: # Policy inputs
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    if self.model_runner.is_20hz:
-      num_elements = self.numpy_inputs['features_buffer'].shape[1]
-      step_size = int(-100 / num_elements)
-      self.full_features_buffer_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
+        # Temporal input: shape is [batch, history, features]
+        if len(shape) == 3 and shape[1] > 1:
+          buffer_history_len = shape[1] * 4 if shape[1] < 99 else shape[1]  # Allow for higher history buffers in the future
+          feature_len = shape[2]
+          features_buffer_shape = self.model_runner.input_shapes.get('features_buffer')
+          if shape[1] in (24, 25) and features_buffer_shape is not None and features_buffer_shape[1] == 24:  # 20Hz
+            buffer_history_len = (features_buffer_shape[1] + 1) * 4
+            step = int(-buffer_history_len / shape[1])
+            self.temporal_idxs_map[key] = np.arange(step, step * (shape[1] + 1), step)[::-1]
+          elif shape[1] == 25:  # Split
+            skip = buffer_history_len // shape[1]
+            self.temporal_idxs_map[key] = np.arange(buffer_history_len)[-1 - (skip * (shape[1] - 1))::skip]
+          elif shape[1] >= 99:  # non20hz
+            self.temporal_idxs_map[key] = np.arange(shape[1])
+          self.temporal_buffers[key] = np.zeros((1, buffer_history_len, feature_len), dtype=np.float32)
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  @property
+  def mlsim(self) -> bool:
+    return bool(self.generation is not None and self.generation >= 11)
+
+  @property
+  def desire_key(self) -> str:
+    return next(key for key in self.numpy_inputs if key.startswith('desire'))
+
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
-    inputs['desire'][0] = 0
-    new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
-    self.prev_desire[:] = inputs['desire']
+    inputs[self.desire_key][0] = 0
+    new_desire = np.where(inputs[self.desire_key] - self.prev_desire > .99, inputs[self.desire_key], 0)
+    self.prev_desire[:] = inputs[self.desire_key]
+    self.temporal_buffers[self.desire_key][0,:-1] = self.temporal_buffers[self.desire_key][0,1:]
+    self.temporal_buffers[self.desire_key][0,-1] = new_desire
 
-    if self.model_runner.is_20hz:
-      self.full_desire[:-1] = self.full_desire[1:]
-      self.full_desire[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
+    # Roll buffer and assign based on desire.shape[1] value
+    if self.temporal_buffers[self.desire_key].shape[1] > self.numpy_inputs[self.desire_key].shape[1]:
+      skip = self.temporal_buffers[self.desire_key].shape[1] // self.numpy_inputs[self.desire_key].shape[1]
+      self.numpy_inputs[self.desire_key][:] = (self.temporal_buffers[self.desire_key][0].reshape(
+                                               self.numpy_inputs[self.desire_key].shape[0], self.numpy_inputs[self.desire_key].shape[1], skip, -1).max(axis=2))
     else:
-      length = inputs['desire'].shape[0]
-      self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
-      self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
+      self.numpy_inputs[self.desire_key][:] = self.temporal_buffers[self.desire_key][0, self.temporal_idxs_map[self.desire_key]]
 
     for key in self.numpy_inputs:
-      if key in inputs and key not in ['desire']:
+      if key in inputs and key not in [self.desire_key]:
         self.numpy_inputs[key][:] = inputs[key]
 
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
-
-    # Prepare inputs using the model runner
-    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
+    imgs_tensors = self.warp.process(bufs, transforms)
+    for name, tensor in imgs_tensors.items():
+      self.model_runner.inputs[name] = tensor
+    self.model_runner.prepare_inputs(self.numpy_inputs)
 
     if prepare_only:
       return None
@@ -101,29 +139,44 @@ class ModelState:
     # Run model inference
     outputs = self.model_runner.run_model()
 
-    if self.model_runner.is_20hz:
-      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
-      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.full_features_buffer_idxs]
-    else:
-      feature_len = outputs['hidden_state'].shape[1]
-      self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
-      self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
+    # Update features_buffer
+    self.temporal_buffers['features_buffer'][0, :-1] = self.temporal_buffers['features_buffer'][0, 1:]
+    self.temporal_buffers['features_buffer'][0, -1] = outputs['hidden_state'][0, :]
+    self.numpy_inputs['features_buffer'][:] = self.temporal_buffers['features_buffer'][0, self.temporal_idxs_map['features_buffer']]
 
     if "desired_curvature" in outputs:
       input_name_prev = None
-
-      if "prev_desired_curvs" in self.numpy_inputs.keys():
-        input_name_prev = 'prev_desired_curvs'
-      elif "prev_desired_curv" in self.numpy_inputs.keys():
+      if "prev_desired_curv" in self.numpy_inputs.keys():
         input_name_prev = 'prev_desired_curv'
+      if input_name_prev and input_name_prev in self.temporal_buffers:
+        self.process_desired_curvature(outputs, input_name_prev)
 
-      if input_name_prev is not None:
-        length = outputs['desired_curvature'][0].size
-        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
     return outputs
 
+  def process_desired_curvature(self, outputs, input_name_prev):
+    self.temporal_buffers[input_name_prev][0,:-1] = self.temporal_buffers[input_name_prev][0,1:]
+    self.temporal_buffers[input_name_prev][0,-1,:] = outputs['desired_curvature'][0, :]
+    self.numpy_inputs[input_name_prev][:] = self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+    if self.mlsim:
+      self.numpy_inputs[input_name_prev][:] = 0*self.temporal_buffers[input_name_prev][0, self.temporal_idxs_map[input_name_prev]]
+
+  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: 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], self.constants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
+
+    curvature_plan = plan + (self.PLANPLUS_CONTROL - 1.0) * model_output['planplus'][0] if 'planplus' in model_output and self.PLANPLUS_CONTROL != 1.0 else plan
+    desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim)
+    if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
+      if v_ego > self.MIN_LAT_CONTROL_SPEED:
+        desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+      else:
+        desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
@@ -133,10 +186,8 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  cloudlog.warning("setting up CL context")
-  cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
-  model = ModelState(cl_context)
+  cloudlog.warning("loading model")
+  model = ModelState()
   cloudlog.warning("models loaded, modeld starting")
 
   # visionipc clients
@@ -149,8 +200,8 @@ def main(demo=False):
     time.sleep(.1)
 
   vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
-  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
-  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
   cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
 
   while not vipc_client_main.connect(False):
@@ -163,14 +214,14 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "modelDataV2SP"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -181,6 +232,7 @@ def main(demo=False):
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
+  camera_offset_helper = CameraOffsetHelper()
 
 
   if demo:
@@ -189,8 +241,9 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # Enable lagd support for modeld_v2
-  steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -220,7 +273,7 @@ def main(demo=False):
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
         cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+                       extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
 
     else:
       # Use single camera
@@ -232,18 +285,24 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    if sm.frame % 60 == 0:
+      model.lat_delay = get_lat_delay(params, sm["liveDelay"].lateralDelay)
+      model.PLANPLUS_CONTROL = params.get("PlanplusControl", return_default=True)
+      camera_offset_helper.set_offset(params.get("CameraOffset", return_default=True))
+    lat_delay = model.lat_delay + model.LAT_SMOOTH_SECONDS
     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))]
       model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      model_transform_main, model_transform_extra = camera_offset_helper.update(model_transform_main, model_transform_extra, sm, main_wide_camera)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
     traffic_convention[int(is_rhd)] = 1
 
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+    vec_desire = np.zeros(model.constants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < model.constants.DESIRE_LEN:
       vec_desire[desire] = 1
 
     # tracked dropped frames
@@ -259,16 +318,18 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
-      'desire': vec_desire,
+      model.desire_key: vec_desire,
       'traffic_convention': traffic_convention,
     }
 
     if "lateral_control_params" in model.numpy_inputs.keys():
-      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
+      inputs['lateral_control_params'] = np.array([v_ego, lat_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
@@ -276,7 +337,11 @@ 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,
+      mdv2sp_send = messaging.new_message('modelDataV2SP')
+
+      action = model.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,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
 
@@ -287,6 +352,7 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
       drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
       drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
@@ -294,6 +360,7 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+      pm.send('modelDataV2SP', mdv2sp_send)
     last_vipc_frame_id = meta_main.frame_id
 
 
diff --git a/sunnypilot/modeld_v2/modeld_base.py b/sunnypilot/modeld_v2/modeld_base.py
new file mode 100644
index 0000000000..ba57659b09
--- /dev/null
+++ b/sunnypilot/modeld_v2/modeld_base.py
@@ -0,0 +1,12 @@
+"""
+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.
+"""
+from openpilot.common.params import Params
+
+
+class ModelStateBase:
+  def __init__(self):
+    self.lat_delay = Params().get("LagdValueCache", return_default=True)
diff --git a/sunnypilot/modeld_v2/models/commonmodel.cc b/sunnypilot/modeld_v2/models/commonmodel.cc
deleted file mode 100644
index 5cd3a84fcc..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.cc
+++ /dev/null
@@ -1,62 +0,0 @@
-#include "sunnypilot/modeld_v2/models/commonmodel.h"
-
-#include <cmath>
-#include <cstring>
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length) : ModelFrame(device_id, context), buffer_length(buffer_length) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buffer_length*frame_size_bytes, NULL, &err));
-  region.origin = (buffer_length - 1)  * frame_size_bytes;
-  region.size = frame_size_bytes;
-  last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
-  // printf("Buffer length: %d, region origin: %lu, region size: %lu\n", buffer_length, region.origin, region.size);
-
-  loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
-  for (int i = 0; i < (buffer_length - 1); i++) {
-    CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
-  }
-  loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
-  copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
-  copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
-  // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
-  clFinish(q);
-  return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
-  deinit_transform();
-  loadyuv_destroy(&loadyuv);
-  CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
-  CL_CHECK(clReleaseMemObject(last_img_cl));
-  CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
-  input_frames = std::make_unique<uint8_t[]>(buf_size);
-  input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
-  init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-  run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-  clFinish(q);
-  return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
-  deinit_transform();
-  CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/sunnypilot/modeld_v2/models/commonmodel.h b/sunnypilot/modeld_v2/models/commonmodel.h
deleted file mode 100644
index 8203e064e0..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include <cfloat>
-#include <cstdlib>
-#include <cassert>
-
-#include <memory>
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
-#include "sunnypilot/modeld_v2/transforms/transform.h"
-
-class ModelFrame {
-public:
-  ModelFrame(cl_device_id device_id, cl_context context) {
-    q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
-  }
-  virtual ~ModelFrame() {}
-  virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
-  uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
-    CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
-    clFinish(q);
-    return &input_frames[0];
-  }
-
-  int MODEL_WIDTH;
-  int MODEL_HEIGHT;
-  int MODEL_FRAME_SIZE;
-  int buf_size;
-
-protected:
-  cl_mem y_cl, u_cl, v_cl;
-  Transform transform;
-  cl_command_queue q;
-  std::unique_ptr<uint8_t[]> input_frames;
-
-  void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
-    y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
-    u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
-    transform_init(&transform, context, device_id);
-  }
-
-  void deinit_transform() {
-    transform_destroy(&transform);
-    CL_CHECK(clReleaseMemObject(v_cl));
-    CL_CHECK(clReleaseMemObject(u_cl));
-    CL_CHECK(clReleaseMemObject(y_cl));
-  }
-
-  void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
-    transform_queue(&transform, q,
-        yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-        y_cl, u_cl, v_cl, model_width, model_height, projection);
-  }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context, uint8_t buffer_length);
-  ~DrivingModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 512;
-  const int MODEL_HEIGHT = 256;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
-  const int buf_size = MODEL_FRAME_SIZE * 2;
-  const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-  const uint8_t buffer_length;
-
-private:
-  LoadYUVState loadyuv;
-  cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
-  cl_buffer_region region;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
-  MonitoringModelFrame(cl_device_id device_id, cl_context context);
-  ~MonitoringModelFrame();
-  cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
-  const int MODEL_WIDTH = 1440;
-  const int MODEL_HEIGHT = 960;
-  const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
-  const int buf_size = MODEL_FRAME_SIZE;
-
-private:
-  cl_mem input_frame_cl;
-};
diff --git a/sunnypilot/modeld_v2/models/commonmodel.pxd b/sunnypilot/modeld_v2/models/commonmodel.pxd
deleted file mode 100644
index 55023ac4b9..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
-  cdef struct mat3:
-    float v[9]
-
-cdef extern from "common/clutil.h":
-  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
-  cl_device_id cl_get_device_id(unsigned long)
-  cl_context cl_create_context(cl_device_id)
-  void cl_release_context(cl_context)
-
-cdef extern from "sunnypilot/modeld_v2/models/commonmodel.h":
-  cppclass ModelFrame:
-    int buf_size
-    unsigned char * buffer_from_cl(cl_mem*, int);
-    cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
-  cppclass DrivingModelFrame:
-    int buf_size
-    DrivingModelFrame(cl_device_id, cl_context, unsigned char)
-
-  cppclass MonitoringModelFrame:
-    int buf_size
-    MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd b/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
-  pass
-
-cdef class CLMem:
-  cdef cl_mem * mem
-
-  @staticmethod
-  cdef create(void*)
diff --git a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx b/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
deleted file mode 100644
index 78a891f031..0000000000
--- a/sunnypilot/modeld_v2/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t, uint8_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
-  def __cinit__(self):
-    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
-    self.context = cl_create_context(self.device_id)
-
-  def __dealloc__(self):
-    if self.context:
-      cl_release_context(self.context)
-
-cdef class CLMem:
-  @staticmethod
-  cdef create(void * cmem):
-    mem = CLMem()
-    mem.mem = <cl_mem*> cmem
-    return mem
-
-  @property
-  def mem_address(self):
-    return <uintptr_t>(self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
-  return CLMem.create(<void*>&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
-  cdef cppModelFrame * frame
-  cdef int buf_size
-
-  def __dealloc__(self):
-    del self.frame
-
-  def prepare(self, VisionBuf buf, float[:] projection):
-    cdef mat3 cprojection
-    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef cl_mem * data
-    data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
-    return CLMem.create(data)
-
-  def buffer_from_cl(self, CLMem in_frames):
-    cdef unsigned char * data2
-    data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
-    return np.asarray(<cnp.uint8_t[:self.buf_size]> data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
-  cdef cppDrivingModelFrame * _frame
-
-  def __cinit__(self, CLContext context, int buffer_length=2):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context, buffer_length)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
-  cdef cppMonitoringModelFrame * _frame
-
-  def __cinit__(self, CLContext context):
-    self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
-    self.frame = <cppModelFrame*>(self._frame)
-    self.buf_size = self._frame.buf_size
-
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
new file mode 100644
index 0000000000..831649e3c1
--- /dev/null
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -0,0 +1,154 @@
+import numpy as np
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def is_mhp(self, outs, name, shape):
+    if self.check_missing(outs, name):
+      return False
+    if outs[name].shape[1] == 2 * shape:
+      return False
+    return True
+
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lead' in outs:
+      lead_mhp = self.is_mhp(outs, 'lead',
+                             SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
+      lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
+      lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
+        (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
+      self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
+    if 'plan' in outs:
+      plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
+      plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
+      self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
+                     out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+    if 'planplus' in outs:
+      self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
+
+  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    if 'desire_pred' in outs:
+      self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
+    if 'lane_lines' in outs:
+      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
+                    out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'lane_lines_prob' in outs:
+      self.parse_binary_crossentropy('lane_lines_prob', outs)
+    if 'lead_prob' in outs:
+      self.parse_binary_crossentropy('lead_prob', outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'meta' in outs:
+      self.parse_binary_crossentropy('meta', outs)
+    if 'road_edges' in outs:
+      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
+                    out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+    if 'sim_pose' in outs:
+      self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+
+  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
+    self.split_outputs(outs)
+    return outs
+
+  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_dynamic_outputs(outs)
+    self.split_outputs(outs)
+    return outs
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_policy_outputs(outs)
+    return outs
diff --git a/sunnypilot/modeld_v2/runners/ort_helpers.py b/sunnypilot/modeld_v2/runners/ort_helpers.py
deleted file mode 100644
index 26afb03562..0000000000
--- a/sunnypilot/modeld_v2/runners/ort_helpers.py
+++ /dev/null
@@ -1,36 +0,0 @@
-import onnx
-import onnxruntime as ort
-import numpy as np
-import itertools
-
-ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
-
-def attributeproto_fp16_to_fp32(attr):
-  float32_list = np.frombuffer(attr.raw_data, dtype=np.float16)
-  attr.data_type = 1
-  attr.raw_data = float32_list.astype(np.float32).tobytes()
-
-def convert_fp16_to_fp32(model):
-  for i in model.graph.initializer:
-    if i.data_type == 10:
-      attributeproto_fp16_to_fp32(i)
-  for i in itertools.chain(model.graph.input, model.graph.output):
-    if i.type.tensor_type.elem_type == 10:
-      i.type.tensor_type.elem_type = 1
-  for i in model.graph.node:
-    if i.op_type == 'Cast' and i.attribute[0].i == 10:
-      i.attribute[0].i = 1
-    for a in i.attribute:
-      if hasattr(a, 't'):
-        if a.t.data_type == 10:
-          attributeproto_fp16_to_fp32(a.t)
-  return model.SerializeToString()
-
-
-def make_onnx_cpu_runner(model_path):
-  options = ort.SessionOptions()
-  options.intra_op_num_threads = 4
-  options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
-  options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
-  model_data = convert_fp16_to_fp32(onnx.load(model_path))
-  return ort.InferenceSession(model_data,  options, providers=['CPUExecutionProvider'])
diff --git a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py b/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/sunnypilot/modeld_v2/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
-  cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
-  rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
-  return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
new file mode 100644
index 0000000000..15009c94d9
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_buffer_logic_inspect.py
@@ -0,0 +1,263 @@
+import numpy as np
+import pytest
+from typing import Any
+
+import openpilot.sunnypilot.models.helpers as helpers
+import openpilot.sunnypilot.models.runners.helpers as runner_helpers
+import openpilot.sunnypilot.modeld_v2.modeld as modeld_module
+
+ModelState = modeld_module.ModelState
+
+# These are the shapes extracted/loaded from the model onnx
+SHAPE_MODE_PARAMS = [
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "nav_features": (1, 256), "nav_instructions": (1, 150)}, 'non20hz'), # Optimus Prime
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lat_planner_state": (1, 4),}, 'non20hz'), # farmville
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), "lateral_control_params": (1, 2), "prev_desired_curv": (1, 100, 1)}, 'non20hz'), # wd40
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 24, 512)}, '20hz'), # NPR
+  ({'desire': (1, 100, 8), 'features_buffer': (1, 99, 512), 'prev_desired_curv': (1, 100, 1), "lateral_control_params": (1, 2),}, 'non20hz'), # NTS
+  ({'desire': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # Steam Powered v2
+  ({'desire_pulse': (1, 25, 8), 'features_buffer': (1, 25, 512)}, 'split'), # desire rename
+]
+
+
+# This creates a dummy runner, override, and bundle instance for the tests to run, without actually trying to load a physical model.
+class DummyOverride:
+  def __init__(self, key: str, value: str) -> None:
+    self.key = key
+    self.value = value
+
+
+class DummyBundle:
+  def __init__(self) -> None:
+    self.overrides = [DummyOverride('lat', '.1'), DummyOverride('long', '.3')]
+    self.generation = 10  # default to non-mlsim for buffer-update tests, as raising to 11 here will zero curvature buffer
+
+
+class DummyModelRunner:
+  def __init__(self, input_shapes: dict[str, tuple[int, int, int]], constants: Any = None) -> None:
+    self.input_shapes = input_shapes
+    self.constants = constants or type('C', (), {
+      'FULL_HISTORY_BUFFER_LEN': 100,
+      'FEATURE_LEN': 512,
+      'DESIRE_LEN': 8,
+      'PREV_DESIRED_CURV_LEN': 1,
+      'INPUT_HISTORY_BUFFER_LEN': 25,
+      'TEMPORAL_SKIP': 4,
+    })()
+    self.vision_input_names: list[str] = []
+    shape = input_shapes.get('desire', (1, 0, 0)) # [batch, history, features]
+    if shape[1] == 25:
+      self.is_20hz = True
+    else:
+      self.is_20hz = False
+
+  # Minimal prepare/run methods so ModelState can be run without actually running the model
+  def prepare_inputs(self, numpy_inputs):
+    return None
+
+  def run_model(self):
+    return {
+      'hidden_state': np.zeros((1, self.constants.FEATURE_LEN), dtype=np.float32),
+      'desired_curvature': np.zeros((1, 1), dtype=np.float32),
+    }
+
+
+@pytest.fixture
+def shapes(request):
+  return request.param
+
+
+@pytest.fixture
+def bundle() -> DummyBundle:
+  return DummyBundle()
+
+
+@pytest.fixture
+def runner(shapes) -> DummyModelRunner:
+  return DummyModelRunner(shapes)
+
+
+@pytest.fixture
+def apply_patches(monkeypatch: pytest.MonkeyPatch, bundle: DummyBundle, runner: DummyModelRunner):
+  monkeypatch.setattr(helpers, 'get_active_bundle', lambda params=None: bundle, raising=False)
+  monkeypatch.setattr(runner_helpers, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_model_runner', lambda: runner, raising=False)
+  monkeypatch.setattr(modeld_module, 'get_active_bundle', lambda params=None: bundle, raising=False)
+
+
+# These are expected shapes and indices based on the time the model was presented
+def get_expected_indices(shape, constants, mode, key=None):
+  if mode == 'split':
+    start = -1 - (constants.TEMPORAL_SKIP * (constants.INPUT_HISTORY_BUFFER_LEN - 1))
+    arr = np.arange(constants.FULL_HISTORY_BUFFER_LEN)
+    idxs = arr[start::constants.TEMPORAL_SKIP]
+    return idxs
+  elif mode == '20hz':
+    num_elements = shape[1]
+    step_size = int(-100 / num_elements)
+    idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    return idxs
+  elif mode == 'non20hz':
+    return np.arange(shape[1])
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+def test_buffer_shapes_and_indices(shapes, mode, apply_patches):
+  state = ModelState()
+  constants = DummyModelRunner(shapes).constants
+  for key in shapes:
+    buf = state.temporal_buffers.get(key, None)
+    idxs = state.temporal_idxs_map.get(key, None)
+    if buf is None:
+      continue    # not all shapes are 3D, and the non-3D ones are not buffered
+    # Buffer shape logic
+    if mode == 'split':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'split', key)
+    elif mode == '20hz':
+      expected_shape = (1, constants.FULL_HISTORY_BUFFER_LEN, shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, '20hz', key)
+    elif mode == 'non20hz':
+      expected_shape = (1, shapes[key][1], shapes[key][2])
+      expected_idxs = get_expected_indices(shapes[key], constants, 'non20hz', key)
+
+    assert buf is not None, f"{key}: buffer not found"
+    assert buf.shape == expected_shape, f"{key}: buffer shape {buf.shape} != expected {expected_shape}"
+    if expected_idxs is not None:
+      assert np.all(idxs == expected_idxs), f"{key}: buffer idxs {idxs} != expected {expected_idxs}"
+    else:
+      assert idxs is None or idxs.size == 0, f"{key}: buffer idxs should be None or empty"
+
+
+def legacy_buffer_update(buf, new_val, mode, key, constants, idxs, input_shape, prev_desire=None):
+  # This is what we compare the new dynamic logic to, to ensure it does the same thing
+  if mode == 'split':
+    if key == 'desire' or key.startswith('desire'):
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf.reshape((1, constants.INPUT_HISTORY_BUFFER_LEN, constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif key == 'features_buffer':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1] = new_val
+      return buf[0, idxs]
+    elif key == 'prev_desired_curv':
+      buf[0,:-1] = buf[0,1:]
+      buf[0,-1,:] = new_val
+      return buf[0, idxs]
+  elif mode == '20hz':
+    if key == 'desire':
+      buf[:-1] = buf[1:]
+      buf[-1] = new_val
+      reshape_dims = (1, buf.shape[1], -1, buf.shape[2])
+      reshaped = buf.reshape(reshape_dims).max(axis=2)
+      # Slice to last shape[1] elements to match model input shape
+      input_len = reshaped.shape[1]
+      model_input_len = 25  # For 20hz mode, desire shape[1] is 25
+      if input_len > model_input_len:
+        reshaped = reshaped[:, -model_input_len:, :]
+      return reshaped
+    elif key == 'features_buffer':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1] = new_val
+      return legacy_buf[idxs]
+    elif key == 'prev_desired_curv':
+      buffer_history_len = buf.shape[1]
+      legacy_buf = np.zeros((buffer_history_len, buf.shape[2]), dtype=np.float32)
+      legacy_buf[:] = buf[0]
+      legacy_buf[:-1] = legacy_buf[1:]
+      legacy_buf[-1,:] = new_val
+      return legacy_buf[idxs]
+  elif mode == 'non20hz':
+    if key == 'desire':
+      desire_len = constants.DESIRE_LEN
+      if prev_desire is None:
+        prev_desire = np.zeros(desire_len, dtype=np.float32)
+      # Set first element to zero
+      new_val = new_val.copy()
+      new_val[0] = 0
+      # Shift buffer by desire len
+      buf[0][:-desire_len] = buf[0][desire_len:]
+      # Only insert new desire if rising edge
+      buf[0][-desire_len:] = np.where(new_val - prev_desire > 0.99, new_val, 0)
+      prev_desire[:] = new_val
+      return buf[0]
+    elif key == 'features_buffer':
+      buf[0, :-1] = buf[0, 1:]
+      buf[0, -1] = new_val
+      return buf[0, -input_shape[1]:]  # (99, 512)
+    elif key == 'prev_desired_curv':
+      length = new_val.shape[0]
+      buf[0,:-length,0] = buf[0,length:,0]
+      buf[0,-length:,0] = new_val[:length]
+      return buf[0]
+  return None
+
+
+def dynamic_buffer_update(state, key, new_val, mode):
+  if key == 'desire' or key.startswith('desire'):
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != key}
+    inputs[key] = new_val.copy()
+    # ModelState.run expects desire as a pulse, so we zero the first element.
+    inputs[key][0] = 0
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs[key]
+
+  if key == 'features_buffer':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'features_buffer'}
+    def run_model_stub():
+      return {
+        'hidden_state': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['features_buffer'][0]
+
+  if key == 'prev_desired_curv':
+    inputs = {k: np.zeros(v[2], dtype=np.float32) if len(v) == 3 else np.zeros(v[1], dtype=np.float32)
+              for k, v in state.model_runner.input_shapes.items() if k != 'prev_desired_curv'}
+    def run_model_stub():
+      return {
+        'hidden_state': np.zeros((1, state.constants.FEATURE_LEN), dtype=np.float32),
+        'desired_curvature': np.asarray(new_val, dtype=np.float32).reshape(1, -1),
+      }
+    state.model_runner.run_model = run_model_stub
+    state.run({}, {}, inputs, prepare_only=False)
+    return state.numpy_inputs['prev_desired_curv'][0]
+  return None
+
+
+@pytest.mark.parametrize("shapes,mode", SHAPE_MODE_PARAMS, indirect=["shapes"])
+@pytest.mark.parametrize("key", ["desire", "features_buffer", "prev_desired_curv"])
+def test_buffer_update_equivalence(shapes, mode, key, apply_patches):
+  state = ModelState()
+  if key == "desire":
+    desire_keys = [k for k in shapes.keys() if k.startswith('desire')]
+    if desire_keys:
+      actual_key = desire_keys[0]  # Use the first (and likely only) desire key
+  else:
+    actual_key = key
+
+  if actual_key not in state.numpy_inputs:
+    pytest.skip()
+
+  constants = DummyModelRunner(shapes).constants
+  buf = state.temporal_buffers.get(actual_key, None)
+  idxs = state.temporal_idxs_map.get(actual_key, None)
+  input_shape = shapes[actual_key]
+  prev_desire = np.zeros(constants.DESIRE_LEN, dtype=np.float32) if key == 'desire' else None
+
+  for step in range(20):    # multiple steps to ensure history is built up
+    new_val = np.full((input_shape[2],), step, dtype=np.float32)
+    expected = legacy_buffer_update(buf, new_val, mode, actual_key, constants, idxs, input_shape, prev_desire)
+    actual = dynamic_buffer_update(state, actual_key, new_val, mode)
+    if expected is not None and actual is not None and expected.shape != actual.shape:
+      if expected.ndim == 2 and actual.ndim == 2 and expected.shape[1] == actual.shape[1]:
+        expected = expected[-actual.shape[0]:]
+    assert np.allclose(actual, expected), f"{mode} {actual_key}: dynamic buffer update does not match legacy logic"
diff --git a/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py b/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
new file mode 100644
index 0000000000..f25bcd0a35
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_camera_offset_helper.py
@@ -0,0 +1,84 @@
+"""
+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.
+"""
+import numpy as np
+
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
+
+
+class MockStruct:
+  def __init__(self, **kwargs):
+    for k, v in kwargs.items():
+      setattr(self, k, v)
+
+  def __getitem__(self, item):
+    return getattr(self, item)
+
+
+class TestCameraOffset:
+  def setup_method(self):
+    self.camera_offset = CameraOffsetHelper()
+    self.dc = DEVICE_CAMERAS[('mici', 'os04c10')]
+
+  def test_smoothing(self):
+    self.camera_offset.set_offset(0.2)
+
+    sm = MockStruct(
+      deviceState=MockStruct(deviceType='mici'),
+      roadCameraState=MockStruct(sensor='os04c10'),
+      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+    )
+
+    intrinsics_main = self.dc.fcam.intrinsics
+    intrinsics_extra = self.dc.ecam.intrinsics
+    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+    main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
+    extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
+
+    self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.02)
+    self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
+
+  def test_camera_offset_(self):
+    intrinsics = self.dc.fcam.intrinsics
+    transform = np.eye(3, dtype=np.float32)
+    height = 1.22
+    offset = 0.1
+
+    cy = intrinsics[1, 2]
+    expected_shear = np.eye(3, dtype=np.float32)
+    expected_shear[0, 1] = offset / height
+    expected_shear[0, 2] = -offset / height * cy
+
+    result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
+    np.testing.assert_array_almost_equal(result, expected_shear)
+
+  def test_update(self):
+    sm = MockStruct(
+      deviceState=MockStruct(deviceType='mici'),
+      roadCameraState=MockStruct(sensor='os04c10'),
+      liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
+    )
+    intrinsics_main = self.dc.fcam.intrinsics
+    intrinsics_extra = self.dc.ecam.intrinsics
+    device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
+    main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
+    extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
+
+    self.camera_offset.set_offset(0.0)  # test default offset doesn't change transformation
+    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
+    np.testing.assert_array_equal(main_out, main_transform)
+    np.testing.assert_array_equal(extra_out, extra_transform)
+
+    self.camera_offset.set_offset(0.2)  # test valid offset changes transformation
+    main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
+    assert not np.array_equal(main_out, main_transform)
+    assert not np.array_equal(extra_out, extra_transform)
+    assert main_out[0, 1] != 0.0
+    assert main_out[0, 2] != 0.0
diff --git a/sunnypilot/modeld_v2/tests/test_modeld.py b/sunnypilot/modeld_v2/tests/test_modeld.py
deleted file mode 100644
index 6927c9e473..0000000000
--- a/sunnypilot/modeld_v2/tests/test_modeld.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import numpy as np
-import random
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-
-CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
-IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
-IMG_BYTES = IMG.flatten().tobytes()
-
-
-class TestModeld:
-
-  def setup_method(self):
-    self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
-
-    managed_processes['modeld'].start()
-    self.pm.wait_for_readers_to_update("roadCameraState", 10)
-
-  def teardown_method(self):
-    managed_processes['modeld'].stop()
-    del self.vipc_server
-
-  def _send_frames(self, frame_id, cams=None):
-    if cams is None:
-      cams = ('roadCameraState', 'wideRoadCameraState')
-
-    cs = None
-    for cam in cams:
-      msg = messaging.new_message(cam)
-      cs = getattr(msg, cam)
-      cs.frameId = frame_id
-      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
-      cam_meta = meta_from_camera_state(cam)
-
-      self.pm.send(msg.which(), msg)
-      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
-                            cs.timestampSof, cs.timestampEof)
-    return cs
-
-  def _wait(self):
-    self.sm.update(5000)
-    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
-      self.sm.update(1000)
-
-  def test_modeld(self):
-    for n in range(1, 500):
-      cs = self._send_frames(n)
-      self._wait()
-
-      mdl = self.sm['modelV2']
-      assert mdl.frameId == n
-      assert mdl.frameIdExtra == n
-      assert mdl.timestampEof == cs.timestampEof
-      assert mdl.frameAge == 0
-      assert mdl.frameDropPerc == 0
-
-      odo = self.sm['cameraOdometry']
-      assert odo.frameId == n
-      assert odo.timestampEof == cs.timestampEof
-
-  def test_dropped_frames(self):
-    """
-      modeld should only run on consecutive road frames
-    """
-    frame_id = -1
-    road_frames = list()
-    for n in range(1, 50):
-      if (random.random() < 0.1) and n > 3:
-        cams = random.choice([(), ('wideRoadCameraState', )])
-        self._send_frames(n, cams)
-      else:
-        self._send_frames(n)
-        road_frames.append(n)
-      self._wait()
-
-      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
-        frame_id = road_frames[-1]
-
-      mdl = self.sm['modelV2']
-      odo = self.sm['cameraOdometry']
-      assert mdl.frameId == frame_id
-      assert mdl.frameIdExtra == frame_id
-      assert odo.frameId == frame_id
-      if n != frame_id:
-        assert not self.sm.updated['modelV2']
-        assert not self.sm.updated['cameraOdometry']
diff --git a/sunnypilot/modeld_v2/tests/test_recovery_power.py b/sunnypilot/modeld_v2/tests/test_recovery_power.py
new file mode 100644
index 0000000000..cfa2272386
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_recovery_power.py
@@ -0,0 +1,70 @@
+import numpy as np
+
+from cereal import log
+
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.modeld import ModelState
+import openpilot.sunnypilot.modeld_v2.modeld as modeld
+
+
+class MockStruct:
+  def __init__(self, **kwargs):
+    for k, v in kwargs.items():
+      setattr(self, k, v)
+
+
+def test_recovery_power_scaling():
+  state = MockStruct(
+    PLANPLUS_CONTROL=0.75,
+    LONG_SMOOTH_SECONDS=0.3,
+    LAT_SMOOTH_SECONDS=0.1,
+    MIN_LAT_CONTROL_SPEED=0.3,
+    mlsim=True,
+    generation=12,
+    constants=MockStruct(T_IDXS=np.arange(100), DESIRE_LEN=8)
+  )
+  prev_action = log.ModelDataV2.Action()
+  recorded_vel: list = []
+  recorded_curv_plans: list = []
+
+  def mock_accel(plan_vel, plan_accel, t_idxs, action_t=0.0):
+    recorded_vel.append(plan_vel.copy())
+    return 0.0, False
+
+  def mock_curvature(output, plan, vego, lat_action_t, mlsim):
+    recorded_curv_plans.append(plan.copy())
+    return 0.0
+
+  modeld.get_accel_from_plan = mock_accel
+  modeld.get_curvature_from_output = mock_curvature
+  plan = np.random.rand(1, 100, 15).astype(np.float32)
+  planplus = np.random.rand(1, 100, 15).astype(np.float32)
+  merged_plan = plan + planplus
+
+  model_output: dict = {
+    'plan': merged_plan.copy(),
+    'planplus': planplus.copy()
+  }
+
+  test_cases: list = [
+    # (control, v_ego)
+    (0.55, 20.0),
+    (1.0, 25.0),
+    (1.5, 25.1),
+    (2.0, 20.0),
+    (0.75, 19.0),
+    (0.8, 25.1),
+  ]
+
+  for control, v_ego in test_cases:
+    state.PLANPLUS_CONTROL = control
+    recorded_vel.clear()
+    recorded_curv_plans.clear()
+    ModelState.get_action_from_model(state, model_output, prev_action, 0.0, 0.0, v_ego)
+
+    expected_accel_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + planplus[0, :, Plan.VELOCITY][:, 0]
+    np.testing.assert_allclose(recorded_vel[0], expected_accel_plan_vel, rtol=1e-5, atol=1e-6)
+
+    # For the below, yes, I know this isn't the same slicing as fillmodlmsg. This is to show that the values are only scaled on curv
+    expected_curv_plan_vel = plan[0, :, Plan.VELOCITY][:, 0] + control * planplus[0, :, Plan.VELOCITY][:, 0]
+    np.testing.assert_allclose(recorded_curv_plans[0][:, Plan.VELOCITY][:, 0], expected_curv_plan_vel, rtol=1e-5, atol=1e-6)
diff --git a/sunnypilot/modeld_v2/tests/test_warp.py b/sunnypilot/modeld_v2/tests/test_warp.py
new file mode 100644
index 0000000000..daf0dd528c
--- /dev/null
+++ b/sunnypilot/modeld_v2/tests/test_warp.py
@@ -0,0 +1,102 @@
+import os
+os.environ['DEV'] = 'CPU'
+import pytest
+import numpy as np
+from openpilot.selfdrive.modeld.compile_warp import get_nv12_info, CAMERA_CONFIGS
+from openpilot.sunnypilot.modeld_v2.warp import Warp, MODEL_W, MODEL_H
+
+VISION_NAME_PAIRS = [  # needed to account for supercombos input_imgs
+  ('img', 'big_img'),
+  ('input_imgs', 'big_input_imgs'),
+]
+
+
+class MockVisionBuf:
+  def __init__(self, w, h):
+    self.width = w
+    self.height = h
+    _, _, _, yuv_size = get_nv12_info(w, h)
+    self.data = np.zeros(yuv_size, dtype=np.uint8)
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+def test_warp_initialization(buffer_length):
+  warp = Warp(buffer_length)
+  assert warp.buffer_length == buffer_length
+  assert warp.img_buffer_shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+@pytest.mark.parametrize("cam_w, cam_h", CAMERA_CONFIGS)
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_process(buffer_length, cam_w, cam_h, road, wide):
+  warp = Warp(buffer_length)
+  mock_buf = MockVisionBuf(cam_w, cam_h)
+  transform = np.eye(3, dtype=np.float32).flatten()
+  bufs = {road: mock_buf, wide: mock_buf}
+  transforms = {road: transform, wide: transform}
+
+  out = warp.process(bufs, transforms)
+  assert isinstance(out, dict)
+  assert road in out and wide in out
+  assert out[road].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
+  assert out[wide].shape == (1, 12, MODEL_H // 2, MODEL_W // 2)
+
+  key = (cam_w, cam_h)
+  assert key in warp.jit_cache
+
+  out2 = warp.process(bufs, transforms)
+  assert out2[road].shape == out[road].shape
+
+
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_buffer_shift(road, wide):
+  warp = Warp(2)
+  cam_w, cam_h = CAMERA_CONFIGS[1]
+  transform = np.eye(3, dtype=np.float32).flatten()
+
+  buf1 = MockVisionBuf(cam_w, cam_h)
+  buf1.data[0] = 255
+  bufs1 = {road: buf1, wide: buf1}
+  transforms = {road: transform, wide: transform}
+  out1 = warp.process(bufs1, transforms)
+  road1 = out1[road].numpy().copy()
+
+  buf2 = MockVisionBuf(cam_w, cam_h)
+  buf2.data[0] = 128
+  bufs2 = {road: buf2, wide: buf2}
+  out2 = warp.process(bufs2, transforms)
+  assert not np.array_equal(road1, out2[road].numpy())
+
+
+@pytest.mark.parametrize("buffer_length", [2, 5])
+@pytest.mark.parametrize("road, wide", VISION_NAME_PAIRS)
+def test_warp_buffer_accumulation(buffer_length, road, wide):
+  warp = Warp(buffer_length)
+  cam_w, cam_h = CAMERA_CONFIGS[0]
+  transform = np.eye(3, dtype=np.float32).flatten()
+  transforms = {road: transform, wide: transform}
+  outputs = []
+
+  for i in range(buffer_length + 1):
+    buf = MockVisionBuf(cam_w, cam_h)
+    buf.data[:] = i * 10
+    out = warp.process({road: buf, wide: buf}, transforms)
+    outputs.append(out[road].numpy().copy())
+
+  assert warp.full_buffers['img'].shape == (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+  for i in range(1, len(outputs)):
+    assert not np.array_equal(outputs[i - 1], outputs[i])
+
+
+def test_warp_different_cameras_same_instance():
+  warp = Warp(2)
+  transform = np.eye(3, dtype=np.float32).flatten()
+
+  buf1 = MockVisionBuf(*CAMERA_CONFIGS[0])
+  warp.process({'img': buf1, 'big_img': buf1}, {'img': transform, 'big_img': transform})
+  assert len(warp.jit_cache) == 1
+
+  buf2 = MockVisionBuf(*CAMERA_CONFIGS[1])
+  warp.process({'img': buf2, 'big_img': buf2}, {'img': transform, 'big_img': transform})
+  assert len(warp.jit_cache) == 2
diff --git a/sunnypilot/modeld_v2/tests/timing/benchmark.py b/sunnypilot/modeld_v2/tests/timing/benchmark.py
index c629ec2fff..3e81f73fa3 100755
--- a/sunnypilot/modeld_v2/tests/timing/benchmark.py
+++ b/sunnypilot/modeld_v2/tests/timing/benchmark.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import time
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cc b/sunnypilot/modeld_v2/transforms/loadyuv.cc
deleted file mode 100644
index eb669a5929..0000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "sunnypilot/modeld_v2/transforms/loadyuv.h"
-
-#include <cassert>
-#include <cstdio>
-#include <cstring>
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
-  memset(s, 0, sizeof(*s));
-
-  s->width = width;
-  s->height = height;
-
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-           "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
-           width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
-  s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
-  s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
-  s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->loadys_krnl));
-  CL_CHECK(clReleaseKernel(s->loaduv_krnl));
-  CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl) {
-  cl_int global_out_off = 0;
-
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  const size_t loadys_work_size = (s->width*s->height)/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
-                               &loadys_work_size, NULL, 0, 0, NULL));
-
-  const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
-  global_out_off += (s->width*s->height);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-
-  global_out_off += (s->width/2)*(s->height/2);
-
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
-  CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
-                               &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size) {
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
-  CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
-  const size_t copy_work_size = size/8;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
-                              &copy_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.cl b/sunnypilot/modeld_v2/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d7..0000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
-                     __global uchar * out,
-                     int out_offset)
-{
-    const int gid = get_global_id(0);
-    const int ois = gid * 8;
-    const int oy = ois / TRANSFORMED_WIDTH;
-    const int ox = ois % TRANSFORMED_WIDTH;
-
-    const uchar8 ys = Y[gid];
-
-    // 02
-    // 13
-
-    __global uchar* outy0;
-    __global uchar* outy1;
-    if ((oy & 1) == 0) {
-      outy0 = out + out_offset; //y0
-      outy1 = out + out_offset + UV_SIZE*2; //y2
-    } else {
-      outy0 = out + out_offset + UV_SIZE; //y1
-      outy1 = out + out_offset + UV_SIZE*3; //y3
-    }
-
-    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
-                     __global uchar8 * out,
-                     int out_offset)
-{
-  const int gid = get_global_id(0);
-  const uchar8 inv = in[gid];
-  out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
-                   __global uchar8 * out,
-                   int in_offset,
-                   int out_offset)
-{
-  const int gid = get_global_id(0);
-  out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/sunnypilot/modeld_v2/transforms/loadyuv.h b/sunnypilot/modeld_v2/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25..0000000000
--- a/sunnypilot/modeld_v2/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
-  int width, height;
-  cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
-                   cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
-                   cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
-                 size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/sunnypilot/modeld_v2/transforms/transform.cc b/sunnypilot/modeld_v2/transforms/transform.cc
deleted file mode 100644
index adc9bcebf4..0000000000
--- a/sunnypilot/modeld_v2/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "sunnypilot/modeld_v2/transforms/transform.h"
-
-#include <cassert>
-#include <cstring>
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
-  memset(s, 0, sizeof(*s));
-
-  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
-  s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
-  // done with this
-  CL_CHECK(clReleaseProgram(prg));
-
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
-  CL_CHECK(clReleaseMemObject(s->m_y_cl));
-  CL_CHECK(clReleaseMemObject(s->m_uv_cl));
-  CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
-                     cl_command_queue q,
-                     cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection) {
-  const int zero = 0;
-
-  // sampled using pixel center origin
-  // (because that's how fastcv and opencv does it)
-
-  mat3 projection_y = projection;
-
-  // in and out uv is half the size of y.
-  mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
-  CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
-  const int in_y_width = in_width;
-  const int in_y_height = in_height;
-  const int in_y_px_stride = 1;
-  const int in_uv_width = in_width/2;
-  const int in_uv_height = in_height/2;
-  const int in_uv_px_stride = 2;
-  const int in_u_offset = in_uv_offset;
-  const int in_v_offset = in_uv_offset + 1;
-
-  const int out_y_width = out_width;
-  const int out_y_height = out_height;
-  const int out_uv_width = out_width/2;
-  const int out_uv_height = out_height/2;
-
-  CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv));  // src
-  CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride));  // src_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl));  // M
-
-  const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
-  const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
-  CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride));  // src_px_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset));  // src_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height));  // src_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width));  // src_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u));  // dst
-  CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width));  // dst_row_stride
-  CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero));  // dst_offset
-  CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height));  // dst_rows
-  CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width));  // dst_cols
-  CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl));  // M
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-  CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset));  // src_ofset
-  CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v));  // dst
-
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
-                              (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/sunnypilot/modeld_v2/transforms/transform.cl b/sunnypilot/modeld_v2/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/sunnypilot/modeld_v2/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
-                              int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
-                              __global uchar * dst,
-                              int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
-                              __constant float * M)
-{
-    int dx = get_global_id(0);
-    int dy = get_global_id(1);
-
-    if (dx < dst_cols && dy < dst_rows)
-    {
-        float X0 = M[0] * dx + M[1] * dy + M[2];
-        float Y0 = M[3] * dx + M[4] * dy + M[5];
-        float W = M[6] * dx + M[7] * dy + M[8];
-        W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
-        int X = rint(X0 * W), Y = rint(Y0 * W);
-
-        int sx = convert_short_sat(X >> INTER_BITS);
-        int sy = convert_short_sat(Y >> INTER_BITS);
-
-        short sx_clamp = clamp(sx, 0, src_cols - 1);
-        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
-        short sy_clamp = clamp(sy, 0, src_rows - 1);
-        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
-        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
-        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
-        short ay = (short)(Y & (INTER_TAB_SIZE - 1));
-        short ax = (short)(X & (INTER_TAB_SIZE - 1));
-        float taby = 1.f/INTER_TAB_SIZE*ay;
-        float tabx = 1.f/INTER_TAB_SIZE*ax;
-
-        int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
-        int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
-        int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
-        int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
-        int val = v0 * itab0 +  v1 * itab1 + v2 * itab2 + v3 * itab3;
-
-        uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
-        dst[dst_index] = pix;
-    }
-}
diff --git a/sunnypilot/modeld_v2/transforms/transform.h b/sunnypilot/modeld_v2/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/sunnypilot/modeld_v2/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
-  cl_kernel krnl;
-  cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
-                     cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
-                     cl_mem out_y, cl_mem out_u, cl_mem out_v,
-                     int out_width, int out_height,
-                     const mat3& projection);
diff --git a/sunnypilot/modeld_v2/warp.py b/sunnypilot/modeld_v2/warp.py
new file mode 100644
index 0000000000..829cbcca49
--- /dev/null
+++ b/sunnypilot/modeld_v2/warp.py
@@ -0,0 +1,137 @@
+import pickle
+import time
+import numpy as np
+from pathlib import Path
+from tinygrad.tensor import Tensor
+from tinygrad.engine.jit import TinyJit
+from tinygrad.device import Device
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.compile_warp import (
+  CAMERA_CONFIGS, MEDMODEL_INPUT_SIZE, make_frame_prepare, make_update_both_imgs,
+  warp_pkl_path,
+)
+
+MODELS_DIR = Path(__file__).parent / 'models'
+MODEL_W, MODEL_H = MEDMODEL_INPUT_SIZE
+UPSTREAM_BUFFER_LENGTH = 5
+
+
+def v2_warp_pkl_path(cam_w, cam_h, buffer_length):
+  return MODELS_DIR / f'warp_{cam_w}x{cam_h}_b{buffer_length}_tinygrad.pkl'
+
+
+def compile_v2_warp(cam_w, cam_h, buffer_length):
+  _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+  img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+  print(f"Compiling v2 warp for {cam_w}x{cam_h} buffer_length={buffer_length}...")
+
+  frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
+  update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
+  update_img_jit = TinyJit(update_both_imgs, prune=True)
+
+  full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
+  big_full_buffer = Tensor.zeros(img_buffer_shape, dtype='uint8').contiguous().realize()
+  full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
+  big_full_buffer_np = np.zeros(img_buffer_shape, dtype=np.uint8)
+
+  for i in range(10):
+    new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+    img_inputs = [full_buffer,
+                  Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                  Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+    big_img_inputs = [big_full_buffer,
+                      Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+                      Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+    inputs = img_inputs + big_img_inputs
+    Device.default.synchronize()
+
+    inputs_np = [x.numpy() for x in inputs]
+    inputs_np[0] = full_buffer_np
+    inputs_np[3] = big_full_buffer_np
+
+    st = time.perf_counter()
+    out = update_img_jit(*inputs)
+    full_buffer = out[0].contiguous().realize().clone()
+    big_full_buffer = out[2].contiguous().realize().clone()
+    mt = time.perf_counter()
+    Device.default.synchronize()
+    et = time.perf_counter()
+    print(f"  [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+  pkl_path = v2_warp_pkl_path(cam_w, cam_h, buffer_length)
+  with open(pkl_path, "wb") as f:
+    pickle.dump(update_img_jit, f)
+  print(f"  Saved to {pkl_path}")
+
+  jit = pickle.load(open(pkl_path, "rb"))
+  jit(*inputs)
+
+
+class Warp:
+  def __init__(self, buffer_length=2):
+    self.buffer_length = buffer_length
+    self.img_buffer_shape = (buffer_length * 6, MODEL_H // 2, MODEL_W // 2)
+
+    self.jit_cache = {}
+    self.full_buffers = {k: Tensor.zeros(self.img_buffer_shape, dtype='uint8').contiguous().realize() for k in ['img', 'big_img']}
+    self._blob_cache: dict[int, Tensor] = {}
+    self._nv12_cache: dict[tuple[int, int], int] = {}
+    self.transforms_np = {k: np.zeros((3, 3), dtype=np.float32) for k in ['img', 'big_img']}
+    self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
+
+  def process(self, bufs, transforms):
+    if not bufs:
+      return {}
+    road = next(n for n in bufs if 'big' not in n)
+    wide = next(n for n in bufs if 'big' in n)
+    cam_w, cam_h = bufs[road].width, bufs[road].height
+    key = (cam_w, cam_h)
+
+    if key not in self.jit_cache:
+      v2_pkl = v2_warp_pkl_path(cam_w, cam_h, self.buffer_length)
+      if v2_pkl.exists():
+        with open(v2_pkl, 'rb') as f:
+          self.jit_cache[key] = pickle.load(f)
+      elif self.buffer_length == UPSTREAM_BUFFER_LENGTH:
+        upstream_pkl = warp_pkl_path(cam_w, cam_h)
+        if upstream_pkl.exists():
+          with open(upstream_pkl, 'rb') as f:
+            self.jit_cache[key] = pickle.load(f)
+      if key not in self.jit_cache:
+        frame_prepare = make_frame_prepare(cam_w, cam_h, MODEL_W, MODEL_H)
+        update_both_imgs = make_update_both_imgs(frame_prepare, MODEL_W, MODEL_H)
+        self.jit_cache[key] = TinyJit(update_both_imgs, prune=True)
+
+    if key not in self._nv12_cache:
+      self._nv12_cache[key] = get_nv12_info(cam_w, cam_h)[3]
+    yuv_size = self._nv12_cache[key]
+
+    road_ptr = bufs[road].data.ctypes.data
+    wide_ptr = bufs[wide].data.ctypes.data
+    if road_ptr not in self._blob_cache:
+      self._blob_cache[road_ptr] = Tensor.from_blob(road_ptr, (yuv_size,), dtype='uint8')
+    if wide_ptr not in self._blob_cache:
+      self._blob_cache[wide_ptr] = Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
+    road_blob = self._blob_cache[road_ptr]
+    wide_blob = self._blob_cache[wide_ptr] if wide_ptr != road_ptr else Tensor.from_blob(wide_ptr, (yuv_size,), dtype='uint8')
+    np.copyto(self.transforms_np['img'], transforms[road].reshape(3, 3))
+    np.copyto(self.transforms_np['big_img'], transforms[wide].reshape(3, 3))
+
+    Device.default.synchronize()
+    res = self.jit_cache[key](
+      self.full_buffers['img'], road_blob, self.transforms['img'],
+      self.full_buffers['big_img'], wide_blob, self.transforms['big_img'],
+    )
+    self.full_buffers['img'], out_road = res[0].realize(), res[1].realize()
+    self.full_buffers['big_img'], out_wide = res[2].realize(), res[3].realize()
+
+    return {road: out_road, wide: out_wide}
+
+
+if __name__ == "__main__":
+  for cam_w, cam_h in CAMERA_CONFIGS:
+    for bl in [2, 5]:
+      compile_v2_warp(cam_w, cam_h, bl)
diff --git a/sunnypilot/models/README.md b/sunnypilot/models/README.md
new file mode 100644
index 0000000000..bf4fb72a98
--- /dev/null
+++ b/sunnypilot/models/README.md
@@ -0,0 +1,63 @@
+# Model Selector Version Compatibility
+
+This document explains the version compatibility mechanism used by the Model Selector system, and the rationale behind certain version constraints and JSON file management strategies.
+
+## Overview
+
+The Model Selector is responsible for selecting and validating model bundles based on their metadata and version constraints. Each model bundle is distributed via a JSON file and includes a `minimumSelectorVersion` field indicating the minimum selector version required to load it.
+
+To ensure robust compatibility and prevent mismatches between model expectations and selector capabilities, the selector enforces two version boundaries:
+
+* **`REQUIRED_MIN_SELECTOR_VERSION`**: the oldest selector version we support.
+* **`CURRENT_SELECTOR_VERSION`**: the current version of the selector logic.
+
+## Version Compatibility Check
+
+A model bundle is considered compatible if:
+
+```python
+REQUIRED_MIN_SELECTOR_VERSION <= bundle["minimumSelectorVersion"] <= CURRENT_SELECTOR_VERSION
+```
+
+This ensures:
+
+* **Old bundles are rejected** if they rely on deprecated selector behavior.
+* **Future bundles are ignored** if they expect logic that the current selector doesn't yet implement.
+
+## Handling Breaking Changes
+
+When a deep change in selector behavior requires *all* models to be recompiled (e.g., due to a major architectural update), we:
+
+1. **Create a new JSON file** (e.g., from `models_v4.json` to `models_v5.json`).
+2. **Assign updated `minimumSelectorVersion` values** in the new bundles.
+
+This allows older selector versions to continue using the previous JSON file, while newer versions point to the new one, preventing cross-contamination.
+
+## Why `REQUIRED_MIN_SELECTOR_VERSION` Still Matters
+
+Despite using new JSON files to isolate breaking changes, `REQUIRED_MIN_SELECTOR_VERSION` plays a critical role:
+
+### 1. **Cached Bundle Validation**
+
+Model bundles are cached locally (e.g., in-memory or on disk). A user might have previously loaded a now-invalid bundle from an older JSON file.
+
+`REQUIRED_MIN_SELECTOR_VERSION` prevents the selector from reloading or trusting that stale cached bundle, even if the original JSON is gone.
+
+### 2. **Explicit Deprecation Boundary**
+
+By raising `REQUIRED_MIN_SELECTOR_VERSION`, we declare older bundles officially unsupported, even if they technically still exist in a legacy JSON file.
+
+### 3. **Avoiding Race Conditions**
+
+Some clients may have intermittent access to updated JSONs. The runtime check ensures version compatibility is enforced independently of external file state.
+
+## Summary
+
+| Component                       | Purpose                                                               |
+| ------------------------------- | --------------------------------------------------------------------- |
+| `minimumSelectorVersion`        | Declares the minimum selector version required to load a model bundle |
+| `REQUIRED_MIN_SELECTOR_VERSION` | Prevents loading bundles that are too old (e.g., from stale cache)    |
+| `CURRENT_SELECTOR_VERSION`      | Prevents loading bundles that are too new or forward-incompatible     |
+| JSON file renaming              | Isolates bundles by selector generation to handle full recompiles     |
+
+This layered strategy ensures safe evolution of the model selection system while maintaining backward compatibility and runtime protection against stale or incompatible bundles.
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/models/constants.py
similarity index 98%
rename from sunnypilot/modeld/constants.py
rename to sunnypilot/models/constants.py
index 8f63afa461..18abc6c960 100644
--- a/sunnypilot/modeld/constants.py
+++ b/sunnypilot/models/constants.py
@@ -1,7 +1,8 @@
 import numpy as np
 
 def index_function(idx, max_val=192, max_idx=32):
-  return (max_val) * ((idx/max_idx)**2)
+  return max_val * ((idx/max_idx)**2)
+
 
 class ModelConstants:
   # time and distance indices
@@ -63,6 +64,7 @@ class ModelConstants:
 
   POLY_PATH_DEGREE = 4
 
+
 # model outputs slices
 class Plan:
   POSITION = slice(0, 3)
@@ -71,6 +73,7 @@ class Plan:
   T_FROM_CURRENT_EULER = slice(9, 12)
   ORIENTATION_RATE = slice(12, 15)
 
+
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
index 718c910c5c..0260a3c3bc 100755
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -3,6 +3,7 @@ import os
 import hashlib
 
 from openpilot.common.basedir import BASEDIR
+from openpilot.sunnypilot import get_file_hash
 
 DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
@@ -10,14 +11,6 @@ VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "drivi
 POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
 
 
-def get_file_hash(path: str) -> str:
-  sha256_hash = hashlib.sha256()
-  with open(path, "rb") as f:
-    for byte_block in iter(lambda: f.read(4096), b""):
-      sha256_hash.update(byte_block)
-  return sha256_hash.hexdigest()
-
-
 def update_model_hash():
   vision_hash = get_file_hash(VISION_ONNX_PATH)
   policy_hash = get_file_hash(POLICY_ONNX_PATH)
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 7076cf1861..5990ee2e41 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -5,13 +5,13 @@ 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.
 """
 
-import json
 import time
 
 import requests
+from requests.exceptions import (SSLError, RequestException, HTTPError)
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from sunnypilot.models.helpers import is_bundle_version_compatible
+from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
 
 from cereal import custom
 
@@ -43,6 +43,16 @@ class ModelParser:
       model.metadata = ModelParser._parse_artifact(metadata)
     return model
 
+  @staticmethod
+  def _parse_overrides(overrides_data: dict[str, str]) -> list[custom.ModelManagerSP.Override]:
+    overrides = []
+    for key, value in overrides_data.items():
+      override = custom.ModelManagerSP.Override()
+      override.key = key
+      override.value = value
+      overrides.append(override)
+    return overrides
+
   @staticmethod
   def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
     model_bundle = custom.ModelManagerSP.ModelBundle()
@@ -56,6 +66,8 @@ class ModelParser:
     model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe)
     model_bundle.is20hz = bundle.get("is_20hz", False)
     model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
+    model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
+    model_bundle.ref = bundle.get("ref")
 
     return model_bundle
 
@@ -77,8 +89,8 @@ class ModelCache:
   def _is_expired(self) -> bool:
     """Checks if the cache has expired"""
     current_time = int(time.monotonic() * 1e9)
-    last_sync = int(self.params.get(self._LAST_SYNC_KEY, encoding="utf-8") or 0)
-    return last_sync == 0 or (current_time - last_sync) >= self.cache_timeout
+    last_sync = self.params.get(self._LAST_SYNC_KEY) or 0
+    return bool(last_sync == 0) or (current_time - last_sync) >= self.cache_timeout
 
   def get(self) -> tuple[dict, bool]:
     """
@@ -87,43 +99,60 @@ class ModelCache:
     If no cached data exists or on error, returns an empty dict
     """
     try:
-      cached_data = self.params.get(self._CACHE_KEY, encoding="utf-8")
+      cached_data = self.params.get(self._CACHE_KEY)
       if not cached_data:
         cloudlog.warning("No cached model data available")
         return {}, True
-      return json.loads(cached_data), self._is_expired()
+      return cached_data, self._is_expired()
     except Exception as e:
       cloudlog.exception(f"Error retrieving cached model data: {str(e)}")
       return {}, True
 
   def set(self, data: dict) -> None:
     """Updates the cache with new model data"""
-    self.params.put(self._CACHE_KEY, json.dumps(data))
-    self.params.put(self._LAST_SYNC_KEY, str(int(time.monotonic() * 1e9)))
+    self.params.put(self._CACHE_KEY, data)
+    self.params.put(self._LAST_SYNC_KEY, int(time.monotonic() * 1e9))
 
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v3.json"
+  MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-docs/refs/heads/gh-pages/docs/driving_models_v15.json"
 
   def __init__(self, params: Params):
     self.params = params
     self.model_cache = ModelCache(params)
     self.model_parser = ModelParser()
 
-  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
-    """Fetches fresh model data from remote and updates cache"""
+  def _fetch_and_cache_models(self) -> list[custom.ModelManagerSP.ModelBundle] | None:
+    """Fetches fresh model data from remote and updates cache.
+    Returns None on transport errors. Raises on 404 and other fatal HTTP errors.
+    """
     try:
       response = requests.get(self.MODEL_URL, timeout=10)
-      response.raise_for_status()
-      json_data = response.json()
 
+      # Explicitly handle 404 differently
+      if response.status_code == 404:
+        cloudlog.error(f"Models URL returned 404 Not Found: {self.MODEL_URL}")
+        raise HTTPError(f"404 Not Found: {self.MODEL_URL}", response=response)
+
+      # Raise for any other 4xx/5xx
+      response.raise_for_status()
+
+      json_data = response.json()
       self.model_cache.set(json_data)
       cloudlog.debug("Successfully updated models cache")
       return self.model_parser.parse_models(json_data)
-    except Exception:
-      cloudlog.exception("Error fetching models")
-      raise
+
+    except ConnectionError as e:
+      cloudlog.warning(f"DNS/connection error while fetching models: {e}")
+    except SSLError as e:
+      cloudlog.warning(f"SSL error while fetching models: {e}")
+    except RequestException as e:
+      cloudlog.warning(f"Request transport error while fetching models: {e}")
+    except Exception as e:
+      cloudlog.exception(f"Unexpected error fetching models: {e}")
+
+    return None
 
   def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
@@ -133,12 +162,12 @@ class ModelFetcher:
       cloudlog.debug("Using valid cached models data")
       return self.model_parser.parse_models(cached_data)
 
-    try:
-      return self._fetch_and_cache_models()
-    except Exception:
-      if not cached_data:
-        cloudlog.exception("Failed to fetch fresh data and no cache available")
-        raise
+    fetched_bundles = self._fetch_and_cache_models()
+    if fetched_bundles is not None:
+      return fetched_bundles
+
+    if not cached_data:
+      cloudlog.warning("Failed to fetch fresh data and no cache available")
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)
@@ -149,8 +178,9 @@ if __name__ == "__main__":
   bundles = model_fetcher.get_available_bundles()
   for bundle in bundles:
     for model in bundle.models:
+      model_overrides = {override.key: override.value for override in bundle.overrides}
       # Print model details
-      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}")
+      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
       # Print artifact details
       print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
       # Print metadata details
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index e6001f2642..5627080319 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -9,20 +9,17 @@ import hashlib
 import os
 import pickle
 import numpy as np
-import json
 
 from openpilot.common.params import Params
 from cereal import custom
-from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
-from openpilot.sunnypilot.modeld.runners import ModelRunner
-from openpilot.system.hardware import PC
+from openpilot.sunnypilot.models.constants import Meta, MetaTombRaider, MetaSimPose
 from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
-CURRENT_SELECTOR_VERSION = 3
-REQUIRED_MIN_SELECTOR_VERSION = 2
+# see the README.md for more details on the model selector versioning
+CURRENT_SELECTOR_VERSION = 15
+REQUIRED_MIN_SELECTOR_VERSION = 14
 
-USE_ONNX = os.getenv('USE_ONNX', PC)
 
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
@@ -63,13 +60,14 @@ def is_bundle_version_compatible(bundle: dict) -> bool:
   """
   return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
 
+
 def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
 
   try:
-    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
+    if (active_bundle := params.get("ModelManager_ActiveBundle") or {}) and is_bundle_version_compatible(active_bundle):
       return custom.ModelManagerSP.ModelBundle(**active_bundle)
   except Exception:
     pass
@@ -110,7 +108,7 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     runner_type = active_bundle.runner.raw
 
   if cached_runner_type != runner_type:
-    params.put("ModelRunnerTypeCache", str(int(runner_type)))
+    params.put("ModelRunnerTypeCache", int(runner_type))
 
   return runner_type
 
@@ -121,16 +119,6 @@ def _get_model():
 
   return None
 
-def get_model_path():
-  if USE_ONNX:
-    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
-
-  if model := _get_model():
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"}
-
-  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
-
-
 def load_metadata():
   metadata_path = METADATA_PATH
 
@@ -184,3 +172,27 @@ def load_meta_constants(model_metadata):
       meta = MetaTombRaider
 
   return meta
+
+
+# The following method(s) are modeld helper methods
+def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
+  # times at X_IDXS according to plan.
+  LINE_T_IDXS = [np.nan] * constants.IDX_N
+  LINE_T_IDXS[0] = 0.0
+  plan_x = model_output['plan'][0, :, plan.POSITION][:, 0].tolist()
+  for xidx in range(1, constants.IDX_N):
+    tidx = 0
+    # increment tidx until we find an element that's further away than the current xidx
+    while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
+      tidx += 1
+    if tidx == constants.IDX_N - 1:
+      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
+      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
+      break
+    # interpolate to find `t` for the current xidx
+    current_x_val = plan_x[tidx]
+    next_x_val = plan_x[tidx + 1]
+    p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
+      next_x_val - current_x_val) > 1e-9 else float('nan')
+    LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
+  return LINE_T_IDXS
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 630d6a8d77..8fee0798b6 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -8,7 +8,6 @@ See the LICENSE.md file in the root directory for more details.
 import asyncio
 import os
 import time
-import json
 
 import aiohttp
 from openpilot.common.params import Params
@@ -17,8 +16,8 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 
 from cereal import messaging, custom
-from sunnypilot.models.fetcher import ModelFetcher
-from sunnypilot.models.helpers import verify_file, get_active_bundle
+from openpilot.sunnypilot.models.fetcher import ModelFetcher
+from openpilot.sunnypilot.models.helpers import verify_file, get_active_bundle
 
 
 class ModelManagerSP:
@@ -64,6 +63,9 @@ class ModelManagerSP:
             f.write(chunk)
             bytes_downloaded += len(chunk)
 
+            if not self.params.get("ModelManager_DownloadIndex"):
+              raise Exception("Download cancelled")
+
             if total_size > 0:
               progress = (bytes_downloaded / total_size) * 100
               model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
@@ -146,7 +148,7 @@ class ModelManagerSP:
       await asyncio.gather(*tasks)
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict()))
+      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_dict())
       self.selected_bundle = None
 
     except Exception:
@@ -169,14 +171,19 @@ class ModelManagerSP:
         self.available_models = self.model_fetcher.get_available_bundles()
         self.active_bundle = get_active_bundle(self.params)
 
-        if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):
-          if model_to_download := next((model for model in self.available_models if model.index == int(index_to_download)), None):
+        if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None:
+          if model_to_download := next((model for model in self.available_models if model.index == index_to_download), None):
             try:
               self.download(model_to_download, Paths.model_root())
             except Exception as e:
               cloudlog.exception(e)
             finally:
-              self.params.put("ModelManager_DownloadIndex", "")
+              self.params.remove("ModelManager_DownloadIndex")
+              self.selected_bundle = None
+
+        if self.params.get("ModelManager_ClearCache"):
+            self.clear_model_cache()
+            self.params.remove("ModelManager_ClearCache")
 
         self._report_status()
         rk.keep_time()
@@ -185,6 +192,31 @@ class ModelManagerSP:
         cloudlog.exception(f"Error in main thread: {str(e)}")
         rk.keep_time()
 
+  def clear_model_cache(self) -> None:
+    """
+    Clears the model cache directory of all files except those in the active model bundle.
+    """
+
+    # Get list of files used by active model bundle
+    active_files = []
+    if self.active_bundle is not None: # When the default model is active
+      for model in self.active_bundle.models:
+        if hasattr(model, 'artifact') and model.artifact.fileName:
+          active_files.append(model.artifact.fileName)
+        if hasattr(model, 'metadata') and model.metadata.fileName:
+          active_files.append(model.metadata.fileName)
+
+    # Remove all files except active ones
+    model_dir = Paths.model_root()
+    try:
+      for filename in os.listdir(model_dir):
+        if filename not in active_files:
+          file_path = os.path.join(model_dir, filename)
+          if os.path.isfile(file_path):
+            os.remove(file_path)
+      cloudlog.info("Model cache cleared, keeping active model files")
+    except Exception as e:
+      cloudlog.exception(f"Error clearing model cache: {str(e)}")
 
 def main():
   ModelManagerSP().main_thread()
diff --git a/sunnypilot/models/runners/constants.py b/sunnypilot/models/runners/constants.py
new file mode 100644
index 0000000000..acb316888c
--- /dev/null
+++ b/sunnypilot/models/runners/constants.py
@@ -0,0 +1,15 @@
+import os
+import numpy as np
+from openpilot.system.hardware.hw import Paths
+from cereal import custom
+
+# Type definitions for clarity
+NumpyDict = dict[str, np.ndarray]
+ShapeDict = dict[str, tuple[int, ...]]
+SliceDict = dict[str, slice]
+
+ModelType = custom.ModelManagerSP.Model.Type
+Model = custom.ModelManagerSP.Model
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py
new file mode 100644
index 0000000000..8f9d8fc2f5
--- /dev/null
+++ b/sunnypilot/models/runners/helpers.py
@@ -0,0 +1,27 @@
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
+from openpilot.sunnypilot.models.runners.constants import ModelType
+
+
+def get_model_runner() -> ModelRunner:
+  """
+  Factory function to create and return the appropriate ModelRunner instance.
+
+  Selects TinygradRunner, choosing TinygradSplitRunner if separate vision/policy
+  models are detected in the active bundle.
+
+  :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
+  """
+  bundle = get_active_bundle()
+  if bundle and bundle.models:
+    model_types = {m.type.raw for m in bundle.models}
+    # Check if the bundle uses separate vision and policy models
+    if ModelType.vision in model_types or ModelType.policy in model_types:
+      return TinygradSplitRunner()
+    # Otherwise, assume a single model (likely supercombo)
+    if bundle.models:
+      return TinygradRunner(bundle.models[0].type.raw)
+
+  # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
+  return TinygradRunner(ModelType.supercombo)
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
new file mode 100644
index 0000000000..051fa349db
--- /dev/null
+++ b/sunnypilot/models/runners/model_runner.py
@@ -0,0 +1,174 @@
+from abc import abstractmethod, ABC
+
+import numpy as np
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, Model, SliceDict, SEND_RAW_PRED
+from openpilot.system.hardware.hw import Paths
+import pickle
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+class ModelData:
+  """
+  Stores metadata and configuration for a specific machine learning model.
+
+  This class loads model metadata (like input shapes and output slices)
+  from a pickle file associated with a model instance.
+
+  :param model: The machine learning model object containing metadata.
+  """
+  def __init__(self, model: Model):
+    self.model = model
+    self.metadata = model.metadata
+    self.input_shapes: ShapeDict = {}
+    self.output_slices: SliceDict = {}
+    if self.metadata:
+      self._load_metadata()
+
+  def _load_metadata(self) -> None:
+    """Loads input shapes and output slices from the model's metadata pickle file."""
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
+    with open(metadata_path, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes = model_metadata.get('input_shapes', {})
+    self.output_slices = model_metadata.get('output_slices', {})
+
+
+class ModularRunner(ABC):
+  """
+  Represents a modular runner for handling and slicing model outputs.
+
+  This abstract base class is designed to provide an interface for modular
+  parsing and processing of model outputs. Classes inheriting from it must
+  implement the specified abstract methods, defining how model outputs
+  should be handled and stored. The primary goal is to enable structured
+  parsing of outputs through a dictionary-based method mapping.
+
+  :ivar parser_method_dict: Mapping dictionary containing parser methods
+      for handling specific types of outputs.
+  :type parser_method_dict: dict
+  """
+
+  @property
+  @abstractmethod
+  def parser_method_dict(self) -> dict:
+    pass
+
+  @parser_method_dict.setter
+  @abstractmethod
+  def parser_method_dict(self, value: dict) -> None:
+    pass
+
+  @abstractmethod
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    pass
+
+
+class ModelRunner(ModularRunner):
+  """
+  Abstract base class for managing and executing machine learning models.
+
+  Provides a common interface for loading models, preparing inputs, running
+  inference, and slicing/parsing outputs based on model metadata. Derived
+  classes implement the specifics of input preparation and model execution
+  for different frameworks (e.g., Tinygrad, ONNX).
+  """
+
+  def __init__(self):
+    """Initializes the model runner, loading the active model bundle."""
+    self.is_20hz: bool | None = None
+    self.is_20hz_3d: bool | None = None
+    self.models: dict[int, ModelData] = {}
+    self._model_data: ModelData | None = None  # Active model data for current operation
+    self._parser_method_dict: dict = {}
+    self.inputs: dict = {}
+    self._parser = None
+    self._load_models()
+    self._constants = None
+
+  @property
+  def constants(self):
+    return self._constants
+
+  @property
+  def parser_method_dict(self) -> dict:
+    """Returns the dictionary mapping model types to their respective parsing methods."""
+    return self._parser_method_dict
+
+  @parser_method_dict.setter
+  def parser_method_dict(self, value: dict) -> None:
+    """Sets the dictionary mapping model types to their respective parsing methods."""
+    self._parser_method_dict = value
+
+  def _load_models(self) -> None:
+    """Loads the active model bundle configuration and sets up ModelData."""
+    bundle = get_active_bundle()
+    if not bundle:
+      raise ValueError("No active model bundle found, why are we being executed?")
+
+    self.models = {model.type.raw: ModelData(model) for model in bundle.models}
+    self.is_20hz = bundle.is20hz
+    self.is_20hz_3d = False
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the input shapes for the currently active model."""
+    if self._model_data:
+      return self._model_data.input_shapes
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the output slices for the currently active model."""
+    if self._model_data:
+      return self._model_data.output_slices
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    if self._model_data:
+      return list(self._model_data.input_shapes.keys())
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @abstractmethod
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
+    """
+    Abstract method to prepare inputs for model inference.
+
+    :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
+    :return: Dictionary of prepared inputs ready for the model.
+    """
+    raise NotImplementedError
+
+  @abstractmethod
+  def _run_model(self) -> NumpyDict:
+    """
+    Abstract method to execute model inference with prepared inputs.
+
+    :return: Dictionary containing the model's raw output arrays.
+    """
+    raise NotImplementedError
+
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """
+    Slices the raw model output array based on the output_slices metadata.
+
+    :param model_outputs: The raw numpy array output from the model.
+    :return: A dictionary where keys are output names and values are sliced numpy arrays.
+    """
+    if not self._model_data:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+    sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
+    if SEND_RAW_PRED:
+      sliced_outputs['raw_pred'] = model_outputs.copy()  # Optionally include the full raw output
+    return sliced_outputs
+
+  def run_model(self) -> NumpyDict:
+    """
+    Executes the model inference pipeline: runs the model and parses outputs.
+
+    :return: Dictionary containing the final parsed model outputs.
+    """
+    return self._run_model()  # Parsing is handled within specific runner implementations
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py
new file mode 100644
index 0000000000..11f0965828
--- /dev/null
+++ b/sunnypilot/models/runners/tinygrad/model_types.py
@@ -0,0 +1,75 @@
+import os
+from abc import ABC
+
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
+from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
+from openpilot.system.hardware.hw import Paths
+
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+class OffPolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for off-policy models.
+
+  Uses a SplitParser to handle outputs specific to the off-policy part of a split model setup.
+  """
+  def __init__(self):
+    self._off_policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.offPolicy] = self._parse_off_policy_outputs
+
+  def _parse_off_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses off-policy model outputs using SplitParser."""
+    result: NumpyDict = self._off_policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+
+class PolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for policy-only models.
+
+  Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
+  """
+  def __init__(self):
+    self._policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
+
+  def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses policy model outputs using SplitParser."""
+    result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class VisionTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._vision_parser = SplitParser()
+    self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
+
+  def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class SupercomboTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._supercombo_parser = CombinedParser()
+    self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
+
+  def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
+    return result
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
new file mode 100644
index 0000000000..9033c892eb
--- /dev/null
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -0,0 +1,155 @@
+import pickle
+
+import numpy as np
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad, OffPolicyTinygrad
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+from tinygrad.tensor import Tensor
+
+
+class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad, OffPolicyTinygrad):
+  """
+  A ModelRunner implementation for executing Tinygrad models.
+
+  Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
+  Tensors (potentially using QCOM extensions on TICI), running inference,
+  and parsing the outputs.
+
+  :param model_type: The type of model (e.g., supercombo) to load and run.
+  """
+  def __init__(self, model_type: int = ModelType.supercombo):
+    ModelRunner.__init__(self)
+    SupercomboTinygrad.__init__(self)
+    PolicyTinygrad.__init__(self)
+    VisionTinygrad.__init__(self)
+    OffPolicyTinygrad.__init__(self)
+    self._constants = ModelConstants
+    self._model_data = self.models.get(model_type)
+    if not self._model_data or not self._model_data.model:
+      raise ValueError(f"Model data for type {model_type} not available.")
+
+    artifact_filename = self._model_data.model.artifact.fileName
+    assert artifact_filename.endswith('_tinygrad.pkl'), \
+      f"Invalid model file {artifact_filename} for TinygradRunner"
+
+    model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
+    with open(model_pkl_path, "rb") as f:
+      try:
+        # Load the compiled Tinygrad model runner function
+        self.model_run = pickle.load(f)
+      except FileNotFoundError as e:
+        # Provide a helpful error message if the model was built for a different platform
+        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
+        raise
+
+    # Map input names to their required dtype and device from the loaded model
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      info = self.model_run.captured.expected_input_info[idx]
+      self.input_to_dtype[name] = info[2]  # dtype
+      self.input_to_device[name] = info[3]  # device
+    self._policy_cached = False
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    return [name for name in self.input_shapes.keys() if 'img' in name]
+
+
+  def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
+    if not self._policy_cached:
+      for key, value in numpy_inputs.items():
+        self.inputs[key] = Tensor(value, device='NPY').realize()
+      self._policy_cached = True
+
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
+    """Prepares all vision and policy inputs for the model."""
+    self.prepare_policy_inputs(numpy_inputs)
+    for key in self.vision_input_names:
+      if key in self.inputs:
+        self.inputs[key] = self.inputs[key].cast(self.input_to_dtype[key])
+    return self.inputs
+
+  def _run_model(self) -> NumpyDict:
+    """Runs the Tinygrad model inference and parses the outputs."""
+    outputs = self.model_run(**self.inputs).contiguous().realize().uop.base.buffer.numpy().flatten()
+    return self._parse_outputs(outputs)
+
+  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses the raw model outputs using the standard Parser."""
+    if self._model_data is None:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
+    return result
+
+
+class TinygradSplitRunner(ModelRunner):
+  """
+  A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
+
+  Manages the execution of split vision and policy models, combining their inputs and outputs.
+  """
+  def __init__(self):
+    super().__init__()
+    self.is_20hz_3d = True
+    self.vision_runner = TinygradRunner(ModelType.vision)
+    self.policy_runner = TinygradRunner(ModelType.policy)
+    self.off_policy_runner = TinygradRunner(ModelType.offPolicy) if self.models.get(ModelType.offPolicy) else None
+    self._constants = SplitModelConstants
+
+  def _run_model(self) -> NumpyDict:
+    """Runs both vision and policy models and merges their parsed outputs."""
+    policy_output = self.policy_runner.run_model()
+    vision_output = self.vision_runner.run_model()
+    outputs = {**policy_output, **vision_output}
+
+    if self.off_policy_runner:
+      off_policy_output = self.off_policy_runner.run_model()
+      outputs.update(off_policy_output)
+
+    if 'planplus' in outputs and 'plan' in outputs:
+      outputs['plan'] = outputs['plan'] + outputs['planplus']
+
+    return outputs
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the vision runner."""
+    return list(self.vision_runner.vision_input_names)
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the combined input shapes from both vision and policy models."""
+    shapes = {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
+    if self.off_policy_runner:
+      shapes.update(self.off_policy_runner.input_shapes)
+    return shapes
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the combined output slices from both vision and policy models."""
+    slices = {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
+    if self.off_policy_runner:
+      slices.update(self.off_policy_runner.output_slices)
+    return slices
+
+  def prepare_inputs(self, numpy_inputs: NumpyDict) -> dict:
+    """Prepares inputs for both vision and policy models."""
+    # Policy inputs only depend on numpy_inputs
+    self.policy_runner.prepare_policy_inputs(numpy_inputs)
+
+    for key in self.vision_input_names:
+      if key in self.inputs:
+        self.vision_runner.inputs[key] = self.inputs[key].cast(self.vision_runner.input_to_dtype[key])
+
+    inputs = {**self.policy_runner.inputs, **self.vision_runner.inputs}
+
+    if self.off_policy_runner:
+      self.off_policy_runner.prepare_policy_inputs(numpy_inputs)
+      inputs.update(self.off_policy_runner.inputs)
+    return inputs
diff --git a/sunnypilot/models/split_model_constants.py b/sunnypilot/models/split_model_constants.py
new file mode 100644
index 0000000000..a3e1dce8f6
--- /dev/null
+++ b/sunnypilot/models/split_model_constants.py
@@ -0,0 +1,94 @@
+import numpy as np
+
+
+def index_function(idx, max_val=192, max_idx=32):
+  return max_val * ((idx/max_idx)**2)
+
+
+class SplitModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+
+  FEATURE_LEN = 512
+
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index 0042d08320..f363f8309a 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-8ef2dbcae743eb132167074a374f0a834308be31cffd532598bb13c3d7144a57
\ No newline at end of file
+32f57bdc91f910df1f48ddae7c59aaf6e751f9df6756da481a210577dbce8bcf
\ No newline at end of file
diff --git a/sunnypilot/models/tests/test_default_model.py b/sunnypilot/models/tests/test_default_model.py
index 5067dbaf46..7c2fde70a8 100644
--- a/sunnypilot/models/tests/test_default_model.py
+++ b/sunnypilot/models/tests/test_default_model.py
@@ -1,4 +1,12 @@
-from openpilot.sunnypilot.models.default_model import get_file_hash, MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
+"""
+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.
+"""
+
+from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.models.default_model import MODEL_HASH_PATH, VISION_ONNX_PATH, POLICY_ONNX_PATH
 import hashlib
 
 
diff --git a/sunnypilot/models/tests/test_tinygrad_ref.py b/sunnypilot/models/tests/test_tinygrad_ref.py
new file mode 100644
index 0000000000..3e60ab5308
--- /dev/null
+++ b/sunnypilot/models/tests/test_tinygrad_ref.py
@@ -0,0 +1,23 @@
+import requests
+
+from openpilot.sunnypilot.models.tinygrad_ref import get_tinygrad_ref
+from openpilot.sunnypilot.models.fetcher import ModelFetcher
+
+
+def fetch_tinygrad_ref():
+  response = requests.get(ModelFetcher.MODEL_URL, timeout=10)
+  response.raise_for_status()
+  json_data = response.json()
+  return json_data.get("tinygrad_ref")
+
+
+def test_tinygrad_ref():
+  current_ref = get_tinygrad_ref()
+  remote_ref = fetch_tinygrad_ref()
+  assert remote_ref == current_ref, (
+    f"""tinygrad_repo ref does not match remote tinygrad_ref of current compiled driving models json.
+  Current: {current_ref}
+  Remote: {remote_ref}
+  Please run build-all workflow to update models."""
+  )
+  print("tinygrad_repo ref matches current compiled driving models json ref.")
diff --git a/sunnypilot/models/tinygrad_ref.py b/sunnypilot/models/tinygrad_ref.py
new file mode 100644
index 0000000000..4dd333e323
--- /dev/null
+++ b/sunnypilot/models/tinygrad_ref.py
@@ -0,0 +1,36 @@
+import os
+
+from openpilot.common.basedir import BASEDIR
+
+
+def get_tinygrad_ref():
+  repo_path = os.path.join(BASEDIR, "tinygrad_repo")
+  git_path = os.path.join(repo_path, ".git")
+  try:
+    if os.path.isdir(git_path):
+      git_dir = git_path
+    else:
+      with open(git_path) as f:
+        line = f.read().strip()
+      git_dir = os.path.join(repo_path, line[8:])
+    with open(os.path.join(git_dir, "HEAD")) as f:
+      ref = f.read().strip()
+    if ref.startswith("ref:"):
+      with open(os.path.join(git_dir, ref.split(" ", 1)[1])) as f:
+        return f.read().strip()
+    return ref
+  except Exception as e:
+    print(f"Error getting tinygrad_repo ref: {e}")
+    return None
+
+
+def main():
+  current_ref = get_tinygrad_ref()
+  if current_ref:
+    print(current_ref)
+  else:
+    print("")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py
new file mode 100644
index 0000000000..c57706d32a
--- /dev/null
+++ b/sunnypilot/navd/helpers.py
@@ -0,0 +1,189 @@
+from __future__ import annotations
+
+import json
+import math
+import numpy as np
+from typing import Any, cast
+
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+DIRECTIONS = ('left', 'right', 'straight')
+MODIFIABLE_DIRECTIONS = ('left', 'right')
+
+EARTH_MEAN_RADIUS = 6371007.2
+SPEED_CONVERSIONS = {
+  'km/h': CV.KPH_TO_MS,
+  'mph': CV.MPH_TO_MS,
+}
+
+
+class Coordinate:
+  def __init__(self, latitude: float, longitude: float) -> None:
+    self.latitude = latitude
+    self.longitude = longitude
+    self.annotations: dict[str, float] = {}
+
+  @classmethod
+  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
+    return cls(t[1], t[0])
+
+  def as_dict(self) -> dict[str, float]:
+    return {'latitude': self.latitude, 'longitude': self.longitude}
+
+  def __str__(self) -> str:
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
+
+  def __eq__(self, other) -> bool:
+    if not isinstance(other, Coordinate):
+      return False
+    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
+
+  def __sub__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
+
+  def __add__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
+
+  def __mul__(self, c: float) -> Coordinate:
+    return Coordinate(self.latitude * c, self.longitude * c)
+
+  def dot(self, other: Coordinate) -> float:
+    return self.latitude * other.latitude + self.longitude * other.longitude
+
+  def distance_to(self, other: Coordinate) -> float:
+    # Haversine formula
+    dlat = math.radians(other.latitude - self.latitude)
+    dlon = math.radians(other.longitude - self.longitude)
+
+    haversine_dlat = math.sin(dlat / 2.0)
+    haversine_dlat *= haversine_dlat
+    haversine_dlon = math.sin(dlon / 2.0)
+    haversine_dlon *= haversine_dlon
+
+    y = haversine_dlat \
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
+    x = 2 * math.asin(math.sqrt(y))
+    return x * EARTH_MEAN_RADIUS
+
+
+def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
+  if a.distance_to(b) < 0.01:
+    return a.distance_to(p)
+
+  ap = p - a
+  ab = b - a
+  t = np.clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
+  projection = a + ab * t
+  return projection.distance_to(p)
+
+
+def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
+  if len(geometry) <= 2:
+    return geometry[0].distance_to(pos)
+
+  # 1. Find segment that is closest to current position
+  # 2. Total distance is sum of distance to start of closest segment
+  #    + all previous segments
+  total_distance = 0.0
+  total_distance_closest = 0.0
+  closest_distance = 1e9
+
+  for i in range(len(geometry) - 1):
+    d = minimum_distance(geometry[i], geometry[i + 1], pos)
+
+    if d < closest_distance:
+      closest_distance = d
+      total_distance_closest = total_distance + geometry[i].distance_to(pos)
+
+    total_distance += geometry[i].distance_to(geometry[i + 1])
+
+  return total_distance_closest
+
+
+def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
+  if params is None:
+    params = Params()
+
+  json_str = params.get(param)
+  if json_str is None:
+    return None
+
+  pos = json.loads(json_str)
+  if 'latitude' not in pos or 'longitude' not in pos:
+    return None
+
+  return Coordinate(pos['latitude'], pos['longitude'])
+
+
+def string_to_direction(direction: str) -> str:
+  for d in DIRECTIONS:
+    if d in direction:
+      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'slight' + d.capitalize()
+      return d
+  return 'none'
+
+
+def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
+  unit = cast(str, maxspeed['unit'])
+  speed = cast(float, maxspeed['speed'])
+  return float(SPEED_CONVERSIONS[unit] * speed)
+
+
+def field_valid(dat: dict, field: str) -> bool:
+  return field in dat and dat[field] is not None
+
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
+  if not len(banners):
+    return None
+
+  instruction = {}
+
+  # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
+  for banner in banners:
+    if distance_to_maneuver < banner['distanceAlongGeometry']:
+      current_banner = banner
+
+  # Only show banner when close enough to maneuver
+  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
+
+  # Primary
+  p = current_banner['primary']
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
+
+  # Secondary
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
+
+  # Lane lines
+  if field_valid(current_banner, 'sub'):
+    lanes = []
+    for component in current_banner['sub']['components']:
+      if component['type'] != 'lane':
+        continue
+
+      lane = {
+        'active': component['active'],
+        'directions': [string_to_direction(d) for d in component['directions']],
+      }
+
+      if field_valid(component, 'active_direction'):
+        lane['activeDirection'] = string_to_direction(component['active_direction'])
+
+      lanes.append(lane)
+    instruction['lanes'] = lanes
+
+  return instruction
diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index 16946bfd9c..03cac2d30e 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit 16946bfd9cca1a33e8b609d10ca3d1a0089d38e2
+Subproject commit 03cac2d30e111e0689c0429cb8c1fe6cb5a905af
diff --git a/sunnypilot/selfdrive/assets/icons/clock.png b/sunnypilot/selfdrive/assets/icons/clock.png
new file mode 100644
index 0000000000..e04d1db949
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons/clock.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e095cfc4de71788bd4a99699a2e7ab4098cd426277d672b9e43981c5fab8b40f
+size 16407
diff --git a/sunnypilot/selfdrive/assets/icons/star-empty.png b/sunnypilot/selfdrive/assets/icons/star-empty.png
new file mode 100644
index 0000000000..bf60dec374
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons/star-empty.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3731604f80e83a1fdb7c258baf6530b81190eeec82e6443172e84a35b7a74c02
+size 1088
diff --git a/sunnypilot/selfdrive/assets/icons/star-filled.png b/sunnypilot/selfdrive/assets/icons/star-filled.png
new file mode 100644
index 0000000000..3667231bf0
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/icons/star-filled.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2a513b7f2da004f145b7d689654cc65137f1b146d484fbce7ce727a297b62c
+size 861
diff --git a/sunnypilot/selfdrive/assets/images/green_light.png b/sunnypilot/selfdrive/assets/images/green_light.png
new file mode 100644
index 0000000000..2da2c13a82
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/green_light.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aa5ec9ac1daee6a549e62647d90bcaa66d2485f7df7f386ff902fcfb04c1716
+size 6583
diff --git a/sunnypilot/selfdrive/assets/images/lead_depart.png b/sunnypilot/selfdrive/assets/images/lead_depart.png
new file mode 100644
index 0000000000..6030ee67cf
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/lead_depart.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087db35bd469e85aefe3b45636f11ab3e8b55ceb7bc94ea059cfd9a69c2f338f
+size 8914
diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
new file mode 100644
index 0000000000..edc5c6e5c2
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbacb55581a5ea8cbcd5cea0560ec21d96ac7185463a40fff0f81bebf044ffa
+size 23187
diff --git a/sunnypilot/selfdrive/assets/img_minus_arrow_down.png b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
new file mode 100644
index 0000000000..2dc99789a5
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/img_minus_arrow_down.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad42ecaeff96a0a6c1a6db67b01e3c0452566906dd3a7f0336a1010ae854d27b
+size 60924
diff --git a/sunnypilot/selfdrive/assets/img_plus_arrow_up.png b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
new file mode 100644
index 0000000000..4247827340
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/img_plus_arrow_up.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdea39873f60a0c4b216b75792e826f3633091a72ea2abd05740bd6e4e72089
+size 63058
diff --git a/sunnypilot/selfdrive/assets/logo.png b/sunnypilot/selfdrive/assets/logo.png
new file mode 100644
index 0000000000..690cf7fb70
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/logo.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b3aefa108dd0c7f64205a11e424430c318e6fd06de31b5550d0b9d05616e6a
+size 19035
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_display.png b/sunnypilot/selfdrive/assets/offroad/icon_display.png
new file mode 100644
index 0000000000..547977f522
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_display.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614767308d435d165a9ab78e3eac22ee15697d94066df8200ef32afb33ef8d60
+size 5698
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
new file mode 100644
index 0000000000..1b8308a0ac
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44f71f7603b106986fff7835f35c4c18c4c619a29e6292f8626ae3eedd85e57
+size 7811
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_firehose.png b/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
new file mode 100644
index 0000000000..d579937f3f
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_firehose.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a258a022f0ab90368327d899ed4fb85b47dd0e35c93508e35851d9c3184528c0
+size 36382
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_home.png b/sunnypilot/selfdrive/assets/offroad/icon_home.png
new file mode 100644
index 0000000000..1229af846d
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_home.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8623dbc5c7dd043a91d98777cb423cfd116014ed6390af6d7d00c1f8dea3c6e8
+size 1181
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/sunnypilot/selfdrive/assets/offroad/icon_map.png
new file mode 100644
index 0000000000..82c0236a48
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f
+size 28235
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_models.png b/sunnypilot/selfdrive/assets/offroad/icon_models.png
new file mode 100644
index 0000000000..0131759703
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_models.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b431c274a55437b5a65ada7c85503e137bc2ffa8917510ad9affb14a407d82
+size 14366
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
new file mode 100644
index 0000000000..3cc9c3b145
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecaac6fb687fcab3300d1fe2dfea96fb49734d634a663e2c02ee0b26ebd773e
+size 20632
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 649aceca01..bce496ed28 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -18,17 +18,11 @@ GearShifter = structs.CarState.GearShifter
 
 
 class CarSpecificEventsSP:
-  def __init__(self, CP: structs.CarParams, params):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
     self.CP = CP
-    self.params = params
+    self.CP_SP = CP_SP
 
     self.low_speed_alert = False
-    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
-    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
-
-  def read_params(self):
-    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
-    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
 
   def update(self, CS: structs.CarState, events: Events):
     events_sp = EventsSP()
@@ -43,13 +37,15 @@ class CarSpecificEventsSP:
         # TODO-SP: add 1 m/s hysteresis
         if CS.vEgo >= self.CP.minEnableSpeed:
           self.low_speed_alert = False
-        if CS.gearShifter != GearShifter.drive:
+        if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
           self.low_speed_alert = True
       if self.low_speed_alert:
         events.add(EventName.belowSteerSpeed)
 
-    if self.CP.brand == 'hyundai':
-      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events_sp.add(EventNameSP.hyundaiRadarTracksConfirmed)
+    elif self.CP.brand == 'toyota':
+      if self.CP.openpilotLongitudinalControl:
+        if CS.cruiseState.standstill and not CS.brakePressed and self.CP_SP.enableGasInterceptor:
+          if events.has(EventName.resumeRequired):
+            events.remove(EventName.resumeRequired)
 
     return events_sp
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
new file mode 100644
index 0000000000..3691c35972
--- /dev/null
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -0,0 +1,138 @@
+"""
+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.
+"""
+import numpy as np
+
+from cereal import car, custom
+from opendbc.car import structs
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import ACTIVE_STATES as SLA_ACTIVE_STATES
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target
+
+ButtonType = car.CarState.ButtonEvent.Type
+SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+
+CRUISE_BUTTON_TIMER = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0,
+                       ButtonType.setCruise: 0, ButtonType.resumeCruise: 0,
+                       ButtonType.cancel: 0, ButtonType.mainCruise: 0}
+
+V_CRUISE_MIN = 8
+V_CRUISE_MAX = 145
+V_CRUISE_UNSET = 255
+
+
+def update_manual_button_timers(CS: car.CarState, button_timers: dict[car.CarState.ButtonEvent.Type, int]) -> None:
+  # increment timer for buttons still pressed
+  for k in button_timers:
+    if button_timers[k] > 0:
+      button_timers[k] += 1
+
+  for b in CS.buttonEvents:
+    if b.type.raw in button_timers:
+      # Start/end timer and store current state on change of button pressed
+      button_timers[b.type.raw] = 1 if b.pressed else 0
+
+
+class VCruiseHelperSP:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP) -> None:
+    self.CP = CP
+    self.CP_SP = CP_SP
+    self.v_cruise_kph = V_CRUISE_UNSET
+    self.v_cruise_cluster_kph = V_CRUISE_UNSET
+    self.params = Params()
+    self.v_cruise_min = 0
+    self.enabled_prev = False
+
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
+    self.long_increment = self.params.get("CustomAccLongPressIncrement", return_default=True)
+
+    self.enable_button_timers = CRUISE_BUTTON_TIMER
+
+    # Speed Limit Assist
+    self.sla_state = SpeedLimitAssistState.disabled
+    self.prev_sla_state = SpeedLimitAssistState.disabled
+    self.has_speed_limit = False
+    self.speed_limit_final_last = 0.
+    self.speed_limit_final_last_kph = 0.
+    self.prev_speed_limit_final_last_kph = 0.
+    self.req_plus = False
+    self.req_minus = False
+
+  def read_custom_set_speed_params(self) -> None:
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.params.get("CustomAccShortPressIncrement", return_default=True)
+    self.long_increment = self.params.get("CustomAccLongPressIncrement", return_default=True)
+
+  def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tuple[bool, float]:
+    if not self.custom_acc_enabled:
+      v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+      return long_press, v_cruise_delta
+
+    # Apply user-specified multipliers to the base increment
+    short_increment = np.clip(self.short_increment, 1, 10)
+    long_increment = np.clip(self.long_increment, 1, 10)
+
+    actual_increment = long_increment if long_press else short_increment
+    round_to_nearest = actual_increment in (5, 10)
+    v_cruise_delta = v_cruise_delta * actual_increment
+
+    return round_to_nearest, v_cruise_delta
+
+  def get_minimum_set_speed(self, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      self.v_cruise_min = V_CRUISE_MIN
+      return
+
+    self.v_cruise_min = get_minimum_set_speed(is_metric)
+
+  def update_enabled_state(self, CS: car.CarState, enabled: bool) -> bool:
+    # special enabled state for non pcmCruiseSpeed, unchanged for non pcmCruise
+    if not self.CP_SP.pcmCruiseSpeed:
+      update_manual_button_timers(CS, self.enable_button_timers)
+      button_pressed = any(self.enable_button_timers[k] > 0 for k in self.enable_button_timers)
+
+      if enabled and not self.enabled_prev:
+        self.enabled_prev = not button_pressed
+        enabled = False
+      elif not enabled:
+        self.enabled_prev = enabled
+
+      return enabled and self.enabled_prev
+
+    return enabled
+
+  def update_speed_limit_assist(self, is_metric, LP_SP: custom.LongitudinalPlanSP) -> None:
+    resolver = LP_SP.speedLimit.resolver
+    self.has_speed_limit = resolver.speedLimitValid or resolver.speedLimitLastValid
+    self.speed_limit_final_last = LP_SP.speedLimit.resolver.speedLimitFinalLast
+    self.speed_limit_final_last_kph = self.speed_limit_final_last * CV.MS_TO_KPH
+    self.sla_state = LP_SP.speedLimit.assist.state
+    self.req_plus, self.req_minus = compare_cluster_target(self.v_cruise_cluster_kph * CV.KPH_TO_MS,
+                                                           self.speed_limit_final_last, is_metric)
+
+  @property
+  def update_speed_limit_final_last_changed(self) -> bool:
+    return self.has_speed_limit and bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph)
+
+  def update_speed_limit_assist_pre_active_confirmed(self, button_type: car.CarState.ButtonEvent.Type) -> bool:
+    if self.sla_state == SpeedLimitAssistState.preActive or self.prev_sla_state == SpeedLimitAssistState.preActive:
+      if button_type == ButtonType.decelCruise and self.req_minus:
+        return True
+      if button_type == ButtonType.accelCruise and self.req_plus:
+        return True
+
+    return False
+
+  def update_speed_limit_assist_v_cruise_non_pcm(self) -> None:
+    if self.sla_state in SLA_ACTIVE_STATES and (self.prev_sla_state not in SLA_ACTIVE_STATES or
+                                                self.update_speed_limit_final_last_changed):
+      self.v_cruise_kph = np.clip(round(self.speed_limit_final_last_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
+
+    self.prev_sla_state = self.sla_state
+    self.prev_speed_limit_final_last_kph = self.speed_limit_final_last_kph
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
new file mode 100644
index 0000000000..1f491e0f58
--- /dev/null
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/controller.py
@@ -0,0 +1,127 @@
+"""
+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.
+"""
+from cereal import car, custom
+from opendbc.car import structs, apply_hysteresis
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import CRUISE_BUTTON_TIMER, update_manual_button_timers
+
+LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
+State = custom.IntelligentCruiseButtonManagement.IntelligentCruiseButtonManagementState
+SendButtonState = custom.IntelligentCruiseButtonManagement.SendButtonState
+
+ALLOWED_SPEED_THRESHOLD = 1.8  # m/s, ~4 MPH
+HYST_GAP = 0.0  # currently disabled; TODO-SP: might need to be brand-specific
+INACTIVE_TIMER = 0.4
+
+
+SEND_BUTTONS = {
+  State.increasing: SendButtonState.increase,
+  State.decreasing: SendButtonState.decrease,
+}
+
+
+class IntelligentCruiseButtonManagement:
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
+    self.v_target = 0
+    self.v_cruise_cluster = 0
+    self.v_cruise_min = 0
+    self.cruise_button = SendButtonState.none
+    self.state = State.inactive
+    self.pre_active_timer = 0
+
+    self.is_ready = False
+    self.is_ready_prev = False
+    self.v_target_ms_last = 0.0
+    self.is_metric = False
+
+    self.cruise_button_timers = CRUISE_BUTTON_TIMER
+
+  @property
+  def v_cruise_equal(self) -> bool:
+    return self.v_target == self.v_cruise_cluster
+
+  def update_calculations(self, CS: car.CarState, LP_SP: custom.LongitudinalPlanSP) -> None:
+    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    ms_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+
+    self.v_target_ms_last = apply_hysteresis(LP_SP.vTarget, self.v_target_ms_last, HYST_GAP * ms_conv)
+
+    self.v_target = round(self.v_target_ms_last * speed_conv)
+    self.v_cruise_min = get_minimum_set_speed(self.is_metric)
+    self.v_cruise_cluster = round(CS.cruiseState.speedCluster * speed_conv)
+
+  def update_state_machine(self) -> custom.IntelligentCruiseButtonManagement.SendButtonState:
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # HOLDING, ACCELERATING, DECELERATING, PRE_ACTIVE
+    if self.state != State.inactive:
+      if not self.is_ready:
+        self.state = State.inactive
+
+      else:
+        # PRE_ACTIVE
+        if self.state == State.preActive:
+          if self.pre_active_timer <= 0:
+            if self.v_cruise_equal:
+              self.state = State.holding
+
+            elif self.v_target > self.v_cruise_cluster:
+              self.state = State.increasing
+
+            elif self.v_target < self.v_cruise_cluster and self.v_cruise_cluster > self.v_cruise_min:
+              self.state = State.decreasing
+
+        # HOLDING
+        elif self.state == State.holding:
+          if not self.v_cruise_equal:
+            self.state = State.preActive
+
+        # ACCELERATING
+        elif self.state == State.increasing:
+          if self.v_target <= self.v_cruise_cluster:
+            self.state = State.holding
+
+        # DECELERATING
+        elif self.state == State.decreasing:
+          if self.v_target >= self.v_cruise_cluster or self.v_cruise_cluster <= self.v_cruise_min:
+            self.state = State.holding
+
+    # INACTIVE
+    elif self.state == State.inactive:
+      if self.is_ready and not self.is_ready_prev:
+        self.pre_active_timer = int(INACTIVE_TIMER / DT_CTRL)
+        self.state = State.preActive
+
+    send_button = SEND_BUTTONS.get(self.state, SendButtonState.none)
+
+    return send_button
+
+  def update_readiness(self, CS: car.CarState, CC: car.CarControl) -> None:
+    update_manual_button_timers(CS, self.cruise_button_timers)
+
+    ready = CC.enabled and not CC.cruiseControl.override and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
+    button_pressed = any(self.cruise_button_timers[k] > 0 for k in self.cruise_button_timers)
+
+    self.is_ready = ready and not button_pressed
+
+  def run(self, CS: car.CarState, CC: car.CarControl, LP_SP: custom.LongitudinalPlanSP, is_metric: bool) -> None:
+    if self.CP_SP.pcmCruiseSpeed:
+      return
+
+    self.is_metric = is_metric
+
+    self.update_calculations(CS, LP_SP)
+    self.update_readiness(CS, CC)
+
+    self.cruise_button = self.update_state_machine()
+
+    self.is_ready_prev = self.is_ready
diff --git a/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
new file mode 100644
index 0000000000..eb4bbdecb5
--- /dev/null
+++ b/sunnypilot/selfdrive/car/intelligent_cruise_button_management/helpers.py
@@ -0,0 +1,8 @@
+"""
+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.
+"""
+def get_minimum_set_speed(is_metric: bool) -> int:
+  return 30 if is_metric else 20
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index f2019f5ed7..e4db6c8e97 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -4,21 +4,19 @@ 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.
 """
+from typing import Any
 
-from opendbc.car import Bus, structs
-from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
-from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
-from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
-from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import get_nn_model_path
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import set_speed_limit_assist_availability
 
 import openpilot.system.sentry as sentry
 
+from openpilot.sunnypilot.sunnylink.statsd import STATSLOGSP
+
 
 def log_fingerprint(CP: structs.CarParams) -> None:
   if CP.carFingerprint == "MOCK":
@@ -26,24 +24,19 @@ def log_fingerprint(CP: structs.CarParams) -> None:
   else:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
-def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                           params: Params = None) -> None:
+
+def _enforce_torque_lateral_control(CP: structs.CarParams, params: Params = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
-  # Hyundai Custom Longitudinal Tuning
-  if CP.brand == 'hyundai':
-    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
-    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
-      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+  if CP.steerControlType != structs.CarParams.SteerControlType.angle:
+    enabled = params.get_bool("EnforceTorqueControl")
 
-  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+  return enabled
 
 
-def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                               params: Params = None, enabled: bool = False) -> None:
+def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                               params: Params = None, enabled: bool = False) -> bool:
   if params is None:
     params = Params()
 
@@ -55,55 +48,90 @@ def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs
   if nnlc_model_name != "MOCK" and CP.steerControlType != structs.CarParams.SteerControlType.angle:
     enabled = params.get_bool("NeuralNetworkLateralControl")
 
-  if enabled:
-    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
-
   CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
   CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
+  return enabled
 
-def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+
+def _initialize_intelligent_cruise_button_management(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
   if params is None:
     params = Params()
 
-  if CP.brand == 'hyundai':
-    if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
-      # Having this automatic without a toggle causes a weird process replay diff because
-      # somehow it sees fewer logs than intended
-      if params.get_bool("HyundaiRadarTracksToggle"):
-        CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
-        if params.get_bool("HyundaiRadarTracks"):
-          CP.radarUnavailable = False
+  icbm_enabled = params.get_bool("IntelligentCruiseButtonManagement")
+  if icbm_enabled and CP_SP.intelligentCruiseButtonManagementAvailable and not CP.openpilotLongitudinalControl:
+    CP_SP.pcmCruiseSpeed = False
+
+
+def _initialize_torque_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, enforce_torque: bool, nnlc_enabled: bool) -> None:
+  if nnlc_enabled or enforce_torque:
+    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+
+
+def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  if CP.steerControlType == structs.CarParams.SteerControlType.angle:
+    cloudlog.warning("SteerControlType is angle, cleaning up params")
+    params.remove("NeuralNetworkLateralControl")
+    params.remove("EnforceTorqueControl")
+
+  if not CP_SP.intelligentCruiseButtonManagementAvailable or CP.openpilotLongitudinalControl:
+    cloudlog.warning("ICBM not available or openpilot Longitudinal Control enabled, cleaning up params")
+    params.remove("IntelligentCruiseButtonManagement")
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    cloudlog.warning("openpilot Longitudinal Control and ICBM not available, cleaning up params")
+    params.remove("DynamicExperimentalControl")
+    params.remove("CustomAccIncrementsEnabled")
+    params.remove("SmartCruiseControlVision")
+    params.remove("SmartCruiseControlMap")
+
+  set_speed_limit_assist_availability(CP, CP_SP, params)
 
 
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
   CP = CI.CP
   CP_SP = CI.CP_SP
 
-  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
-  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
-  _initialize_radar_tracks(CP, CP_SP, params)
+  enforce_torque = _enforce_torque_lateral_control(CP, params)
+  nnlc_enabled = _initialize_neural_network_lateral_control(CP, CP_SP, params)
+  _initialize_intelligent_cruise_button_management(CP, CP_SP, params)
+  _initialize_torque_lateral_control(CI, CP, enforce_torque, nnlc_enabled)
+  _cleanup_unsupported_params(CP, CP_SP)
+
+  try:
+    STATSLOGSP.raw('sunnypilot.car_params', CP.to_dict())
+  except RuntimeError:
+    pass  # to_dict fails on macOS due to library issues.
+  # STATSLOGSP.raw('sunnypilot_params.car_params_sp', CP_SP.to_dict()) # https://github.com/sunnypilot/opendbc/pull/361
 
 
-def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,
-                        params: Params) -> None:
-  if CP.brand == 'hyundai':
-    if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
-      can_recv()
-      _, fingerprint = can_fingerprint(can_recv)
-      radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]
+def initialize_params(params) -> list[dict[str, Any]]:
+  keys: list = []
 
-      radar_tracks = params.get_bool("HyundaiRadarTracks")
-      radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent")
+  # hyundai
+  keys.extend([
+    "HyundaiLongitudinalTuning",
+  ])
 
-      params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks)
+  # subaru
+  keys.extend([
+    "SubaruStopAndGo",
+    "SubaruStopAndGoManualParkingBrake",
+  ])
 
-      if not radar_tracks_persistent:
-        params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
-        params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)
+  # tesla
+  keys.extend([
+    "TeslaCoopSteering",
+  ])
 
+  # toyota
+  keys.extend([
+    "ToyotaEnforceStockLongitudinal",
+    "ToyotaStopAndGoHack",
+  ])
 
-def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params,
-                                can_recv: CanRecvCallable, can_send: CanSendCallable):
-  _enable_radar_tracks(CP, CP_SP, can_recv, params)
+  return [{k: params.get(k, return_default=True)} for k in keys]
diff --git a/sunnypilot/selfdrive/car/sync_car_list_param.py b/sunnypilot/selfdrive/car/sync_car_list_param.py
new file mode 100755
index 0000000000..5e25f6da9a
--- /dev/null
+++ b/sunnypilot/selfdrive/car/sync_car_list_param.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import json
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+CAR_LIST_JSON_OUT = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "car", "car_list.json")
+
+
+def update_car_list_param():
+  with open(CAR_LIST_JSON_OUT) as f:
+    current_car_list = json.load(f)
+
+  params = Params()
+  if params.get("CarList") != current_car_list:
+    params.put("CarList", current_car_list)
+    cloudlog.warning("Updated CarList param with latest platform list")
+  else:
+    cloudlog.warning("CarList param is up to date, no need to update")
+
+
+if __name__ == "__main__":
+  update_car_list_param()
diff --git a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py b/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
index 26338319f5..2fad14a703 100644
--- a/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
+++ b/sunnypilot/selfdrive/car/tests/test_cruise_mode.py
@@ -1,5 +1,5 @@
-from parameterized import parameterized_class
 from cereal import car
+from openpilot.common.parameterized import parameterized_class
 from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.car.cruise_helpers import CruiseHelper, DISTANCE_LONG_PRESS
 
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
new file mode 100644
index 0000000000..7276af43e7
--- /dev/null
+++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -0,0 +1,150 @@
+import pytest
+
+from cereal import car
+from openpilot.common.constants import CV
+from openpilot.common.parameterized import parameterized_class
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
+from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+# TODO: test pcmCruise and pcmCruiseSpeed
+@parameterized_class(('pcm_cruise', 'pcm_cruise_speed'), [(False, True)])
+class TestCustomAccIncrements(TestVCruiseHelper):
+  def setup_method(self):
+    TestVCruiseHelper.setup_method(self)
+    self.params = Params()
+    self.reset_custom_params()
+
+  def reset_custom_params(self) -> None:
+    """Reset to default custom ACC parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", False)
+    self.params.put("CustomAccShortPressIncrement", 1)
+    self.params.put("CustomAccLongPressIncrement", 5)
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a short button press (press + release)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def press_button_long(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a long button press (50+ frames)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    # Hold for 50 frames to trigger long press
+    CS.buttonEvents = []
+    for _ in range(50):
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None:
+    """Set custom ACC increment parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", enabled)
+    self.params.put("CustomAccShortPressIncrement", short_inc)
+    self.params.put("CustomAccLongPressIncrement", long_inc)
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def test_default_behavior_when_disabled(self):
+    """Test that default increments are used when custom ACC is disabled"""
+    self.set_custom_increments(enabled=False, short_inc=5, long_inc=10)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+
+    # Short press should increment by 1 (default)
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1
+
+  @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
+  def test_custom_short_press_increments(self, increment):
+    """Test custom short press increments (1-10)"""
+    self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("increment", (1, 5, 10))
+  def test_custom_long_press_increments(self, increment):
+    """Test custom long press increments (1, 5, 10)"""
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise])
+  def test_accel_decel_symmetry(self, button_type):
+    """Test that acceleration and deceleration work symmetrically"""
+    self.set_custom_increments(enabled=True, short_inc=3, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(button_type)
+
+    expected_change = 3 if button_type == ButtonType.accelCruise else -3
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + expected_change
+
+  def test_rounding_behavior(self):
+    """Test rounding behavior for 5 and 10 increments"""
+    test_cases = [
+      (47, 5, 50),   # 47 -> 50 (round up to next 5)
+      (45, 5, 50),   # 45 -> 50 (already at 5, increment by 5)
+      (43, 10, 50),  # 43 -> 50 (round up to next 10)
+      (40, 10, 50),  # 40 -> 50 (already at 10, increment by 10)
+    ]
+
+    for initial, increment, expected in test_cases:
+      self.set_custom_increments(enabled=True, short_inc=increment, long_inc=increment)
+      self.reset_cruise_speed_state()
+      self.enable(initial * CV.KPH_TO_MS, False, False)
+
+      self.press_button_short(ButtonType.accelCruise)
+      assert self.v_cruise_helper.v_cruise_kph == expected
+
+  def test_invalid_values_fallback(self):
+    """Test that invalid values fallback to safe defaults"""
+    # Test invalid short increment
+    self.set_custom_increments(enabled=True, short_inc=-1, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1  # Should fallback to 1
+
+    # Test invalid long increment
+    self.reset_cruise_speed_state()
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=99)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 10  # Should fallback to 10
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
new file mode 100644
index 0000000000..4b6c92ae2c
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -0,0 +1,111 @@
+"""
+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.
+"""
+import time
+
+import cereal.messaging as messaging
+from cereal import log, custom
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
+from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
+from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorque as LatControlTorqueV0
+
+
+class ControlsExt(ModelStateBase):
+  def __init__(self, CP: structs.CarParams, params: Params):
+    ModelStateBase.__init__(self)
+    self.CP = CP
+    self.params = params
+    self._param_update_time: float = 0.0
+    self.blinker_pause_lateral = BlinkerPauseLateral()
+
+    cloudlog.info("controlsd_ext is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd_ext got CarParamsSP")
+
+    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
+    self.pm_services_ext = ['carControlSP']
+
+  def initialize_lateral_control(self, lac, CI, dt):
+    enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
+    torque_versions = self.params.get("TorqueControlTune")
+    if not enforce_torque_control:
+      return lac
+
+    if torque_versions == 0.0:  # v0
+      return LatControlTorqueV0(self.CP, self.CP_SP, CI, dt)
+    else:
+      return lac
+
+  def get_params_sp(self, sm: messaging.SubMaster) -> None:
+    if time.monotonic() - self._param_update_time > PARAMS_UPDATE_PERIOD:
+      self.blinker_pause_lateral.get_params()
+
+      if self.CP.lateralTuning.which() == 'torque':
+        self.lat_delay = get_lat_delay(self.params, sm["liveDelay"].lateralDelay)
+
+      self._param_update_time = time.monotonic()
+
+  def get_lat_active(self, sm: messaging.SubMaster) -> bool:
+    if self.blinker_pause_lateral.update(sm['carState']):
+      return False
+
+    ss_sp = sm['selfdriveStateSP']
+    if ss_sp.mads.available:
+      return bool(ss_sp.mads.active)
+
+    # MADS not available, use stock state to engage
+    return bool(sm['selfdriveState'].active)
+
+  @staticmethod
+  def get_lead_data(ld: log.RadarState.LeadData) -> dict:
+    return {
+      "dRel": ld.dRel,
+      "yRel": ld.yRel,
+      "vRel": ld.vRel,
+      "aRel": ld.aRel,
+      "vLead": ld.vLead,
+      "dPath": ld.dPath,
+      "vLat": ld.vLat,
+      "vLeadK": ld.vLeadK,
+      "aLeadK": ld.aLeadK,
+      "fcw": ld.fcw,
+      "status": ld.status,
+      "aLeadTau": ld.aLeadTau,
+      "modelProb": ld.modelProb,
+      "radar": ld.radar,
+      "radarTrackId": ld.radarTrackId,
+    }
+
+  def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
+    CC_SP = custom.CarControlSP.new_message()
+
+    CC_SP.leadOne = self.get_lead_data(sm['radarState'].leadOne)
+    CC_SP.leadTwo = self.get_lead_data(sm['radarState'].leadTwo)
+
+    # MADS state
+    CC_SP.mads = sm['selfdriveStateSP'].mads
+
+    CC_SP.intelligentCruiseButtonManagement = sm['selfdriveStateSP'].intelligentCruiseButtonManagement
+
+    return CC_SP
+
+  @staticmethod
+  def publish_ext(CC_SP: custom.CarControlSP, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = sm['carState'].canValid
+    cc_sp_send.carControlSP = CC_SP
+
+    pm.send('carControlSP', cc_sp_send)
+
+  def run_ext(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    CC_SP = self.state_control_ext(sm)
+    self.publish_ext(CC_SP, sm, pm)
diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
index 29056d5ac5..cf8de2a1b2 100644
--- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
@@ -42,7 +42,7 @@ class AutoLaneChangeController:
     self.param_read_counter = 0
     self.lane_change_delay = 0.0
 
-    self.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    self.lane_change_set_timer = self.params.get("AutoLaneChangeTimer", return_default=True)
     self.lane_change_bsm_delay = False
 
     self.prev_brake_pressed = False
@@ -61,10 +61,7 @@ class AutoLaneChangeController:
 
   def read_params(self) -> None:
     self.lane_change_bsm_delay = self.params.get_bool("AutoLaneChangeBsmDelay")
-    try:
-      self.lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
-    except (ValueError, TypeError):
-      self.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+    self.lane_change_set_timer = self.params.get("AutoLaneChangeTimer", return_default=True)
 
   def update_params(self) -> None:
     if self.param_read_counter % 50 == 0:
diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
new file mode 100644
index 0000000000..98757cd532
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
@@ -0,0 +1,44 @@
+"""
+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.
+"""
+from cereal import car
+
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+
+class BlinkerPauseLateral:
+  def __init__(self):
+    self.params = Params()
+
+    self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.min_speed = 0
+    self.reengage_delay = 0
+    self.blinker_off_timer = 0.0
+
+  def get_params(self) -> None:
+    self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.min_speed = self.params.get("BlinkerMinLateralControlSpeed", return_default=True)
+    self.reengage_delay = self.params.get("BlinkerLateralReengageDelay", return_default=True)
+
+  def update(self, CS: car.CarState, DT_CTRL: float = 0.01) -> bool:
+    if not self.enabled:
+      return False
+
+    one_blinker = CS.leftBlinker != CS.rightBlinker
+    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    min_speed_ms = self.min_speed * speed_factor
+
+    below_speed = CS.vEgo < min_speed_ms
+
+    if one_blinker and below_speed:
+      self.blinker_off_timer = self.reengage_delay
+    elif self.blinker_off_timer > 0:
+      self.blinker_off_timer -= DT_CTRL
+
+    return bool((one_blinker and below_speed) or self.blinker_off_timer > 0)
diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
index 48f4203e93..4586afbc9f 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -1,25 +1,17 @@
 class WMACConstants:
-  LEAD_WINDOW_SIZE = 5
-  LEAD_PROB = 0.5
+  # Lead detection parameters
+  LEAD_WINDOW_SIZE = 6  # Stable detection window
+  LEAD_PROB = 0.45  # Balanced threshold for lead detection
 
-  SLOW_DOWN_WINDOW_SIZE = 5
-  SLOW_DOWN_PROB = 0.6
+  # Slow down detection parameters
+  SLOW_DOWN_WINDOW_SIZE = 5  # Responsive but stable
+  SLOW_DOWN_PROB = 0.3  # Balanced threshold for slow down scenarios
 
+  # Optimized slow down distance curve - smooth and progressive
   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 = [32., 46., 64., 86., 108., 130., 145., 165.]
 
-  SLOWNESS_WINDOW_SIZE = 12
-  SLOWNESS_PROB = 0.5
-  SLOWNESS_CRUISE_OFFSET = 1.05
-
-  DANGEROUS_TTC_WINDOW_SIZE = 3
-  DANGEROUS_TTC = 2.3
-
-  MPC_FCW_WINDOW_SIZE = 10
-  MPC_FCW_PROB = 0.5
-
-
-class SNG_State:
-  off = 0
-  stopped = 1
-  going = 2
+  # Slowness detection parameters
+  SLOWNESS_WINDOW_SIZE = 10  # Stable slowness detection
+  SLOWNESS_PROB = 0.55  # Clear threshold for slowness
+  SLOWNESS_CRUISE_OFFSET = 1.025  # Conservative cruise speed offset
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 812e5cc15f..46cad1b048 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -1,88 +1,133 @@
-# The MIT License
-#
-# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in
-# all copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-# THE SOFTWARE.
-#
-# Version = 2025-1-18
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
 
-import numpy as np
+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.
+"""
+# Version = 2025-6-30
 
 from cereal import messaging
 from opendbc.car import structs
 from numpy import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants
+from typing import Literal
 
 # d-e2e, from modeldata.h
 TRAJECTORY_SIZE = 33
+SET_MODE_TIMEOUT = 15
 
-HIGHWAY_CRUISE_KPH = 70
-
-STOP_AND_GO_FRAME = 60
-
-SET_MODE_TIMEOUT = 10
-
-V_ACC_MIN = 9.72
+# Define the valid mode types
+ModeType = Literal['acc', 'blended']
 
 
-class GenericMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.total = 0
+class SmoothKalmanFilter:
+  """Enhanced Kalman filter with smoothing for stable decision making."""
 
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.total -= self.data.pop(0)
-    self.data.append(value)
-    self.total += value
+  def __init__(self, initial_value=0, measurement_noise=0.1, process_noise=0.01,
+               alpha=1.0, smoothing_factor=0.85):
+    self.x = initial_value
+    self.P = 1.0
+    self.R = measurement_noise
+    self.Q = process_noise
+    self.alpha = alpha
+    self.smoothing_factor = smoothing_factor
+    self.initialized = False
+    self.history = []
+    self.max_history = 10
+    self.confidence = 0.0
 
-  def get_moving_average(self) -> float | None:
-    return None if len(self.data) == 0 else self.total / len(self.data)
+  def add_data(self, measurement):
+    if len(self.history) >= self.max_history:
+      self.history.pop(0)
+    self.history.append(measurement)
 
-  def reset_data(self) -> None:
-    self.data = []
-    self.total = 0
+    if not self.initialized:
+      self.x = measurement
+      self.initialized = True
+      self.confidence = 0.1
+      return
+
+    self.P = self.alpha * self.P + self.Q
+
+    K = self.P / (self.P + self.R)
+    effective_K = K * (1.0 - self.smoothing_factor) + self.smoothing_factor * 0.1
+
+    innovation = measurement - self.x
+    self.x = self.x + effective_K * innovation
+    self.P = (1 - effective_K) * self.P
+
+    if abs(innovation) < 0.1:
+      self.confidence = min(1.0, self.confidence + 0.05)
+    else:
+      self.confidence = max(0.1, self.confidence - 0.02)
+
+  def get_value(self):
+    return self.x if self.initialized else None
+
+  def get_confidence(self):
+    return self.confidence
+
+  def reset_data(self):
+    self.initialized = False
+    self.history = []
+    self.confidence = 0.0
 
 
-class WeightedMovingAverageCalculator:
-  def __init__(self, window_size):
-    self.window_size = window_size
-    self.data = []
-    self.weights = np.linspace(1, 3, window_size)  # Linear weights, adjust as needed
+class ModeTransitionManager:
+  """Manages smooth transitions between driving modes with hysteresis."""
 
-  def add_data(self, value: float) -> None:
-    if len(self.data) == self.window_size:
-      self.data.pop(0)
-    self.data.append(value)
+  def __init__(self):
+    self.current_mode: ModeType = 'acc'
+    self.mode_confidence = {'acc': 1.0, 'blended': 0.0}
+    self.transition_timeout = 0
+    self.min_mode_duration = 10
+    self.mode_duration = 0
+    self.emergency_override = False
 
-  def get_weighted_average(self) -> float | None:
-    if len(self.data) == 0:
-      return None
-    weighted_sum: float = float(np.dot(self.data, self.weights[-len(self.data):]))
-    weight_total: float = float(np.sum(self.weights[-len(self.data):]))
-    return weighted_sum / weight_total
+  def request_mode(self, mode: ModeType, confidence: float = 1.0, emergency: bool = False):
+    # Emergency override for critical situations (stops, collisions)
+    if emergency:
+      self.emergency_override = True
+      self.current_mode = mode
+      self.transition_timeout = SET_MODE_TIMEOUT
+      self.mode_duration = 0
+      return
 
-  def reset_data(self) -> None:
-    self.data = []
+    self.mode_confidence[mode] = min(1.0, self.mode_confidence[mode] + 0.1 * confidence)
+    for m in self.mode_confidence:
+      if m != mode:
+        self.mode_confidence[m] = max(0.0, self.mode_confidence[m] - 0.05)
+
+    # Require minimum duration in current mode (unless emergency)
+    if self.mode_duration < self.min_mode_duration and not self.emergency_override:
+      return
+
+    # Hysteresis: higher threshold for mode changes
+    confidence_threshold = 0.6 if mode != self.current_mode else 0.3  # Lower threshold for faster response
+
+    if self.mode_confidence[mode] > confidence_threshold:
+      if mode != self.current_mode and self.transition_timeout == 0:
+        self.transition_timeout = SET_MODE_TIMEOUT
+        self.current_mode = mode
+        self.mode_duration = 0
+
+  def update(self):
+    if self.transition_timeout > 0:
+      self.transition_timeout -= 1
+    self.mode_duration += 1
+
+    # Reset emergency override after some time
+    if self.emergency_override and self.mode_duration > 20:
+      self.emergency_override = False
+
+    # Gradual confidence decay
+    for mode in self.mode_confidence:
+      self.mode_confidence[mode] *= 0.98
+
+  def get_mode(self) -> ModeType:
+    return self.current_mode
 
 
 class DynamicExperimentalController:
@@ -92,51 +137,59 @@ class DynamicExperimentalController:
     self._params = params or Params()
     self._enabled: bool = self._params.get_bool("DynamicExperimentalControl")
     self._active: bool = False
-    self._mode: str = 'acc'
     self._frame: int = 0
+    self._urgency = 0.0
 
-    # Use weighted moving average for filtering leads
-    self._lead_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.LEAD_WINDOW_SIZE)
+    self._mode_manager = ModeTransitionManager()
+
+    # Smooth filters for stable decision making with faster response for critical scenarios
+    self._lead_filter = SmoothKalmanFilter(
+      measurement_noise=0.15,
+      process_noise=0.05,
+      alpha=1.02,
+      smoothing_factor=0.8
+    )
+
+    self._slow_down_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.1,
+      alpha=1.05,
+      smoothing_factor=0.7
+    )
+
+    self._slowness_filter = SmoothKalmanFilter(
+      measurement_noise=0.1,
+      process_noise=0.06,
+      alpha=1.015,
+      smoothing_factor=0.92
+    )
+
+    self._mpc_fcw_filter = SmoothKalmanFilter(
+      measurement_noise=0.2,
+      process_noise=0.1,
+      alpha=1.1,
+      smoothing_factor=0.5
+    )
     self._has_lead_filtered = False
-    self._has_lead_filtered_prev = False
-
-    self._slow_down_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOW_DOWN_WINDOW_SIZE)
-    self._has_slow_down: bool = False
-    self._slow_down_confidence: float = 0.0
-
-    self._has_blinkers = False
-
-    self._slowness_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.SLOWNESS_WINDOW_SIZE)
-    self._has_slowness: bool = False
-
-    self._has_nav_instruction = False
-
-    self._dangerous_ttc_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.DANGEROUS_TTC_WINDOW_SIZE)
-    self._has_dangerous_ttc: bool = False
-
-    self._v_ego_kph = 0.
-    self._v_cruise_kph = 0.
-
-    self._has_lead = False
-
+    self._has_slow_down = False
+    self._has_slowness = False
+    self._has_mpc_fcw = False
+    self._v_ego_kph = 0.0
+    self._v_cruise_kph = 0.0
     self._has_standstill = False
-    self._has_standstill_prev = False
-
-    self._sng_transit_frame = 0
-    self._sng_state = SNG_State.off
-
-    self._mpc_fcw_gmac = WeightedMovingAverageCalculator(window_size=WMACConstants.MPC_FCW_WINDOW_SIZE)
-    self._has_mpc_fcw: bool = False
     self._mpc_fcw_crash_cnt = 0
-
-    self._set_mode_timeout = 0
+    self._standstill_count = 0
+    # debug
+    self._endpoint_x = float('inf')
+    self._expected_distance = 0.0
+    self._trajectory_valid = False
 
   def _read_params(self) -> None:
     if self._frame % int(1. / DT_MDL) == 0:
       self._enabled = self._params.get_bool("DynamicExperimentalControl")
 
   def mode(self) -> str:
-    return str(self._mode)
+    return self._mode_manager.get_mode()
 
   def enabled(self) -> bool:
     return self._enabled
@@ -144,46 +197,9 @@ class DynamicExperimentalController:
   def active(self) -> bool:
     return self._active
 
-  @staticmethod
-  def _anomaly_detection(recent_data: list[float], threshold: float = 2.0, context_check: bool = True) -> bool:
-    """
-    Basic anomaly detection using standard deviation.
-    """
-    if len(recent_data) < 5:
-      return False
-    mean: float = float(np.mean(recent_data))
-    std_dev: float = float(np.std(recent_data))
-    anomaly: bool = bool(recent_data[-1] > mean + threshold * std_dev)
-
-    # Context check to ensure repeated anomaly
-    if context_check:
-      return np.count_nonzero(np.array(recent_data) > mean + threshold * std_dev) > 1
-    return anomaly
-
-  def _adaptive_slowdown_threshold(self) -> float:
-    """
-    Adapts the slow-down threshold based on vehicle speed and recent behavior.
-    """
-    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
-    )
-    return adaptive_threshold
-
-  def _smoothed_lead_detection(self, lead_prob: float, smoothing_factor: float = 0.2):
-    """
-    Smoothing the lead detection to avoid erratic behavior.
-    """
-    lead_filtering: float = (1 - smoothing_factor) * self._has_lead_filtered + smoothing_factor * lead_prob
-    return lead_filtering > WMACConstants.LEAD_PROB
-
-  def _adaptive_lead_prob_threshold(self) -> float:
-    """
-    Adapts lead probability threshold based on driving conditions.
-    """
-    if self._v_ego_kph > HIGHWAY_CRUISE_KPH:
-      return float(WMACConstants.LEAD_PROB + 0.1)  # Increase the threshold on highways
-    return float(WMACConstants.LEAD_PROB)
+  def set_mpc_fcw_crash_cnt(self) -> None:
+    """Set MPC FCW crash count"""
+    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
 
   def _update_calculations(self, sm: messaging.SubMaster) -> None:
     car_state = sm['carState']
@@ -192,186 +208,168 @@ class DynamicExperimentalController:
 
     self._v_ego_kph = car_state.vEgo * 3.6
     self._v_cruise_kph = car_state.vCruise
-    self._has_lead = lead_one.status
     self._has_standstill = car_state.standstill
 
-    # fcw detection
-    self._mpc_fcw_gmac.add_data(self._mpc_fcw_crash_cnt > 0)
-    if _mpc_fcw_weighted_average := self._mpc_fcw_gmac.get_weighted_average():
-      self._has_mpc_fcw = _mpc_fcw_weighted_average > WMACConstants.MPC_FCW_PROB
-    else:
-      self._has_mpc_fcw = False
-
-    # nav enable detection
-    # self._has_nav_instruction = md.navEnabledDEPRECATED and maneuver_distance / max(car_state.vEgo, 1) < 13
-
-    # lead detection with smoothing
-    self._lead_gmac.add_data(lead_one.status)
-    self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
-    #lead_prob = self._lead_gmac.get_weighted_average() or 0
-    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
-
-    # adaptive slow down detection
-    adaptive_threshold = self._adaptive_slowdown_threshold()
-    slow_down_trigger = len(md.orientation.x) == len(md.position.x) == TRAJECTORY_SIZE and md.position.x[TRAJECTORY_SIZE - 1] < adaptive_threshold
-    self._slow_down_gmac.add_data(slow_down_trigger)
-    if _has_slow_down_weighted_average := self._slow_down_gmac.get_weighted_average():
-      self._has_slow_down = _has_slow_down_weighted_average > WMACConstants.SLOW_DOWN_PROB
-      self._slow_down_confidence = _has_slow_down_weighted_average  # Store confidence level
-    else:
-      self._has_slow_down = False
-      self._slow_down_confidence = 0.0  # No confidence if no slowdown
-
-    # anomaly detection for slow down events
-    if self._anomaly_detection(self._slow_down_gmac.data):
-      self._slow_down_confidence *= 0.85  # Reduce confidence
-      self._has_slow_down = self._slow_down_confidence > WMACConstants.SLOW_DOWN_PROB
-
-    # blinker detection
-    self._has_blinkers = car_state.leftBlinker or car_state.rightBlinker
-
-    # sng detection
+    # standstill detection
     if self._has_standstill:
-      self._sng_state = SNG_State.stopped
-      self._sng_transit_frame = 0
+      self._standstill_count = min(20, self._standstill_count + 1)
     else:
-      if self._sng_transit_frame == 0:
-        if self._sng_state == SNG_State.stopped:
-          self._sng_state = SNG_State.going
-          self._sng_transit_frame = STOP_AND_GO_FRAME
-        elif self._sng_state == SNG_State.going:
-          self._sng_state = SNG_State.off
-      elif self._sng_transit_frame > 0:
-        self._sng_transit_frame -= 1
+      self._standstill_count = max(0, self._standstill_count - 1)
 
-    # slowness detection
-    if not self._has_standstill:
-      self._slowness_gmac.add_data(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
-      if _slowness_weighted_average := self._slowness_gmac.get_weighted_average():
-        self._has_slowness = _slowness_weighted_average > WMACConstants.SLOWNESS_PROB
-      else:
-        self._has_slowness = False
+    # Lead detection
+    self._lead_filter.add_data(float(lead_one.status))
+    lead_value = self._lead_filter.get_value() or 0.0
+    self._has_lead_filtered = lead_value > WMACConstants.LEAD_PROB
 
-    # dangerous TTC detection
-    if not self._has_lead_filtered and self._has_lead_filtered_prev:
-      self._dangerous_ttc_gmac.reset_data()
-      self._has_dangerous_ttc = False
+    # MPC FCW detection
+    fcw_filtered_value = self._mpc_fcw_filter.get_value() or 0.0
+    self._mpc_fcw_filter.add_data(float(self._mpc_fcw_crash_cnt > 0))
+    self._has_mpc_fcw = fcw_filtered_value > 0.5
 
-    if self._has_lead and car_state.vEgo >= 0.01:
-      self._dangerous_ttc_gmac.add_data(lead_one.dRel / car_state.vEgo)
+    # Slow down detection
+    self._calculate_slow_down(md)
 
-    if _dangerous_ttc_weighted_average := self._dangerous_ttc_gmac.get_weighted_average():
-      self._has_dangerous_ttc = _dangerous_ttc_weighted_average <= WMACConstants.DANGEROUS_TTC
-    else:
-      self._has_dangerous_ttc = False
+    # Slowness detection
+    if not (self._standstill_count > 5) and not self._has_slow_down:
+      current_slowness = float(self._v_ego_kph <= (self._v_cruise_kph * WMACConstants.SLOWNESS_CRUISE_OFFSET))
+      self._slowness_filter.add_data(current_slowness)
+      slowness_value = self._slowness_filter.get_value() or 0.0
 
-    # keep prev values
-    self._has_standstill_prev = self._has_standstill
-    self._has_lead_filtered_prev = self._has_lead_filtered
+      # Hysteresis for slowness
+      threshold = WMACConstants.SLOWNESS_PROB * (0.8 if self._has_slowness else 1.1)
+      self._has_slowness = slowness_value > threshold
+
+  def _calculate_slow_down(self, md):
+    """Calculate urgency based on trajectory endpoint vs expected distance."""
+
+    # Reset to safe defaults
+    urgency = 0.0
+    self._endpoint_x = float('inf')
+    self._trajectory_valid = False
+
+    #Require exact trajectory size
+    position_valid = len(md.position.x) == TRAJECTORY_SIZE
+    orientation_valid = len(md.orientation.x) == TRAJECTORY_SIZE
+
+    if not (position_valid and orientation_valid):
+      # Invalid trajectory - this itself might indicate a stop scenario
+      # Apply moderate urgency for incomplete trajectories at speed
+      if self._v_ego_kph > 20.0:
+        urgency = 0.3
+
+      self._slow_down_filter.add_data(urgency)
+      urgency_filtered = self._slow_down_filter.get_value() or 0.0
+      self._has_slow_down = urgency_filtered > WMACConstants.SLOW_DOWN_PROB
+      self._urgency = urgency_filtered
+      return
+
+    # We have a valid full trajectory
+    self._trajectory_valid = True
+
+    # Use the exact endpoint (33rd point, index 32)
+    endpoint_x = md.position.x[TRAJECTORY_SIZE - 1]
+    self._endpoint_x = endpoint_x
+
+    # Get expected distance based on current speed using tuned constants
+    expected_distance = interp(self._v_ego_kph,
+                               WMACConstants.SLOW_DOWN_BP,
+                               WMACConstants.SLOW_DOWN_DIST)
+    self._expected_distance = expected_distance
+
+    # Calculate urgency based on trajectory shortage
+    if endpoint_x < expected_distance:
+      shortage = expected_distance - endpoint_x
+      shortage_ratio = shortage / expected_distance
+
+      # Base urgency on shortage ratio
+      urgency = min(1.0, shortage_ratio * 2.0)
+
+      # Increase urgency for very short trajectories (imminent stops)
+      critical_distance = expected_distance * 0.3
+      if endpoint_x < critical_distance:
+        urgency = min(1.0, urgency * 2.0)
+
+      # Speed-based urgency adjustment
+      if self._v_ego_kph > 25.0:
+        speed_factor = 1.0 + (self._v_ego_kph - 25.0) / 80.0
+        urgency = min(1.0, urgency * speed_factor)
+
+    # Apply filtering but with less smoothing for stops
+    self._slow_down_filter.add_data(urgency)
+    urgency_filtered = self._slow_down_filter.get_value() or 0.0
+
+    # Update state with lower threshold for better stop detection
+    self._has_slow_down = urgency_filtered > (WMACConstants.SLOW_DOWN_PROB * 0.8)
+    self._urgency = urgency_filtered
 
   def _radarless_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radarless mode decision logic with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
       return
 
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
-
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when at highway cruise and SNG: blended
-    # ensuring blended mode is used because acc is bad at catching SNG lead car
-    # especially those who accel very fast and then brake very hard.
-    # if self._sng_state == SNG_State.going and self._v_cruise_kph >= V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
       return
 
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
     if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.5)
+        self._mode_manager.request_mode('blended', confidence=confidence)
       return
 
-    # when detecting lead slow down: blended
-    # use blended for higher braking capability
-    if self._has_dangerous_ttc:
-      self._set_mode('blended')
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
       return
 
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
-      return
-
-    self._set_mode('acc')
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def _radar_mode(self) -> None:
-    # when mpc fcw crash prob is high
-    # use blended to slow down quickly
+    """Radar mode with emergency handling."""
+
+    # EMERGENCY: MPC FCW - immediate blended mode
     if self._has_mpc_fcw:
-      self._set_mode('blended')
+      self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
       return
 
-    # If there is a filtered lead, the vehicle is not in standstill, and the lead vehicle's yRel meets the condition,
-    if self._has_lead_filtered and not self._has_standstill:
-      self._set_mode('acc')
+    # If lead detected and not in standstill: always use ACC
+    if self._has_lead_filtered and not (self._standstill_count > 3):
+      self._mode_manager.request_mode('acc', confidence=1.0)
       return
 
-    # when blinker is on and speed is driving below V_ACC_MIN: blended
-    # we don't want it to switch mode at higher speed, blended may trigger hard brake
-    # if self._has_blinkers and self._v_ego_kph < V_ACC_MIN:
-    #  self._set_mode('blended')
-    #  return
-
-    # when standstill: blended
-    # in case of lead car suddenly move away under traffic light, acc mode won't brake at traffic light.
-    if self._has_standstill:
-      self._set_mode('blended')
-      return
-
-    # when detecting slow down scenario: blended
-    # e.g. traffic light, curve, stop sign etc.
+    # Slow down scenarios: emergency for high urgency, normal for lower urgency
     if self._has_slow_down:
-      self._set_mode('blended')
+      if self._urgency > 0.7:
+        # Emergency: immediate blended mode for high urgency stops
+        self._mode_manager.request_mode('blended', confidence=1.0, emergency=True)
+      else:
+        # Normal: blended with urgency-based confidence
+        confidence = min(1.0, self._urgency * 1.3)
+        self._mode_manager.request_mode('blended', confidence=confidence)
       return
 
-    # car driving at speed lower than set speed: acc
-    if self._has_slowness:
-      self._set_mode('acc')
+    # Standstill: use blended
+    if self._standstill_count > 3:
+      self._mode_manager.request_mode('blended', confidence=0.9)
       return
 
-    # Nav enabled and distance to upcoming turning is 300 or below
-    # if self._has_nav_instruction:
-    #  self._set_mode('blended')
-    #  return
+    # Driving slow: use ACC (but not if actively slowing down)
+    if self._has_slowness and not self._has_slow_down:
+      self._mode_manager.request_mode('acc', confidence=0.8)
+      return
 
-    self._set_mode('acc')
-
-  def set_mpc_fcw_crash_cnt(self) -> None:
-    self._mpc_fcw_crash_cnt = self._mpc.crash_cnt
-
-  def _set_mode(self, mode: str) -> None:
-    if self._set_mode_timeout == 0:
-      self._mode = mode
-      if mode == 'blended':
-        self._set_mode_timeout = SET_MODE_TIMEOUT
-
-    if self._set_mode_timeout > 0:
-      self._set_mode_timeout -= 1
+    # Default: ACC
+    self._mode_manager.request_mode('acc', confidence=0.7)
 
   def update(self, sm: messaging.SubMaster) -> None:
     self._read_params()
@@ -385,6 +383,6 @@ class DynamicExperimentalController:
     else:
       self._radar_mode()
 
+    self._mode_manager.update()
     self._active = sm['selfdriveState'].experimentalMode and self._enabled
-
     self._frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
index d15d88aefe..f9da39c03b 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py
@@ -1,248 +1,94 @@
 import pytest
-import numpy as np
-from openpilot.common.params import Params
 
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State
-from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController, TRAJECTORY_SIZE, STOP_AND_GO_FRAME
-
-class MockInterp:
-  def __call__(self, x, xp, fp):
-    return np.interp(x, xp, fp)
-
-class MockCarState:
-  def __init__(self, v_ego=0., standstill=False, left_blinker=False, right_blinker=False):
-    self.vEgo = v_ego
-    self.standstill = standstill
-    self.leftBlinker = left_blinker
-    self.rightBlinker = right_blinker
+from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
 
 class MockLeadOne:
-  def __init__(self, status=False, d_rel=0):
+  def __init__(self, status=0.0):
     self.status = status
-    self.dRel = d_rel
+
+class MockRadarState:
+  def __init__(self, status=0.0):
+    self.leadOne = MockLeadOne(status=status)
+
+class MockCarState:
+  def __init__(self, vEgo=0.0, vCruise=0.0, standstill=False):
+    self.vEgo = vEgo
+    self.vCruise = vCruise
+    self.standstill = standstill
 
 class MockModelData:
-  def __init__(self, x_vals=None, positions=None):
-    self.orientation = type('Orientation', (), {'x': x_vals})()
-    self.position = type('Position', (), {'x': positions})()
+  def __init__(self, valid=True):
+    size = 33 if valid else 10  # incomplete if invalid
+    self.position = type("Pos", (), {"x": [0.0] * size})()
+    self.orientation = type("Ori", (), {"x": [0.0] * size})()
 
-class MockControlState:
-  def __init__(self, v_cruise=0):
-    self.vCruise = v_cruise
+class MockSelfDriveState:
+  def __init__(self, experimentalMode=False):
+    self.experimentalMode = experimentalMode
+
+class MockParams:
+  def get_bool(self, name):
+    return True
 
 @pytest.fixture
-def interp(monkeypatch):
-  mock_interp = MockInterp()
-  monkeypatch.setattr('numpy.interp', mock_interp)
-  return mock_interp
+def default_sm():
+  sm = {
+    'carState': MockCarState(vEgo=10.0, vCruise=20.0),
+    'radarState': MockRadarState(status=1.0),
+    'modelV2': MockModelData(valid=True),
+    'selfdriveState': MockSelfDriveState(experimentalMode=True),
+  }
+  return sm
 
 @pytest.fixture
-def controller(interp):
-  params = Params()
-  params.put_bool("DynamicExperimentalControl", True)
-  return DynamicExperimentalController()
+def mock_cp():
+  class CP:
+    radarUnavailable = False
+  return CP()
 
-def test_initial_state(controller):
-  """Test initial state of the controller"""
-  assert controller._mode == 'acc'
-  assert not controller._has_lead
-  assert not controller._has_standstill
-  assert controller._sng_state == SNG_State.off
-  assert not controller._has_lead_filtered
-  assert not controller._has_slow_down
-  assert not controller._has_dangerous_ttc
-  assert not controller._has_mpc_fcw
+@pytest.fixture
+def mock_mpc():
+  class MPC:
+    crash_cnt = 0
+  return MPC()
 
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_standstill_detection(controller, has_radar):
-  """Test standstill detection and state transitions"""
-  car_state = MockCarState(standstill=True)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState()
+# Fake Kalman Filter that always returns a given value
+class FakeKalman:
+  def __init__(self, value=1.0):
+    self.value = value
+  def add_data(self, v): pass
+  def get_value(self): return self.value
+  def get_confidence(self): return 1.0
+  def reset_data(self): pass
 
-  # Test transition to standstill
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.stopped
-  assert controller.get_mpc_mode() == 'blended'
+def test_initial_mode_is_acc(mock_cp, mock_mpc):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  assert controller.mode() == "acc"
 
-  # Test transition from standstill to moving
-  car_state.standstill = False
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.going
+def test_standstill_triggers_blended(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  default_sm['carState'].standstill = True
+  for _ in range(10):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
 
-  # Test complete transition to normal driving
-  for _ in range(STOP_AND_GO_FRAME + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller._sng_state == SNG_State.off
+def test_emergency_blended_on_fcw(mock_cp, mock_mpc, default_sm):
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
+  mock_mpc.crash_cnt = 1  # simulate FCW
+  for _ in range(2):
+    controller.update(default_sm)
+  assert controller.mode() == "blended"
 
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_lead_detection(controller, has_radar):
-  """Test lead vehicle detection and filtering"""
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)  # Safe distance
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
+def test_radarless_slowdown_triggers_blended(mock_cp, mock_mpc, default_sm):
+  mock_cp.radarUnavailable = True
+  controller = DynamicExperimentalController(mock_cp, mock_mpc, params=MockParams())
 
-  # Let moving average stabilize
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
+  # Force conditions to simulate slowdown
+  controller._slow_down_filter = FakeKalman(value=1.0)  # Ensure urgency triggers slowdown
+  controller._v_ego_kph = 35.0
+  default_sm['modelV2'] = MockModelData(valid=False)  # Incomplete trajectory
 
-  assert controller._has_lead_filtered
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode
+  for _ in range(3):
+    controller.update(default_sm)
 
-  # Test lead loss detection
-  lead_one.status = False
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_lead_filtered
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_slow_down_detection(controller, has_radar):
-  """Test slow down detection based on trajectory"""
-  car_state = MockCarState(v_ego=10/3.6)  # 10 kph
-  lead_one = MockLeadOne()
-  x_vals = [0] * TRAJECTORY_SIZE
-  positions = [20] * TRAJECTORY_SIZE  # Position within slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  controls_state = MockControlState(v_cruise=30)
-
-  # Test slow down detection
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_slow_down
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test slow down recovery
-  positions = [200] * TRAJECTORY_SIZE  # Position outside slow down threshold
-  md = MockModelData(x_vals=x_vals, positions=positions)
-  for _ in range(WMACConstants.SLOW_DOWN_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_slow_down
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_dangerous_ttc_detection(controller, has_radar):
-  """Test Time-To-Collision detection and handling"""
-  car_state = MockCarState(v_ego=10)  # 36 kph
-  lead_one = MockLeadOne(status=True)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=36)
-
-  # First establish normal conditions with lead
-  lead_one.dRel = 100  # Safe distance
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):  # First establish lead detection
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now test dangerous TTC detection
-  lead_one.dRel = 10  # 10m distance - should trigger dangerous TTC
-  # TTC = dRel/vEgo = 10/10 = 1s (which is less than DANGEROUS_TTC = 2.3s)
-
-  # Need to update multiple times to allow the weighted average to stabilize
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "TTC of 1s should be considered dangerous"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mode_transitions(controller, has_radar):
-  """Test comprehensive mode transitions under different conditions"""
-  # Initialize with normal driving conditions
-  car_state = MockCarState(v_ego=25)  # 90 kph
-  lead_one = MockLeadOne(status=False)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[200] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  def stabilize_filters():
-    """Helper to let all moving averages stabilize"""
-    for _ in range(max(WMACConstants.LEAD_WINDOW_SIZE, WMACConstants.SLOW_DOWN_WINDOW_SIZE,
-                       WMACConstants.DANGEROUS_TTC_WINDOW_SIZE, WMACConstants.MPC_FCW_WINDOW_SIZE) + 1):
-      controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  # Test 1: Normal driving -> ACC mode
-  stabilize_filters()
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode under normal driving conditions"
-
-  # Test 2: Standstill -> Blended mode
-  car_state.standstill = True
-  controller.update(not has_radar, car_state, lead_one, md, controls_state)
-  assert controller.get_mpc_mode() == 'blended', "Should be in blended mode during standstill"
-
-  # Test 3: Lead car appears -> ACC mode
-  car_state = MockCarState(v_ego=20)  # Reset car state
-  lead_one.status = True
-  lead_one.dRel = 50  # Safe distance
-  stabilize_filters()
-  assert not controller._has_dangerous_ttc, "Should not have dangerous TTC"
-  assert controller.get_mpc_mode() == 'acc', "Should be in ACC mode with safe lead distance"
-
-  # Test 4: Dangerous TTC -> Blended mode
-  car_state = MockCarState(v_ego=20)  # 72 kph
-  lead_one.status = True
-  lead_one.dRel = 50  # First establish normal lead detection
-
-  # First establish lead detection
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_lead_filtered  # Verify lead is detected
-
-  # Now create dangerous TTC condition
-  lead_one.dRel = 20  # This creates a TTC of 1s, well below DANGEROUS_TTC
-
-  for _ in range(WMACConstants.DANGEROUS_TTC_WINDOW_SIZE * 2):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_dangerous_ttc, "Should detect dangerous TTC condition"
-  expected_mode = 'acc' if has_radar else 'blended'
-  assert controller.get_mpc_mode() == expected_mode, f"Should be in [{expected_mode}] mode with dangerous TTC"
-
-@pytest.mark.parametrize("has_radar", [True, False], ids=["with_radar", "without_radar"])
-def test_mpc_fcw_handling(controller, has_radar):
-  """Test MPC FCW crash count handling and mode transitions"""
-  car_state = MockCarState(v_ego=20)
-  lead_one = MockLeadOne()
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=72)
-
-  # Test FCW activation
-  controller.set_mpc_fcw_crash_cnt(5)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert controller._has_mpc_fcw
-  assert controller.get_mpc_mode() == 'blended'
-
-  # Test FCW recovery
-  controller.set_mpc_fcw_crash_cnt(0)
-  for _ in range(WMACConstants.MPC_FCW_WINDOW_SIZE + 1):
-    controller.update(not has_radar, car_state, lead_one, md, controls_state)
-
-  assert not controller._has_mpc_fcw
-
-def test_radar_unavailable_handling(controller):
-  """Test behavior transitions between radar available and unavailable states"""
-  car_state = MockCarState(v_ego=27.78)  # 100 kph
-  lead_one = MockLeadOne(status=True, d_rel=50)
-  md = MockModelData(x_vals=[0] * TRAJECTORY_SIZE, positions=[150] * TRAJECTORY_SIZE)
-  controls_state = MockControlState(v_cruise=100)
-
-  # Test with radar available
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(False, car_state, lead_one, md, controls_state)
-  radar_mode = controller.get_mpc_mode()
-
-  # Test with radar unavailable
-  for _ in range(WMACConstants.LEAD_WINDOW_SIZE + 1):
-    controller.update(True, car_state, lead_one, md, controls_state)
-  radarless_mode = controller.get_mpc_mode()
-
-  assert radar_mode is not None
-  assert radarless_mode is not None
+  assert controller.mode() == "blended"
diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py
deleted file mode 100644
index b0fda7bd8c..0000000000
--- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from numpy import clip, interp
-from openpilot.common.realtime import DT_MDL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK
-from openpilot.sunnypilot.modeld.constants import ModelConstants
-
-
-def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures):
-  if len(psis) != CONTROL_N:
-    psis = [0.0]*CONTROL_N
-    curvatures = [0.0]*CONTROL_N
-  v_ego = max(MIN_SPEED, v_ego)
-
-  # MPC can plan to turn the wheel and turn back before t_delay. This means
-  # in high delay cases some corrections never even get commanded. So just use
-  # psi to calculate a simple linearization of desired curvature
-  current_curvature_desired = curvatures[0]
-  psi = interp(steer_delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
-  average_curvature_desired = psi / (v_ego * steer_delay)
-  desired_curvature = 2 * average_curvature_desired - current_curvature_desired
-
-  # This is the "desired rate of the setpoint" not an actual desired rate
-  max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(desired_curvature,
-                                current_curvature_desired - max_curvature_rate * DT_MDL,
-                                current_curvature_desired + max_curvature_rate * DT_MDL)
-
-  return float(safe_desired_curvature)
diff --git a/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
new file mode 100644
index 0000000000..944bf617e9
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/e2e_alerts_helper.py
@@ -0,0 +1,170 @@
+"""
+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.
+"""
+
+from cereal import messaging, custom
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+GREEN_LIGHT_X_THRESHOLD = 30
+LEAD_DEPART_DIST_THRESHOLD = 1.0
+TRIGGER_TIMER_THRESHOLD = 0.3
+
+
+class E2EStates:
+  INACTIVE = 0
+  ARMED = 1
+  CONSUMED = 2
+
+
+class E2EAlertsHelper:
+  def __init__(self):
+    self._params = Params()
+    self.frame = -1
+    self.green_light_state = E2EStates.INACTIVE
+    self.prev_green_light_state = E2EStates.INACTIVE
+    self.lead_depart_state = E2EStates.INACTIVE
+    self.prev_lead_depart_state = E2EStates.INACTIVE
+
+    self.green_light_alert = False
+    self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
+    self.lead_depart_alert = False
+    self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
+
+    self.green_light_trigger_timer = 0
+    self.lead_depart_trigger_timer = 0
+    self.last_lead_distance = -1
+    self.last_moving_frame = -1
+
+    self.allowed = False
+    self.last_allowed = False
+    self.has_lead = False
+
+    self.lead_depart_arm_timer = 0
+    self.lead_depart_confirmed_lead = False
+    self.lead_depart_armed = False
+
+  def _read_params(self) -> None:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.green_light_alert_enabled = self._params.get_bool("GreenLightAlert")
+      self.lead_depart_alert_enabled = self._params.get_bool("LeadDepartAlert")
+
+  def update_alert_trigger(self, sm: messaging.SubMaster):
+    CS = sm['carState']
+    CC = sm['carControl']
+
+    model_x = sm['modelV2'].position.x
+    max_idx = len(model_x) - 1
+    self.has_lead = sm['radarState'].leadOne.status
+    lead_dRel = sm['radarState'].leadOne.dRel
+
+    standstill = CS.standstill
+    moving = not standstill and CS.vEgo > 0.1
+
+    if moving:
+      self.last_moving_frame = self.frame
+    recent_moving = self.last_moving_frame == -1 or (self.frame - self.last_moving_frame) * DT_MDL < 2.0
+
+    self.allowed = not moving and not CS.gasPressed and not CC.enabled and not recent_moving
+
+    # Green Light Alert
+    green_light_trigger = False
+    if self.green_light_state == E2EStates.ARMED:
+      if model_x[max_idx] > GREEN_LIGHT_X_THRESHOLD:
+        self.green_light_trigger_timer += 1
+      else:
+        self.green_light_trigger_timer = 0
+
+      if self.green_light_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        green_light_trigger = True
+    elif self.green_light_state != E2EStates.ARMED:
+      self.green_light_trigger_timer = 0
+
+    # Lead Departure Alert
+    close_lead_valid = self.has_lead and lead_dRel < 8.0
+    if self.allowed and not self.last_allowed and close_lead_valid:
+      self.lead_depart_confirmed_lead = True
+    elif not self.allowed:
+      self.lead_depart_confirmed_lead = False
+
+    if self.allowed and self.lead_depart_confirmed_lead and close_lead_valid:
+      self.lead_depart_arm_timer += 1
+
+      if self.lead_depart_arm_timer * DT_MDL >= 1.0:
+        self.lead_depart_armed = True
+    else:
+      self.lead_depart_arm_timer = 0
+      self.lead_depart_armed = False
+
+    lead_depart_trigger = False
+    if self.lead_depart_state == E2EStates.ARMED:
+      if self.last_lead_distance == -1 or lead_dRel < self.last_lead_distance:
+        self.last_lead_distance = lead_dRel
+
+      if self.last_lead_distance != -1 and (lead_dRel - self.last_lead_distance > LEAD_DEPART_DIST_THRESHOLD):
+        self.lead_depart_trigger_timer += 1
+      else:
+        self.lead_depart_trigger_timer = 0
+
+      if self.lead_depart_trigger_timer * DT_MDL > TRIGGER_TIMER_THRESHOLD:
+        lead_depart_trigger = True
+    elif self.lead_depart_state != E2EStates.ARMED:
+      self.last_lead_distance = -1
+      self.lead_depart_trigger_timer = 0
+
+    self.last_allowed = self.allowed
+
+    return green_light_trigger, lead_depart_trigger
+
+  @staticmethod
+  def update_state_machine(state: int, enabled: bool, allowed: bool, triggered: bool) -> tuple[int, bool]:
+    if state != E2EStates.INACTIVE:
+      if not allowed or not enabled:
+        state = E2EStates.INACTIVE
+
+      else:
+        if state == E2EStates.ARMED:
+          if triggered:
+            state = E2EStates.CONSUMED
+
+        elif state == E2EStates.CONSUMED:
+          pass
+
+    elif state == E2EStates.INACTIVE:
+      if allowed and enabled:
+        state = E2EStates.ARMED
+
+    return state, triggered
+
+  def update(self, sm: messaging.SubMaster, events_sp: EventsSP) -> None:
+    self._read_params()
+
+    green_light_trigger, lead_depart_trigger = self.update_alert_trigger(sm)
+
+    self.prev_green_light_state = self.green_light_state
+    self.prev_lead_depart_state = self.lead_depart_state
+
+    self.green_light_state, self.green_light_alert = self.update_state_machine(
+      self.green_light_state,
+      self.green_light_alert_enabled,
+      self.allowed and not self.has_lead,
+      green_light_trigger
+    )
+
+    self.lead_depart_state, self.lead_depart_alert = self.update_state_machine(
+      self.lead_depart_state,
+      self.lead_depart_alert_enabled,
+      self.allowed and self.lead_depart_armed,
+      lead_depart_trigger
+    )
+
+    if self.green_light_alert or self.lead_depart_alert:
+      events_sp.add(custom.OnroadEventSP.EventName.e2eChime)
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
new file mode 100644
index 0000000000..fa35ebb125
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/lane_turn_desire.py
@@ -0,0 +1,47 @@
+"""
+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.
+"""
+from cereal import custom
+
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
+LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
+
+
+class LaneTurnController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.turn_direction = TurnDirection.none
+    self.params = Params()
+    self.lane_turn_value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.param_read_counter = 0
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+
+  def read_params(self):
+    self.enabled = self.params.get_bool("LaneTurnDesire")
+    value = float(self.params.get("LaneTurnValue", return_default=True)) * CV.MPH_TO_MS
+    self.lane_turn_value = min(float(LANE_CHANGE_SPEED_MIN), value)
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def update_lane_turn(self, blindspot_left: bool, blindspot_right: bool, left_blinker: bool, right_blinker: bool, v_ego: float) -> None:
+    if left_blinker and not right_blinker and v_ego < self.lane_turn_value and not blindspot_left:
+      self.turn_direction = TurnDirection.turnLeft
+    elif right_blinker and not left_blinker and v_ego < self.lane_turn_value and not blindspot_right:
+      self.turn_direction = TurnDirection.turnRight
+    else:
+      self.turn_direction = TurnDirection.none
+
+  def get_turn_direction(self):
+    if not self.enabled:
+      return TurnDirection.none
+    return self.turn_direction
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index fe54f46ca7..39525b3b8e 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -6,26 +6,33 @@ See the LICENSE.md file in the root directory for more details.
 """
 
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc import NeuralNetworkLateralControl
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_override import LatControlTorqueExtOverride
 
 
-class LatControlTorqueExt(NeuralNetworkLateralControl):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+class LatControlTorqueExt(NeuralNetworkLateralControl, LatControlTorqueExtOverride):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    NeuralNetworkLateralControl.__init__(self, lac_torque, CP, CP_SP, CI)
+    LatControlTorqueExtOverride.__init__(self, CP)
 
-  def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+  def update(self, CS, VM, pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
              desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
-             desired_curvature, actual_curvature):
+             desired_curvature, actual_curvature, steer_limited_by_safety, output_torque):
     self._ff = ff
+    self._pid = pid
     self._pid_log = pid_log
     self._setpoint = setpoint
     self._measurement = measurement
+    self._roll_compensation = roll_compensation
     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._gravity_adjusted_lateral_accel = gravity_adjusted_lateral_accel
+    self._steer_limited_by_safety = steer_limited_by_safety
+    self._output_torque = output_torque
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
 
-    return self._ff, self._pid_log
+    return self._pid_log, self._output_torque
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 800bbac67a..c6658bdc78 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -7,10 +7,18 @@ See the LICENSE.md file in the root directory for more details.
 import math
 import numpy as np
 
+from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 LAT_PLAN_MIN_IDX = 5
+LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
+
+# from selfdrive/controls/lib/latcontrol_torque.py
+KP = 0.8
+KI = 0.15
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
@@ -42,28 +50,32 @@ def get_lookahead_value(future_vals, current_val):
 
 
 class LatControlTorqueExtBase:
-  def __init__(self, lac_torque, CP, CP_SP):
+  def __init__(self, lac_torque, CP, CP_SP, CI):
     self.model_v2 = None
     self.model_valid = False
-    self.use_steering_angle = lac_torque.use_steering_angle
+    self.lac_torque = lac_torque
 
     self.actual_lateral_jerk: float = 0.0
     self.lateral_jerk_setpoint: float = 0.0
     self.lateral_jerk_measurement: float = 0.0
     self.lookahead_lateral_jerk: float = 0.0
 
-    self.torque_from_lateral_accel = lac_torque.torque_from_lateral_accel
-    self.torque_params = lac_torque.torque_params
+    self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
+    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
+    self._roll_compensation = 0.0
     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
+    self._gravity_adjusted_lateral_accel = 0.0
+    self._steer_limited_by_safety = False
+    self._output_torque = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
@@ -85,12 +97,15 @@ class LatControlTorqueExtBase:
 
     # precompute time differences between ModelConstants.T_IDXS
     self.t_diffs = np.diff(ModelConstants.T_IDXS)
-    self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+    self.desired_lat_jerk_time = CP.steerActuatorDelay + LATERAL_LAG_MOD
 
   def update_model_v2(self, model_v2):
     self.model_v2 = model_v2
     self.model_valid = self.model_v2 is not None and len(self.model_v2.orientation.x) >= CONTROL_N
 
+  def update_lateral_lag(self, lag):
+    self.desired_lat_jerk_time = max(0.01, lag) + LATERAL_LAG_MOD
+
   def update_friction_input(self, val_1, val_2):
     _error = val_1 - val_2
     _value = self.lat_accel_friction_factor * _error + self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
@@ -103,9 +118,8 @@ class LatControlTorqueExtBase:
     self.lateral_jerk_measurement = 0.0
     self.lookahead_lateral_jerk = 0.0
 
-    if self.use_steering_angle:
-      actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
-      self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
+    actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
+    self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
 
     if self.model_valid:
       # prepare "look-ahead" desired lateral jerk
@@ -115,8 +129,7 @@ class LatControlTorqueExtBase:
       desired_lateral_jerk = (np.interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS,
                               self.model_v2.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
       self.lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
-      if not self.use_steering_angle or self.lookahead_lateral_jerk == 0.0:
-        self.lookahead_lateral_jerk = 0.0
+      if self.lookahead_lateral_jerk == 0.0:
         self.actual_lateral_jerk = 0.0
         self.lat_accel_friction_factor = 1.0
       self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
new file mode 100644
index 0000000000..f07a7292c1
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_override.py
@@ -0,0 +1,34 @@
+"""
+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.
+"""
+
+from openpilot.common.params import Params
+
+
+class LatControlTorqueExtOverride:
+  def __init__(self, CP):
+    self.CP = CP
+    self.params = Params()
+    self.enforce_torque_control_toggle = self.params.get_bool("EnforceTorqueControl")  # only during init
+    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.frame = -1
+
+  def update_override_torque_params(self, torque_params) -> bool:
+    if not self.enforce_torque_control_toggle:
+      return False
+
+    self.frame += 1
+    if self.frame % 300 == 0:
+      self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+
+      if not self.torque_override_enabled:
+        return False
+
+      torque_params.latAccelFactor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+      torque_params.friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
+      return True
+
+    return False
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
new file mode 100644
index 0000000000..f7874cc539
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_v0.py
@@ -0,0 +1,128 @@
+import math
+import numpy as np
+from collections import deque
+
+from cereal import log
+from opendbc.car.lateral import get_friction
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.pid import PIDController
+
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import LatControlTorqueExt
+
+# At higher speeds (25+mph) we can assume:
+# Lateral acceleration achieved by a specific car correlates to
+# torque applied to the steering rack. It does not correlate to
+# wheel slip, or to speed.
+
+# This controller applies torque to achieve desired lateral
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
+
+KP = 1.0
+KI = 0.3
+KD = 0.0
+INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
+KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
+
+LP_FILTER_CUTOFF_HZ = 1.2
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+FRICTION_THRESHOLD = 0.3
+VERSION = 0
+
+
+class LatControlTorque(LatControl):
+  def __init__(self, CP, CP_SP, CI, dt):
+    super().__init__(CP, CP_SP, CI, dt)
+    self.torque_params = CP.lateralTuning.torque.as_builder()
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
+    self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.update_limits()
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
+    self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
+    self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+    self.previous_measurement = 0.0
+    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+
+    self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
+
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
+    self.update_limits()
+
+  def update_limits(self):
+    self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
+                        self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
+
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay):
+    # Override torque params from extension
+    if self.extension.update_override_torque_params(self.torque_params):
+      self.update_limits()
+
+    pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
+    if not active:
+      output_torque = 0.0
+      pid_log.active = False
+    else:
+      measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+      curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+      lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+      expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+      self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+      gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+
+      measurement = measured_curvature * CS.vEgo ** 2
+      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
+      self.previous_measurement = measurement
+
+      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
+      error = setpoint - measurement
+
+      # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
+      pid_log.error = float(error)
+      ff = gravity_adjusted_future_lateral_accel
+      # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+      ff -= self.torque_params.latAccelOffset
+      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
+      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+      output_lataccel = self.pid.update(pid_log.error,
+                                       -measurement_rate,
+                                        feedforward=ff,
+                                        speed=CS.vEgo,
+                                        freeze_integrator=freeze_integrator)
+      output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
+
+      # Lateral acceleration torque controller extension updates
+      # Overrides pid_log.error and output_torque
+      pid_log, output_torque = self.extension.update(CS, VM, self.pid, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
+                                                     future_desired_lateral_accel, measurement, lateral_accel_deadzone, gravity_adjusted_future_lateral_accel,
+                                                     desired_curvature, measured_curvature, steer_limited_by_safety, output_torque)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
+      pid_log.actualLateralAccel = float(measurement)
+      pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
+
+    # TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
new file mode 100644
index 0000000000..21b5884a01
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_versions.json
@@ -0,0 +1,8 @@
+{
+  "v1.0": {
+    "version": "1.0"
+  },
+  "v0.0": {
+    "version": "0.0"
+  }
+}
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 9f0c503fb4..6efda4585f 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -7,25 +7,76 @@ See the LICENSE.md file in the root directory for more details.
 
 from cereal import messaging, custom
 from opendbc.car import structs
-from openpilot.sunnypilot.models.helpers import get_active_model_runner
+from openpilot.common.constants import CV
+from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
+LongitudinalPlanSource = custom.LongitudinalPlanSP.LongitudinalPlanSource
 
 
 class LongitudinalPlannerSP:
-  def __init__(self, CP: structs.CarParams, mpc):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, mpc):
+    self.events_sp = EventsSP()
+    self.resolver = SpeedLimitResolver()
     self.dec = DynamicExperimentalController(CP, mpc)
-    self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
+    self.scc = SmartCruiseControl()
+    self.resolver = SpeedLimitResolver()
+    self.sla = SpeedLimitAssist(CP, CP_SP)
+    self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
+    self.source = LongitudinalPlanSource.cruise
+    self.e2e_alerts_helper = E2EAlertsHelper()
 
-  def get_mpc_mode(self) -> str | None:
+    self.output_v_target = 0.
+    self.output_a_target = 0.
+
+  def is_e2e(self, sm: messaging.SubMaster) -> bool:
+    experimental_mode = sm['selfdriveState'].experimentalMode
     if not self.dec.active():
-      return None
+      return experimental_mode
 
-    return self.dec.mode()
+    return experimental_mode and self.dec.mode() == "blended"
+
+  def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
+    CS = sm['carState']
+    v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
+    v_cruise_cluster = v_cruise_cluster_kph * CV.KPH_TO_MS
+
+    long_enabled = sm['carControl'].enabled
+    long_override = sm['carControl'].cruiseControl.override
+
+    # Smart Cruise Control
+    self.scc.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
+
+    # Speed Limit Resolver
+    self.resolver.update(v_ego, sm)
+
+    # Speed Limit Assist
+    has_speed_limit = self.resolver.speed_limit_valid or self.resolver.speed_limit_last_valid
+    self.sla.update(long_enabled, long_override, v_ego, a_ego, v_cruise_cluster, self.resolver.speed_limit,
+                    self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp)
+
+    targets = {
+      LongitudinalPlanSource.cruise: (v_cruise, a_ego),
+      LongitudinalPlanSource.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target),
+      LongitudinalPlanSource.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target),
+      LongitudinalPlanSource.speedLimitAssist: (self.sla.output_v_target, self.sla.output_a_target),
+    }
+
+    self.source = min(targets, key=lambda k: targets[k][0])
+    self.output_v_target, self.output_a_target = targets[self.source]
+    return self.output_v_target, self.output_a_target
 
   def update(self, sm: messaging.SubMaster) -> None:
+    self.events_sp.clear()
     self.dec.update(sm)
+    self.e2e_alerts_helper.update(sm, self.events_sp)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
     plan_sp_send = messaging.new_message('longitudinalPlanSP')
@@ -33,6 +84,10 @@ class LongitudinalPlannerSP:
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
 
     longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
+    longitudinalPlanSP.longitudinalPlanSource = self.source
+    longitudinalPlanSP.vTarget = float(self.output_v_target)
+    longitudinalPlanSP.aTarget = float(self.output_a_target)
+    longitudinalPlanSP.events = self.events_sp.to_msg()
 
     # Dynamic Experimental Control
     dec = longitudinalPlanSP.dec
@@ -40,4 +95,47 @@ class LongitudinalPlannerSP:
     dec.enabled = self.dec.enabled()
     dec.active = self.dec.active()
 
+    # Smart Cruise Control
+    smartCruiseControl = longitudinalPlanSP.smartCruiseControl
+    # Vision Control
+    sccVision = smartCruiseControl.vision
+    sccVision.state = self.scc.vision.state
+    sccVision.vTarget = float(self.scc.vision.output_v_target)
+    sccVision.aTarget = float(self.scc.vision.output_a_target)
+    sccVision.currentLateralAccel = float(self.scc.vision.current_lat_acc)
+    sccVision.maxPredictedLateralAccel = float(self.scc.vision.max_pred_lat_acc)
+    sccVision.enabled = self.scc.vision.is_enabled
+    sccVision.active = self.scc.vision.is_active
+    # Map Control
+    sccMap = smartCruiseControl.map
+    sccMap.state = self.scc.map.state
+    sccMap.vTarget = float(self.scc.map.output_v_target)
+    sccMap.aTarget = float(self.scc.map.output_a_target)
+    sccMap.enabled = self.scc.map.is_enabled
+    sccMap.active = self.scc.map.is_active
+
+    # Speed Limit
+    speedLimit = longitudinalPlanSP.speedLimit
+    resolver = speedLimit.resolver
+    resolver.speedLimit = float(self.resolver.speed_limit)
+    resolver.speedLimitLast = float(self.resolver.speed_limit_last)
+    resolver.speedLimitFinal = float(self.resolver.speed_limit_final)
+    resolver.speedLimitFinalLast = float(self.resolver.speed_limit_final_last)
+    resolver.speedLimitValid = self.resolver.speed_limit_valid
+    resolver.speedLimitLastValid = self.resolver.speed_limit_last_valid
+    resolver.speedLimitOffset = float(self.resolver.speed_limit_offset)
+    resolver.distToSpeedLimit = float(self.resolver.distance)
+    resolver.source = self.resolver.source
+    assist = speedLimit.assist
+    assist.state = self.sla.state
+    assist.enabled = self.sla.is_enabled
+    assist.active = self.sla.is_active
+    assist.vTarget = float(self.sla.output_v_target)
+    assist.aTarget = float(self.sla.output_a_target)
+
+    # E2E Alerts
+    e2eAlerts = longitudinalPlanSP.e2eAlerts
+    e2eAlerts.greenLightAlert = self.e2e_alerts_helper.green_light_alert
+    e2eAlerts.leadDepartAlert = self.e2e_alerts_helper.lead_depart_alert
+
     pm.send('longitudinalPlanSP', plan_sp_send)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index 218bbb9f6a..2db88299ca 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -8,7 +8,9 @@ from collections import deque
 import math
 import numpy as np
 
-from opendbc.car.interfaces import LatControlInputs
+from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
+from opendbc.sunnypilot.car.interfaces import LatControlInputs
+from opendbc.sunnypilot.car.lateral_ext import get_friction as get_friction_in_torque_space
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
@@ -30,8 +32,8 @@ def roll_pitch_adjust(roll, pitch):
 
 
 class NeuralNetworkLateralControl(LatControlTorqueExtBase):
-  def __init__(self, lac_torque, CP, CP_SP):
-    super().__init__(lac_torque, CP, CP_SP)
+  def __init__(self, lac_torque, CP, CP_SP, CI):
+    super().__init__(lac_torque, CP, CP_SP, CI)
     self.params = Params()
     self.enabled = self.params.get_bool("NeuralNetworkLateralControl")
     self.has_nn_model = CP_SP.neuralNetworkLateralControl.model.path != MOCK_MODEL_PATH
@@ -45,9 +47,8 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.pitch_last = 0.0
 
     # setup future time offsets
-    self.nn_time_offset = CP.steerActuatorDelay + 0.2
-    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
-    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+    self.future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+    self.nn_future_times = [i + self.desired_lat_jerk_time for i in self.future_times]
 
     # setup past time offsets
     self.past_times = [-0.3, -0.2, -0.1]
@@ -58,10 +59,44 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
-  def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
-    if not self.enabled or not self.model_valid or not self.has_nn_model:
+  @property
+  def _nnlc_enabled(self):
+    return self.enabled and self.model_valid and self.has_nn_model
+
+  def update_limits(self):
+    if not self._nnlc_enabled:
       return
 
+    self._pid.set_limits(self.lac_torque.steer_max, -self.lac_torque.steer_max)
+
+  def update_lateral_lag(self, lag):
+    super().update_lateral_lag(lag)
+    self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
+
+  def update_feedforward_torque_space(self, CS):
+    torque_from_setpoint = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._setpoint, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                          self.lac_torque.torque_params, gravity_adjusted=False)
+    torque_from_measurement = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._measurement, self._roll_compensation, CS.vEgo, CS.aEgo),
+                                                                             self.lac_torque.torque_params, gravity_adjusted=False)
+    self._pid_log.error = float(torque_from_setpoint - torque_from_measurement)
+    self._ff = self.torque_from_lateral_accel_in_torque_space(LatControlInputs(self._gravity_adjusted_lateral_accel, self._roll_compensation,
+                                                                               CS.vEgo, CS.aEgo), self.lac_torque.torque_params, gravity_adjusted=True)
+    self._ff += get_friction_in_torque_space(self._desired_lateral_accel - self._actual_lateral_accel, self._lateral_accel_deadzone,
+                                             FRICTION_THRESHOLD, self.lac_torque.torque_params)
+
+  def update_output_torque(self, CS):
+    freeze_integrator = self._steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+    self._output_torque = self._pid.update(self._pid_log.error,
+                                           feedforward=self._ff,
+                                           speed=CS.vEgo,
+                                           freeze_integrator=freeze_integrator)
+
+  def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
+    if not self._nnlc_enabled:
+      return
+
+    self.update_feedforward_torque_space(CS)
+
     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
@@ -124,7 +159,6 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
 
     # apply friction override for cars with low NN friction response
     if self.model.friction_override:
-      self._pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params,
-                                                            friction_input,
-                                                            self._lateral_accel_deadzone, friction_compensation=True,
-                                                            gravity_adjusted=False)
+      self._pid_log.error += get_friction(friction_input, self._lateral_accel_deadzone, FRICTION_THRESHOLD, self.lac_torque.torque_params)
+
+    self.update_output_torque(CS)
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
index 0f016ccaf0..07e7d2852d 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -1,11 +1,10 @@
-from parameterized import parameterized
-
 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.nissan.values import CAR as NISSAN
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.tesla.values import CAR as TESLA
+from openpilot.common.parameterized import parameterized
 from openpilot.common.params import Params
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index af7077d1c6..3594588ea2 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -1,10 +1,10 @@
-from parameterized import parameterized
-
 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 openpilot.common.parameterized import parameterized
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.helpers import convert_to_capnp
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
@@ -26,6 +26,6 @@ class TestNNTorqueModel:
 
     CP_SP = convert_to_capnp(CP_SP)
 
-    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
 
     assert controller.extension.has_nn_model
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index 699327cd81..a108e4ce29 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -1,13 +1,15 @@
 import numpy as np
-from parameterized import parameterized
 
 from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.gm.values import CAR as GM
 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.parameterized import parameterized
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 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
@@ -41,7 +43,7 @@ def generate_modelV2():
 
 class TestNeuralNetworkLateralControl:
 
-  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN, GM.CHEVROLET_BOLT_EUV])
   def test_saturation(self, car_name):
     params = Params()
     params.put_bool("NeuralNetworkLateralControl", True)
@@ -56,7 +58,8 @@ class TestNeuralNetworkLateralControl:
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
-    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI, DT_CTRL)
+    torque_params = CP.lateralTuning.torque
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
@@ -73,17 +76,27 @@ class TestNeuralNetworkLateralControl:
     controller.extension.model_v2 = model_v2
 
     # Saturate for curvature limited and controller limited
+    test_lag = 0.3
     for _ in range(1000):
       controller.extension.update_model_v2(model_v2)
-      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+      controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True, 0.2)
     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)
+      controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False, 0.2)
     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)
+      controller.extension.update_lateral_lag(test_lag)
+      controller.update_live_torque_params(torque_params.latAccelFactor, torque_params.latAccelOffset, torque_params.friction)
+      controller.extension.update_limits()
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False, 0.2)
     assert lac_log.saturated
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
new file mode 100644
index 0000000000..271f49dcc2
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/__init__.py
@@ -0,0 +1,9 @@
+"""
+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.
+"""
+from openpilot.common.constants import CV
+
+MIN_V = 20 * CV.KPH_TO_MS  # Do not operate under 20 km/h
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
new file mode 100644
index 0000000000..c7f11a1bb2
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py
@@ -0,0 +1,261 @@
+import json
+import math
+import platform
+
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.navd.helpers import coordinate_from_param, Coordinate
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
+
+MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
+
+ACTIVE_STATES = (MapState.turning, )
+ENABLED_STATES = (MapState.enabled, MapState.overriding, *ACTIVE_STATES)
+
+R = 6373000.0  # approximate radius of earth in meters
+TO_RADIANS = math.pi / 180
+TO_DEGREES = 180 / math.pi
+TARGET_JERK = -0.6  # m/s^3 There's some jounce limits that are not consistent so we're fudging this some
+TARGET_ACCEL = -1.2  # m/s^2 should match up with the long planner limit
+TARGET_OFFSET = 1.0  # seconds - This controls how soon before the curve you reach the target velocity. It also helps
+                     # reach the target velocity when inaccuracies in the distance modeling logic would cause overshoot.
+                     # The value is multiplied against the target velocity to determine the additional distance. This is
+                     # done to keep the distance calculations consistent but results in the offset actually being less
+                     # time than specified depending on how much of a speed differential there is between v_ego and the
+                     # target velocity.
+
+
+def velocities_from_param(param: str, params: Params):
+  if params is None:
+    params = Params()
+
+  json_str = params.get(param)
+  if json_str is None:
+    return None
+
+  velocities = json.loads(json_str)
+
+  return velocities
+
+
+def calculate_accel(t, target_jerk, a_ego):
+  return a_ego + target_jerk * t
+
+
+def calculate_velocity(t, target_jerk, a_ego, v_ego):
+  return v_ego + a_ego * t + target_jerk/2 * (t ** 2)
+
+
+def calculate_distance(t, target_jerk, a_ego, v_ego):
+  return t * v_ego + a_ego/2 * (t ** 2) + target_jerk/6 * (t ** 3)
+
+
+# points should be in radians
+# output is meters
+def distance_to_point(ax, ay, bx, by):
+  a = math.sin((bx-ax)/2)*math.sin((bx-ax)/2) + math.cos(ax) * math.cos(bx)*math.sin((by-ay)/2)*math.sin((by-ay)/2)
+  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
+
+  return R * c  # in meters
+
+
+class SmartCruiseControlMap:
+  v_target: float = 0
+  a_target: float = 0.
+  v_ego: float = 0.
+  a_ego: float = 0.
+  output_v_target: float = V_CRUISE_UNSET
+  output_a_target: float = 0.
+
+  def __init__(self):
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+    self.enabled = self.params.get_bool("SmartCruiseControlMap")
+    self.long_enabled = False
+    self.long_override = False
+    self.is_enabled = False
+    self.is_active = False
+    self.state = MapState.disabled
+    self.v_cruise = 0
+    self.target_lat = 0.0
+    self.target_lon = 0.0
+    self.frame = -1
+
+    self.last_position = coordinate_from_param("LastGPSPosition", self.mem_params) or Coordinate(0.0, 0.0)
+    self.target_velocities = velocities_from_param("MapTargetVelocities", self.mem_params) or []
+
+  def get_v_target_from_control(self) -> float:
+    if self.is_active:
+      return max(self.v_target, MIN_V)
+
+    return V_CRUISE_UNSET
+
+  def get_a_target_from_control(self) -> float:
+    return self.a_ego
+
+  def update_params(self):
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.enabled = self.params.get_bool("SmartCruiseControlMap")
+
+  def update_calculations(self) -> None:
+    self.last_position = coordinate_from_param("LastGPSPosition", self.mem_params) or Coordinate(0.0, 0.0)
+    lat = self.last_position.latitude
+    lon = self.last_position.longitude
+
+    self.target_velocities = velocities_from_param("MapTargetVelocities", self.mem_params) or []
+
+    if self.last_position is None or self.target_velocities is None:
+      return
+
+    min_dist = 1000
+    min_idx = 0
+    distances = []
+
+    # find our location in the path
+    for i in range(len(self.target_velocities)):
+      target_velocity = self.target_velocities[i]
+      tlat = target_velocity["latitude"]
+      tlon = target_velocity["longitude"]
+      d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS)
+      distances.append(d)
+      if d < min_dist:
+        min_dist = d
+        min_idx = i
+
+    # only look at values from our current position forward
+    forward_points = self.target_velocities[min_idx:]
+    forward_distances = distances[min_idx:]
+
+    # find velocities that we are within the distance we need to adjust for
+    valid_velocities = []
+    for i in range(len(forward_points)):
+      target_velocity = forward_points[i]
+      tlat = target_velocity["latitude"]
+      tlon = target_velocity["longitude"]
+      tv = target_velocity["velocity"]
+      if tv > self.v_ego:
+        continue
+
+      d = forward_distances[i]
+
+      a_diff = (self.a_ego - TARGET_ACCEL)
+      accel_t = abs(a_diff / TARGET_JERK)
+      min_accel_v = calculate_velocity(accel_t, TARGET_JERK, self.a_ego, self.v_ego)
+
+      max_d = 0
+      if tv > min_accel_v:
+        # calculate time needed based on target jerk
+        a = 0.5 * TARGET_JERK
+        b = self.a_ego
+        c = self.v_ego - tv
+        t_a = -1 * ((b**2 - 4 * a * c) ** 0.5 + b) / 2 * a
+        t_b = ((b**2 - 4 * a * c) ** 0.5 - b) / 2 * a
+        if not isinstance(t_a, complex) and t_a > 0:
+          t = t_a
+        else:
+          t = t_b
+        if isinstance(t, complex):
+          continue
+
+        max_d = max_d + calculate_distance(t, TARGET_JERK, self.a_ego, self.v_ego)
+      else:
+        t = accel_t
+        max_d = calculate_distance(t, TARGET_JERK, self.a_ego, self.v_ego)
+
+        # calculate additional time needed based on target accel
+        t = abs((min_accel_v - tv) / TARGET_ACCEL)
+        max_d += calculate_distance(t, 0, TARGET_ACCEL, min_accel_v)
+
+      if d < max_d + tv * TARGET_OFFSET:
+        valid_velocities.append((float(tv), tlat, tlon))
+
+    # Find the smallest velocity we need to adjust for
+    min_v = 100.0
+    target_lat = 0.0
+    target_lon = 0.0
+    for tv, lat, lon in valid_velocities:
+      if tv < min_v:
+        min_v = tv
+        target_lat = lat
+        target_lon = lon
+
+    if self.v_target < min_v and not (self.target_lat == 0 and self.target_lon == 0):
+      for i in range(len(forward_points)):
+        target_velocity = forward_points[i]
+        tlat = target_velocity["latitude"]
+        tlon = target_velocity["longitude"]
+        tv = target_velocity["velocity"]
+        if tv > self.v_ego:
+          continue
+
+        if tlat == self.target_lat and tlon == self.target_lon and tv == self.v_target:
+          return
+
+      # not found so let's reset
+      self.v_target = 0.0
+      self.target_lat = 0.0
+      self.target_lon = 0.0
+
+    self.v_target = min_v
+    self.target_lat = target_lat
+    self.target_lon = target_lon
+
+  def _update_state_machine(self) -> tuple[bool, bool]:
+    # ENABLED, TURNING
+    if self.state != MapState.disabled:
+      if not self.long_enabled or not self.enabled:
+        self.state = MapState.disabled
+      elif self.long_override:
+        self.state = MapState.overriding
+
+      else:
+        # ENABLED
+        if self.state == MapState.enabled:
+          if self.v_cruise > self.v_target != 0:
+            self.state = MapState.turning
+
+        # TURNING
+        elif self.state == MapState.turning:
+          if self.v_cruise <= self.v_target or self.v_target == 0:
+            self.state = MapState.enabled
+
+        # OVERRIDING
+        elif self.state == MapState.overriding:
+          if not self.long_override:
+            if self.v_cruise > self.v_target != 0:
+              self.state = MapState.turning
+            else:
+              self.state = MapState.enabled
+
+    # DISABLED
+    elif self.state == MapState.disabled:
+      if self.long_enabled and self.enabled:
+        if self.long_override:
+          self.state = MapState.overriding
+        else:
+          self.state = MapState.enabled
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def update(self, long_enabled: bool, long_override: bool, v_ego, a_ego, v_cruise) -> None:
+    self.long_enabled = long_enabled
+    self.long_override = long_override
+    self.v_ego = v_ego
+    self.a_ego = a_ego
+    self.v_cruise = v_cruise
+
+    self.update_params()
+    self.update_calculations()
+
+    self.is_enabled, self.is_active = self._update_state_machine()
+
+    self.output_v_target = self.get_v_target_from_control()
+    self.output_a_target = self.get_a_target_from_control()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
new file mode 100644
index 0000000000..4ca45202fc
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/smart_cruise_control.py
@@ -0,0 +1,19 @@
+"""
+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.
+"""
+import cereal.messaging as messaging
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
+
+
+class SmartCruiseControl:
+  def __init__(self):
+    self.vision = SmartCruiseControlVision()
+    self.map = SmartCruiseControlMap()
+
+  def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise: float) -> None:
+    self.map.update(long_enabled, long_override, v_ego, a_ego, v_cruise)
+    self.vision.update(sm, long_enabled, long_override, v_ego, a_ego, v_cruise)
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
new file mode 100644
index 0000000000..537f0033f0
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py
@@ -0,0 +1,58 @@
+"""
+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.
+"""
+import platform
+
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller import SmartCruiseControlMap
+
+MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
+
+
+class TestSmartCruiseControlMap:
+
+  def setup_method(self):
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+    self.reset_params()
+    self.scc_m = SmartCruiseControlMap()
+
+  def reset_params(self):
+    self.params.put_bool("SmartCruiseControlMap", True)
+
+    # TODO-SP: mock data from gpsLocation
+    self.params.put("LastGPSPosition", "{}")
+    self.params.put("MapTargetVelocities", "{}")
+
+  def test_initial_state(self):
+    assert self.scc_m.state == VisionState.disabled
+    assert not self.scc_m.is_active
+    assert self.scc_m.output_v_target == V_CRUISE_UNSET
+    assert self.scc_m.output_a_target == 0.
+
+  def test_system_disabled(self):
+    self.params.put_bool("SmartCruiseControlMap", False)
+    self.scc_m.enabled = self.params.get_bool("SmartCruiseControlMap")
+
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+    assert not self.scc_m.is_active
+
+  def test_disabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(False, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+
+  def test_transition_disabled_to_enabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.enabled
+
+  # TODO-SP: mock data from modelV2 to test other states
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
new file mode 100644
index 0000000000..d35b79a73b
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_vision_controller.py
@@ -0,0 +1,214 @@
+"""
+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.
+"""
+import numpy as np
+import pytest
+
+import cereal.messaging as messaging
+from cereal import custom, log
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.vision_controller import SmartCruiseControlVision, _ENTERING_PRED_LAT_ACC_TH
+
+VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
+
+
+def _th_above_f32(th: float) -> float:
+  """
+  Return the next representable float32 *above* `th`.
+  This avoids flaky comparisons around thresholds due to float32 rounding.
+  """
+  th32 = np.float32(th)
+  above32 = np.nextafter(th32, np.float32(np.inf), dtype=np.float32)
+  return float(above32)
+
+
+def _build_single_spike_filtered(n: int, base: float = 1.0) -> np.ndarray:
+  """
+  Create an array where max() is >= threshold but p97 is < threshold.
+  This demonstrates the behavior difference vs np.amax().
+
+  Note: We intentionally construct using float32-representable values to match
+  the data path through cereal/capnp.
+  """
+  th = float(_ENTERING_PRED_LAT_ACC_TH)
+  th32 = float(np.float32(th))
+
+  # numpy percentile default is linear interpolation: idx=(n-1)*p/100
+  idx = (n - 1) * 0.97
+  w = float(idx - np.floor(idx))
+
+  base32 = float(np.float32(base))
+
+  # Choose spike so that p97 = base + w*(spike-base) < th
+  # -> spike < base + (th-base)/w. Use a margin (0.9) and ensure spike >= th.
+  if w == 0.0:
+    spike = th32 + 1.0
+  else:
+    spike = base32 + (th32 - base32) / w * 0.9
+    spike = max(spike, th32 + 0.01)
+
+  arr = np.full(n, base32, dtype=np.float32)
+  arr[-1] = np.float32(spike)
+  return arr
+
+
+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
+  orientationRate = log.XYZTData.new_message()
+  orientationRate.z = [float(z) for z in ModelConstants.T_IDXS]
+  model.modelV2.orientationRate = orientationRate
+  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
+
+
+def generate_carState():
+  car_state = messaging.new_message('carState')
+  speed = 30
+  v_cruise = 50
+  car_state.carState.vEgo = float(speed)
+  car_state.carState.standstill = False
+  car_state.carState.vCruise = float(v_cruise * 3.6)
+
+  return car_state
+
+
+def generate_controlsState():
+  controls_state = messaging.new_message('controlsState')
+  controls_state.controlsState.curvature = 0.05
+
+  return controls_state
+
+
+class TestSmartCruiseControlVision:
+
+  def setup_method(self):
+    self.params = Params()
+    self.reset_params()
+    self.scc_v = SmartCruiseControlVision()
+
+    mdl = generate_modelV2()
+    cs = generate_carState()
+    controls_state = generate_controlsState()
+    self.sm = {'modelV2': mdl.modelV2, 'carState': cs.carState, 'controlsState': controls_state.controlsState}
+
+  def reset_params(self):
+    self.params.put_bool("SmartCruiseControlVision", True)
+
+  def test_initial_state(self):
+    assert self.scc_v.state == VisionState.disabled
+    assert not self.scc_v.is_active
+    assert self.scc_v.output_v_target == V_CRUISE_UNSET
+    assert self.scc_v.output_a_target == 0.
+
+  def test_system_disabled(self):
+    self.params.put_bool("SmartCruiseControlVision", False)
+    self.scc_v.enabled = self.params.get_bool("SmartCruiseControlVision")
+
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_v.state == VisionState.disabled
+    assert not self.scc_v.is_active
+
+  def test_disabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, False, False, 0., 0., 0.)
+    assert self.scc_v.state == VisionState.disabled
+
+  def test_transition_disabled_to_enabled(self):
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_v.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_v.state == VisionState.enabled
+
+  @pytest.mark.parametrize(
+    "case, should_enter",
+    [
+      ("p97_just_above_threshold", True),
+      ("single_spike_filtered", False),
+      ("persistent_high_values", True),
+    ],
+    ids=[
+      "p97>threshold_enters",
+      "single_spike_max_large_but_p97_below_threshold",
+      "high_values_persist_trigger_entering",
+    ],
+  )
+  def test_max_pred_lat_acc_uses_p97_and_threshold(self, case, should_enter):
+    n = len(ModelConstants.T_IDXS)
+    th = float(_ENTERING_PRED_LAT_ACC_TH)
+
+    if case == "p97_just_above_threshold":
+      # Use the next representable float32 above threshold to avoid float32 rounding flakiness.
+      val = _th_above_f32(th)
+      pred_lat_accels = np.full(n, np.float32(val), dtype=np.float32)
+
+    elif case == "single_spike_filtered":
+      pred_lat_accels = _build_single_spike_filtered(n, base=1.0)
+
+    elif case == "persistent_high_values":
+      # Make enough "high" samples so p97 is driven by the persistent trend, not a single outlier.
+      high_count = max(2, int(np.ceil(n * 0.03)) + 1)
+      pred_lat_accels = np.full(n, np.float32(1.0), dtype=np.float32)
+      pred_lat_accels[-high_count:] = np.float32(2.0)
+      pred_lat_accels[-1] = np.float32(8.0)  # keep one big outlier too
+
+    else:
+      raise AssertionError(f"Unknown case: {case}")
+
+    # Override model predictions so:
+    # predicted_lat_accels = abs(orientationRate.z) * velocity.x == pred_lat_accels
+    mdl = generate_modelV2()
+    mdl.modelV2.velocity.x = [1.0 for _ in range(n)]
+    mdl.modelV2.orientationRate.z = [float(x) for x in pred_lat_accels]
+    self.sm["modelV2"] = mdl.modelV2
+
+    v_ego = float(MIN_V + 5.0)
+
+    # 1st update: disabled -> enabled
+    self.scc_v.update(self.sm, True, False, v_ego, 0.0, 0.0)
+    # 2nd update: evaluate entering condition from enabled state
+    self.scc_v.update(self.sm, True, False, v_ego, 0.0, 0.0)
+
+    # Controller does percentile on numpy float64 arrays (values already quantized by capnp),
+    # so compute expected in float64 to match behavior and avoid interpolation/rounding deltas.
+    expected_p97 = float(np.percentile(pred_lat_accels.astype(np.float64), 97))
+
+    # allow tiny numeric differences due to float conversions/interpolation
+    assert np.isclose(self.scc_v.max_pred_lat_acc, expected_p97, rtol=1e-6, atol=1e-5)
+
+    if should_enter:
+      # We assert entering primarily by state (this is the actual intended behavior).
+      assert self.scc_v.state == VisionState.entering
+      # Optional sanity: should be >= threshold with some margin (since we used nextafter above threshold).
+      assert self.scc_v.max_pred_lat_acc > th
+
+    else:
+      # Difference vs np.amax(): max can be above threshold, but p97 stays below it.
+      assert float(np.max(pred_lat_accels)) >= th
+      assert self.scc_v.max_pred_lat_acc < th
+      assert self.scc_v.state == VisionState.enabled
+
+  # TODO-SP: mock modelV2 data to test other states
diff --git a/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
new file mode 100644
index 0000000000..a9d2a66227
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/smart_cruise_control/vision_controller.py
@@ -0,0 +1,203 @@
+"""
+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.
+"""
+import numpy as np
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
+
+VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.VisionState
+
+ACTIVE_STATES = (VisionState.entering, VisionState.turning, VisionState.leaving)
+ENABLED_STATES = (VisionState.enabled, VisionState.overriding, *ACTIVE_STATES)
+
+_ENTERING_PRED_LAT_ACC_TH = 1.3  # Predicted Lat Acc threshold to trigger entering turn state.
+_ABORT_ENTERING_PRED_LAT_ACC_TH = 1.1  # Predicted Lat Acc threshold to abort entering state if speed drops.
+
+_TURNING_LAT_ACC_TH = 1.6  # Lat Acc threshold to trigger turning state.
+
+_LEAVING_LAT_ACC_TH = 1.3  # Lat Acc threshold to trigger leaving turn state.
+_FINISH_LAT_ACC_TH = 1.1  # Lat Acc threshold to trigger the end of the turn cycle.
+
+_A_LAT_REG_MAX = 2.  # Maximum lateral acceleration
+
+_NO_OVERSHOOT_TIME_HORIZON = 4.  # s. Time to use for velocity desired based on a_target when not overshooting.
+
+# Lookup table for the minimum smooth deceleration during the ENTERING state
+# depending on the actual maximum absolute lateral acceleration predicted on the turn ahead.
+_ENTERING_SMOOTH_DECEL_V = [-0.2, -1.]  # min decel value allowed on ENTERING state
+_ENTERING_SMOOTH_DECEL_BP = [1.3, 3.]  # absolute value of lat acc ahead
+
+# Lookup table for the acceleration for the TURNING state
+# depending on the current lateral acceleration of the vehicle.
+_TURNING_ACC_V = [0.5, 0., -0.4]  # acc value
+_TURNING_ACC_BP = [1.5, 2.3, 3.]  # absolute value of current lat acc
+
+_LEAVING_ACC = 0.5  # Conformable acceleration to regain speed while leaving a turn.
+
+
+class SmartCruiseControlVision:
+  v_target: float = 0
+  a_target: float = 0.
+  v_ego: float = 0.
+  a_ego: float = 0.
+  output_v_target: float = V_CRUISE_UNSET
+  output_a_target: float = 0.
+
+  def __init__(self):
+    self.params = Params()
+    self.frame = -1
+    self.long_enabled = False
+    self.long_override = False
+    self.is_enabled = False
+    self.is_active = False
+    self.enabled = self.params.get_bool("SmartCruiseControlVision")
+    self.v_cruise_setpoint = 0.
+
+    self.state = VisionState.disabled
+    self.current_lat_acc = 0.
+    self.max_pred_lat_acc = 0.
+
+  def get_a_target_from_control(self) -> float:
+    return self.a_target
+
+  def get_v_target_from_control(self) -> float:
+    if self.is_active:
+      return max(self.v_target, MIN_V) + self.a_target * _NO_OVERSHOOT_TIME_HORIZON
+
+    return V_CRUISE_UNSET
+
+  def _update_params(self) -> None:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.enabled = self.params.get_bool("SmartCruiseControlVision")
+
+  def _update_calculations(self, sm: messaging.SubMaster) -> None:
+    if not self.long_enabled:
+      return
+    else:
+      rate_plan = np.array(np.abs(sm['modelV2'].orientationRate.z))
+      vel_plan = np.array(sm['modelV2'].velocity.x)
+
+      self.current_lat_acc = self.v_ego ** 2 * abs(sm['controlsState'].curvature)
+
+      # get the maximum lat accel from the model
+      predicted_lat_accels = rate_plan * vel_plan
+      self.max_pred_lat_acc = np.percentile(predicted_lat_accels, 97)
+
+      # get the maximum curve based on the current velocity
+      v_ego = max(self.v_ego, 0.1)  # ensure a value greater than 0 for calculations
+      max_curve = self.max_pred_lat_acc / (v_ego**2)
+
+      # Get the target velocity for the maximum curve
+      self.v_target = (_A_LAT_REG_MAX / max_curve) ** 0.5
+
+  def _update_state_machine(self) -> tuple[bool, bool]:
+    # ENABLED, ENTERING, TURNING, LEAVING, OVERRIDING
+    if self.state != VisionState.disabled:
+      # longitudinal and feature disable always have priority in a non-disabled state
+      if not self.long_enabled or not self.enabled:
+        self.state = VisionState.disabled
+      elif self.long_override:
+        self.state = VisionState.overriding
+
+      else:
+        # ENABLED
+        if self.state == VisionState.enabled:
+          # Do not enter a turn control cycle if the speed is low.
+          if self.v_ego <= MIN_V:
+            pass
+          # If significant lateral acceleration is predicted ahead, then move to Entering turn state.
+          elif self.max_pred_lat_acc >= _ENTERING_PRED_LAT_ACC_TH:
+            self.state = VisionState.entering
+
+        # OVERRIDING
+        elif self.state == VisionState.overriding:
+          if not self.long_override:
+            self.state = VisionState.enabled
+
+        # ENTERING
+        elif self.state == VisionState.entering:
+          # Transition to Turning if current lateral acceleration is over the threshold.
+          if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
+            self.state = VisionState.turning
+          # Abort if the predicted lateral acceleration drops
+          elif self.max_pred_lat_acc < _ABORT_ENTERING_PRED_LAT_ACC_TH:
+            self.state = VisionState.enabled
+
+        # TURNING
+        elif self.state == VisionState.turning:
+          # Transition to Leaving if current lateral acceleration drops below a threshold.
+          if self.current_lat_acc <= _LEAVING_LAT_ACC_TH:
+            self.state = VisionState.leaving
+
+        # LEAVING
+        elif self.state == VisionState.leaving:
+          # Transition back to Turning if current lateral acceleration goes back over the threshold.
+          if self.current_lat_acc >= _TURNING_LAT_ACC_TH:
+            self.state = VisionState.turning
+          # Finish if current lateral acceleration goes below a threshold.
+          elif self.current_lat_acc < _FINISH_LAT_ACC_TH:
+            self.state = VisionState.enabled
+
+    # DISABLED
+    elif self.state == VisionState.disabled:
+      if self.long_enabled and self.enabled:
+        if self.long_override:
+          self.state = VisionState.overriding
+        else:
+          self.state = VisionState.enabled
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def _update_solution(self) -> float:
+    # DISABLED, ENABLED, OVERRIDING
+    if self.state not in ACTIVE_STATES:
+      # when not overshooting, calculate v_turn as the speed at the prediction horizon when following
+      # the smooth deceleration.
+      a_target = self.a_ego
+    # ENTERING
+    elif self.state == VisionState.entering:
+      # when not overshooting, target a smooth deceleration in preparation for a sharp turn to come.
+      a_target = np.interp(self.max_pred_lat_acc, _ENTERING_SMOOTH_DECEL_BP, _ENTERING_SMOOTH_DECEL_V)
+    # TURNING
+    elif self.state == VisionState.turning:
+      # When turning, we provide a target acceleration that is comfortable for the lateral acceleration felt.
+      a_target = np.interp(self.current_lat_acc, _TURNING_ACC_BP, _TURNING_ACC_V)
+    # LEAVING
+    elif self.state == VisionState.leaving:
+      # When leaving, we provide a comfortable acceleration to regain speed.
+      a_target = _LEAVING_ACC
+    else:
+      raise NotImplementedError(f"SCC-V state not supported: {self.state}")
+
+    return a_target
+
+  def update(self, sm: messaging.SubMaster, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float,
+             v_cruise_setpoint: float) -> None:
+    self.long_enabled = long_enabled
+    self.long_override = long_override
+    self.v_ego = v_ego
+    self.a_ego = a_ego
+    self.v_cruise_setpoint = v_cruise_setpoint
+
+    self._update_params()
+    self._update_calculations(sm)
+
+    self.is_enabled, self.is_active = self._update_state_machine()
+    self.a_target = self._update_solution()
+
+    self.output_v_target = self.get_v_target_from_control()
+    self.output_a_target = self.get_a_target_from_control()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
new file mode 100644
index 0000000000..22ea75fe19
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/__init__.py
@@ -0,0 +1,19 @@
+"""
+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.
+"""
+LIMIT_ADAPT_ACC = -1.  # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
+LIMIT_MAX_MAP_DATA_AGE = 10.  # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
+
+# Speed Limit Assist constants
+PCM_LONG_REQUIRED_MAX_SET_SPEED = {
+  True: (33.3333, 36.1111),  # km/h, (120, 130)
+  False: (31.2928, 35.7632),  # mph, (70, 80)
+}
+
+CONFIRM_SPEED_THRESHOLD = {
+  True: 80,   # km/h
+  False: 50,  # mph
+}
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/common.py b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
new file mode 100644
index 0000000000..c46768464e
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/common.py
@@ -0,0 +1,29 @@
+"""
+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.
+"""
+
+from openpilot.sunnypilot import IntEnumBase
+
+
+class Policy(IntEnumBase):
+  car_state_only = 0
+  map_data_only = 1
+  car_state_priority = 2
+  map_data_priority = 3
+  combined = 4
+
+
+class OffsetType(IntEnumBase):
+  off = 0
+  fixed = 1
+  percentage = 2
+
+
+class Mode(IntEnumBase):
+  off = 0
+  information = 1
+  warning = 2
+  assist = 3
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
new file mode 100644
index 0000000000..4f388befc7
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/helpers.py
@@ -0,0 +1,44 @@
+"""
+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.
+"""
+
+from cereal import custom, car
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode as SpeedLimitMode
+
+
+def compare_cluster_target(v_cruise_cluster: float, target_set_speed: float, is_metric: bool) -> tuple[bool, bool]:
+  speed_conv = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
+  v_cruise_cluster_conv = round(v_cruise_cluster * speed_conv)
+  target_set_speed_conv = round(target_set_speed * speed_conv)
+
+  req_plus = v_cruise_cluster_conv < target_set_speed_conv
+  req_minus = v_cruise_cluster_conv > target_set_speed_conv
+
+  return req_plus, req_minus
+
+
+def set_speed_limit_assist_availability(CP: car.CarParams, CP_SP: custom.CarParamsSP, params: Params = None) -> bool:
+  if params is None:
+    params = Params()
+
+  is_release = params.get_bool("IsReleaseSpBranch")
+  disallow_in_release = CP.brand == "tesla" and is_release
+  always_disallow = CP.brand == "rivian"
+  allowed = True
+
+  if disallow_in_release or always_disallow:
+    allowed = False
+
+  if not CP.openpilotLongitudinalControl and CP_SP.pcmCruiseSpeed:
+    allowed = False
+
+  if not allowed:
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+  return allowed
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
new file mode 100644
index 0000000000..ff7be8a8be
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
@@ -0,0 +1,414 @@
+"""
+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.
+"""
+import time
+
+from cereal import custom, car
+from openpilot.common.params import Params
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.helpers import compare_cluster_target, set_speed_limit_assist_availability
+
+ButtonType = car.CarState.ButtonEvent.Type
+EventNameSP = custom.OnroadEventSP.EventName
+SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
+ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
+
+DISABLED_GUARD_PERIOD = 0.5  # secs.
+# secs. Time to wait after activation before considering temp deactivation signal.
+PRE_ACTIVE_GUARD_PERIOD = {
+  True: 15,
+  False: 5,
+}
+SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1  # secs. Time to wait after speed limit change before switching to preActive.
+
+LIMIT_MIN_ACC = -1.5  # m/s^2 Maximum deceleration allowed for limit controllers to provide.
+LIMIT_MAX_ACC = 1.0   # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
+LIMIT_MIN_SPEED = 8.33  # m/s, Minimum speed limit to provide as solution on limit controllers.
+LIMIT_SPEED_OFFSET_TH = -1.  # m/s Maximum offset between speed limit and current speed for adapting state.
+V_CRUISE_UNSET = 255.
+
+CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
+CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
+CRUISE_BUTTON_CONFIRM_HOLD = 0.5  # secs.
+
+
+class SpeedLimitAssist:
+  _speed_limit_final_last: float
+  _distance: float
+  v_ego: float
+  a_ego: float
+  v_offset: float
+
+  def __init__(self, CP: car.CarParams, CP_SP: custom.CarParamsSP):
+    self.params = Params()
+    self.CP = CP
+    self.CP_SP = CP_SP
+    self.frame = -1
+    self.long_engaged_timer = 0
+    self.pre_active_timer = 0
+    self.is_metric = self.params.get_bool("IsMetric")
+    set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
+    self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
+    self.long_enabled = False
+    self.long_enabled_prev = False
+    self.is_enabled = False
+    self.is_active = False
+    self.output_v_target = V_CRUISE_UNSET
+    self.output_a_target = 0.
+    self.v_ego = 0.
+    self.a_ego = 0.
+    self.v_offset = 0.
+    self.target_set_speed_conv = 0
+    self.prev_target_set_speed_conv = 0
+    self.v_cruise_cluster = 0.
+    self.v_cruise_cluster_prev = 0.
+    self.v_cruise_cluster_conv = 0
+    self.prev_v_cruise_cluster_conv = 0
+    self._has_speed_limit = False
+    self._speed_limit = 0.
+    self._speed_limit_final_last = 0.
+    self.speed_limit_prev = 0.
+    self.speed_limit_final_last_conv = 0
+    self.prev_speed_limit_final_last_conv = 0
+    self._distance = 0.
+    self.state = SpeedLimitAssistState.disabled
+    self._state_prev = SpeedLimitAssistState.disabled
+    self.pcm_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
+
+    self._plus_hold = 0.
+    self._minus_hold = 0.
+    self._last_carstate_ts = 0.
+
+    # TODO-SP: SLA's own output_a_target for planner
+    # Solution functions mapped to respective states
+    self.acceleration_solutions = {
+      SpeedLimitAssistState.disabled: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.inactive: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.preActive: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.pending: self.get_current_acceleration_as_target,
+      SpeedLimitAssistState.adapting: self.get_adapting_state_target_acceleration,
+      SpeedLimitAssistState.active: self.get_active_state_target_acceleration,
+    }
+
+  @property
+  def speed_limit_changed(self) -> bool:
+    return self._has_speed_limit and bool(self._speed_limit != self.speed_limit_prev)
+
+  @property
+  def v_cruise_cluster_changed(self) -> bool:
+    return bool(self.v_cruise_cluster_conv != self.prev_v_cruise_cluster_conv)
+
+  @property
+  def target_set_speed_confirmed(self) -> bool:
+    return bool(self.v_cruise_cluster_conv == self.target_set_speed_conv)
+
+  @property
+  def v_cruise_cluster_below_confirm_speed_threshold(self) -> bool:
+    return bool(self.v_cruise_cluster_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def update_active_event(self, events_sp: EventsSP) -> None:
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
+      events_sp.add(EventNameSP.speedLimitChanged)
+    else:
+      events_sp.add(EventNameSP.speedLimitActive)
+
+  def get_v_target_from_control(self) -> float:
+    if self._has_speed_limit:
+      if self.pcm_op_long and self.is_enabled:
+        return self._speed_limit_final_last
+      if not self.pcm_op_long and self.is_active:
+        return self._speed_limit_final_last
+
+    # Fallback
+    return V_CRUISE_UNSET
+
+  # TODO-SP: SLA's own output_a_target for planner
+  def get_a_target_from_control(self) -> float:
+    return self.a_ego
+
+  def update_params(self) -> None:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.is_metric = self.params.get_bool("IsMetric")
+      set_speed_limit_assist_availability(self.CP, self.CP_SP, self.params)
+      self.enabled = self.params.get("SpeedLimitMode", return_default=True) == Mode.assist
+
+  def update_car_state(self, CS: car.CarState) -> None:
+    now = time.monotonic()
+    self._last_carstate_ts = now
+
+    for b in CS.buttonEvents:
+      if not b.pressed:
+        if b.type in CRUISE_BUTTONS_PLUS:
+          self._plus_hold = max(self._plus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+        elif b.type in CRUISE_BUTTONS_MINUS:
+          self._minus_hold = max(self._minus_hold, now + CRUISE_BUTTON_CONFIRM_HOLD)
+
+  def _get_button_release(self, req_plus: bool, req_minus: bool) -> bool:
+    now = time.monotonic()
+    if req_plus and now <= self._plus_hold:
+      self._plus_hold = 0.
+      return True
+    elif req_minus and now <= self._minus_hold:
+      self._minus_hold = 0.
+      return True
+
+    # expired
+    if now > self._plus_hold:
+      self._plus_hold = 0.
+    if now > self._minus_hold:
+      self._minus_hold = 0.
+    return False
+
+  def update_calculations(self, v_cruise_cluster: float) -> None:
+    speed_conv = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH
+    self.v_cruise_cluster = v_cruise_cluster
+
+    # Update current velocity offset (error)
+    self.v_offset = self._speed_limit_final_last - self.v_ego
+
+    self.speed_limit_final_last_conv = round(self._speed_limit_final_last * speed_conv)
+    self.v_cruise_cluster_conv = round(self.v_cruise_cluster * speed_conv)
+
+    cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.is_metric]
+    pcm_long_required_max = cst_low if self._has_speed_limit and self.speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric] else \
+                            cst_high
+    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
+
+    self.target_set_speed_conv = pcm_long_required_max_set_speed_conv if self.pcm_op_long else self.speed_limit_final_last_conv
+
+  @property
+  def apply_confirm_speed_threshold(self) -> bool:
+    # below CST: always require user confirmation
+    if self.v_cruise_cluster_below_confirm_speed_threshold:
+      return True
+
+    # at/above CST:
+    # - new speed limit >= CST: auto change
+    # - new speed limit < CST: user confirmation required
+    return bool(self.speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[self.is_metric])
+
+  def get_current_acceleration_as_target(self) -> float:
+    return self.a_ego
+
+  def get_adapting_state_target_acceleration(self) -> float:
+    if self._distance > 0:
+      return (self._speed_limit_final_last ** 2 - self.v_ego ** 2) / (2. * self._distance)
+
+    return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def get_active_state_target_acceleration(self) -> float:
+    return self.v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
+
+  def _update_confirmed_state(self):
+    if self._has_speed_limit:
+      if self.v_offset < LIMIT_SPEED_OFFSET_TH:
+        self.state = SpeedLimitAssistState.adapting
+      else:
+        self.state = SpeedLimitAssistState.active
+    else:
+      self.state = SpeedLimitAssistState.pending
+
+  def _update_non_pcm_long_confirmed_state(self) -> bool:
+    if self.target_set_speed_confirmed:
+      return True
+
+    if self.state != SpeedLimitAssistState.preActive:
+      return False
+
+    req_plus, req_minus = compare_cluster_target(self.v_cruise_cluster, self._speed_limit_final_last, self.is_metric)
+
+    return self._get_button_release(req_plus, req_minus)
+
+  def update_state_machine_pcm_op_long(self):
+    self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
+    if self.state != SpeedLimitAssistState.disabled:
+      if not self.long_enabled or not self.enabled:
+        self.state = SpeedLimitAssistState.disabled
+
+      else:
+        # ACTIVE
+        if self.state == SpeedLimitAssistState.active:
+          if self.v_cruise_cluster_changed:
+            self.state = SpeedLimitAssistState.inactive
+          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+          elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
+            self.state = SpeedLimitAssistState.adapting
+
+        # ADAPTING
+        elif self.state == SpeedLimitAssistState.adapting:
+          if self.v_cruise_cluster_changed:
+            self.state = SpeedLimitAssistState.inactive
+          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+          elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
+            self.state = SpeedLimitAssistState.active
+
+        # PENDING
+        elif self.state == SpeedLimitAssistState.pending:
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          elif self.speed_limit_changed:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+
+        # PRE_ACTIVE
+        elif self.state == SpeedLimitAssistState.preActive:
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          elif self.pre_active_timer <= 0:
+            # Timeout - session ended
+            self.state = SpeedLimitAssistState.inactive
+
+        # INACTIVE
+        elif self.state == SpeedLimitAssistState.inactive:
+          pass
+
+    # DISABLED
+    elif self.state == SpeedLimitAssistState.disabled:
+      if self.long_enabled and self.enabled:
+        # start or reset preActive timer if initially enabled or manual set speed change detected
+        if not self.long_enabled_prev or self.v_cruise_cluster_changed:
+          self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
+
+        elif self.long_engaged_timer <= 0:
+          if self.target_set_speed_confirmed:
+            self._update_confirmed_state()
+          elif self._has_speed_limit:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+          else:
+            self.state = SpeedLimitAssistState.pending
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def update_state_machine_non_pcm_long(self):
+    self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
+    self.pre_active_timer = max(0, self.pre_active_timer - 1)
+
+    # ACTIVE, ADAPTING, PENDING, PRE_ACTIVE, INACTIVE
+    if self.state != SpeedLimitAssistState.disabled:
+      if not self.long_enabled or not self.enabled:
+        self.state = SpeedLimitAssistState.disabled
+
+      else:
+        # ACTIVE
+        if self.state == SpeedLimitAssistState.active:
+          if self.v_cruise_cluster_changed:
+            self.state = SpeedLimitAssistState.inactive
+
+          elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+
+        # PRE_ACTIVE
+        elif self.state == SpeedLimitAssistState.preActive:
+          if self._update_non_pcm_long_confirmed_state():
+            self.state = SpeedLimitAssistState.active
+          elif self.pre_active_timer <= 0:
+            # Timeout - session ended
+            self.state = SpeedLimitAssistState.inactive
+
+        # INACTIVE
+        elif self.state == SpeedLimitAssistState.inactive:
+          if self.speed_limit_changed:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+          elif self._update_non_pcm_long_confirmed_state():
+            self.state = SpeedLimitAssistState.active
+
+    # DISABLED
+    elif self.state == SpeedLimitAssistState.disabled:
+      if self.long_enabled and self.enabled:
+        # start or reset preActive timer if initially enabled or manual set speed change detected
+        if not self.long_enabled_prev or self.v_cruise_cluster_changed:
+          self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
+
+        elif self.long_engaged_timer <= 0:
+          if self._update_non_pcm_long_confirmed_state():
+            self.state = SpeedLimitAssistState.active
+          elif self._has_speed_limit:
+            self.state = SpeedLimitAssistState.preActive
+            self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
+          else:
+            self.state = SpeedLimitAssistState.inactive
+
+    enabled = self.state in ENABLED_STATES
+    active = self.state in ACTIVE_STATES
+
+    return enabled, active
+
+  def update_events(self, events_sp: EventsSP) -> None:
+    if self.state == SpeedLimitAssistState.preActive:
+      events_sp.add(EventNameSP.speedLimitPreActive)
+
+    if self.state == SpeedLimitAssistState.pending and self._state_prev != SpeedLimitAssistState.pending:
+      events_sp.add(EventNameSP.speedLimitPending)
+
+    if self.is_active:
+      if self._state_prev not in ACTIVE_STATES:
+        self.update_active_event(events_sp)
+
+      # only notify if we acquire a valid speed limit
+      # do not check has_speed_limit here
+      elif self._speed_limit != self.speed_limit_prev:
+        if self.speed_limit_prev <= 0:
+          self.update_active_event(events_sp)
+        elif self.speed_limit_prev > 0 and self._speed_limit > 0:
+          self.update_active_event(events_sp)
+
+  def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
+             speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
+    self.long_enabled = long_enabled
+    self.v_ego = v_ego
+    self.a_ego = a_ego
+
+    self._has_speed_limit = has_speed_limit
+    self._speed_limit = speed_limit
+    self._speed_limit_final_last = speed_limit_final_last
+    self._distance = distance
+
+    self.update_params()
+    self.update_calculations(v_cruise_cluster)
+
+    self._state_prev = self.state
+    if self.pcm_op_long:
+      self.is_enabled, self.is_active = self.update_state_machine_pcm_op_long()
+    else:
+      self.is_enabled, self.is_active = self.update_state_machine_non_pcm_long()
+
+    self.update_events(events_sp)
+
+    # Update change tracking variables
+    self.speed_limit_prev = self._speed_limit
+    self.v_cruise_cluster_prev = self.v_cruise_cluster
+    self.long_enabled_prev = self.long_enabled
+    self.prev_target_set_speed_conv = self.target_set_speed_conv
+    self.prev_v_cruise_cluster_conv = self.v_cruise_cluster_conv
+    self.prev_speed_limit_final_last_conv = self.speed_limit_final_last_conv
+
+    self.output_v_target = self.get_v_target_from_control()
+    self.output_a_target = self.get_a_target_from_control()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
new file mode 100644
index 0000000000..35965c0e18
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py
@@ -0,0 +1,190 @@
+"""
+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.
+"""
+import time
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.constants import CV
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
+
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+ALL_SOURCES = tuple(SpeedLimitSource.schema.enumerants.values())
+
+
+class SpeedLimitResolver:
+  limit_solutions: dict[custom.LongitudinalPlanSP.SpeedLimit.Source, float]
+  distance_solutions: dict[custom.LongitudinalPlanSP.SpeedLimit.Source, float]
+  v_ego: float
+  speed_limit: float
+  speed_limit_last: float
+  speed_limit_final: float
+  speed_limit_final_last: float
+  distance: float
+  source: custom.LongitudinalPlanSP.SpeedLimit.Source
+  speed_limit_offset: float
+
+  def __init__(self):
+    self.params = Params()
+    self.frame = -1
+
+    self._gps_location_service = get_gps_location_service(self.params)
+    self.limit_solutions = {}  # Store for speed limit solutions from different sources
+    self.distance_solutions = {}  # Store for distance to current speed limit start for different sources
+
+    self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+    self.policy = get_sanitize_int_param(
+      "SpeedLimitPolicy",
+      Policy.min().value,
+      Policy.max().value,
+      self.params
+    )
+    self._policy_to_sources_map = {
+      Policy.car_state_only: [SpeedLimitSource.car],
+      Policy.map_data_only: [SpeedLimitSource.map],
+      Policy.car_state_priority: [SpeedLimitSource.car, SpeedLimitSource.map],
+      Policy.map_data_priority: [SpeedLimitSource.map, SpeedLimitSource.car],
+      Policy.combined: [SpeedLimitSource.car, SpeedLimitSource.map],
+    }
+    self.source = SpeedLimitSource.none
+    for source in ALL_SOURCES:
+      self._reset_limit_sources(source)
+
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.offset_type = get_sanitize_int_param(
+      "SpeedLimitOffsetType",
+      OffsetType.min().value,
+      OffsetType.max().value,
+      self.params
+    )
+    self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+
+    self.speed_limit = 0.
+    self.speed_limit_last = 0.
+    self.speed_limit_final = 0.
+    self.speed_limit_final_last = 0.
+    self.speed_limit_offset = 0.
+
+  def update_speed_limit_states(self) -> None:
+    self.speed_limit_final = self.speed_limit + self.speed_limit_offset
+
+    if self.speed_limit > 0.:
+      self.speed_limit_last = self.speed_limit
+      self.speed_limit_final_last = self.speed_limit_final
+
+  @property
+  def speed_limit_valid(self) -> bool:
+    return self.speed_limit > 0.
+
+  @property
+  def speed_limit_last_valid(self) -> bool:
+    return self.speed_limit_last > 0.
+
+  def update_params(self):
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+      self.is_metric = self.params.get_bool("IsMetric")
+      self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
+      self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)
+
+  def _get_speed_limit_offset(self) -> float:
+    if self.offset_type == OffsetType.off:
+      return 0
+    elif self.offset_type == OffsetType.fixed:
+      return float(self.offset_value * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS))
+    elif self.offset_type == OffsetType.percentage:
+      return float(self.offset_value * 0.01 * self.speed_limit)
+    else:
+      raise NotImplementedError("Offset not supported")
+
+  def _reset_limit_sources(self, source: custom.LongitudinalPlanSP.SpeedLimit.Source) -> None:
+    self.limit_solutions[source] = 0.
+    self.distance_solutions[source] = 0.
+
+  def _get_from_car_state(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(SpeedLimitSource.car)
+    self.limit_solutions[SpeedLimitSource.car] = sm['carStateSP'].speedLimit
+    self.distance_solutions[SpeedLimitSource.car] = 0.
+
+  def _get_from_map_data(self, sm: messaging.SubMaster) -> None:
+    self._reset_limit_sources(SpeedLimitSource.map)
+    self._process_map_data(sm)
+
+  def _process_map_data(self, sm: messaging.SubMaster) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    gps_fix_age = time.monotonic() - gps_data.unixTimestampMillis * 1e-3
+    if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
+      return
+
+    speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
+    next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
+
+    self._calculate_map_data_limits(sm, speed_limit, next_speed_limit)
+
+  def _calculate_map_data_limits(self, sm: messaging.SubMaster, speed_limit: float, next_speed_limit: float) -> None:
+    gps_data = sm[self._gps_location_service]
+    map_data = sm['liveMapDataSP']
+
+    distance_since_fix = self.v_ego * (time.monotonic() - gps_data.unixTimestampMillis * 1e-3)
+    distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
+
+    self.limit_solutions[SpeedLimitSource.map] = speed_limit
+    self.distance_solutions[SpeedLimitSource.map] = 0.
+
+    # FIXME-SP: this is not working as expected
+    if 0. < next_speed_limit < self.v_ego:
+      adapt_time = (next_speed_limit - self.v_ego) / LIMIT_ADAPT_ACC
+      adapt_distance = self.v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
+
+      if distance_to_speed_limit_ahead <= adapt_distance:
+        self.limit_solutions[SpeedLimitSource.map] = next_speed_limit
+        self.distance_solutions[SpeedLimitSource.map] = distance_to_speed_limit_ahead
+
+  def _get_source_solution_according_to_policy(self) -> custom.LongitudinalPlanSP.SpeedLimit.Source:
+    sources_for_policy = self._policy_to_sources_map[self.policy]
+
+    if self.policy != Policy.combined:
+      # They are ordered in the order of preference, so we pick the first that's non-zero
+      for source in sources_for_policy:
+        if self.limit_solutions[source] > 0.:
+          return source
+      return SpeedLimitSource.none
+
+    sources_with_limits = [(s, limit) for s, limit in [(s, self.limit_solutions[s]) for s in sources_for_policy] if limit > 0.]
+    if sources_with_limits:
+      return min(sources_with_limits, key=lambda x: x[1])[0]
+
+    return SpeedLimitSource.none
+
+  def _resolve_limit_sources(self, sm: messaging.SubMaster) -> tuple[float, float, custom.LongitudinalPlanSP.SpeedLimit.Source]:
+    """Get limit solutions from each data source"""
+    self._get_from_car_state(sm)
+    self._get_from_map_data(sm)
+
+    source = self._get_source_solution_according_to_policy()
+    speed_limit = self.limit_solutions[source] if source else 0.
+    distance = self.distance_solutions[source] if source else 0.
+
+    return speed_limit, distance, source
+
+  def update(self, v_ego: float, sm: messaging.SubMaster) -> None:
+    self.v_ego = v_ego
+    self.update_params()
+
+    self.speed_limit, self.distance, self.source = self._resolve_limit_sources(sm)
+    self.speed_limit_offset = self._get_speed_limit_offset()
+
+    self.update_speed_limit_states()
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
new file mode 100644
index 0000000000..aa6650adda
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
@@ -0,0 +1,278 @@
+"""
+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.
+"""
+
+import pytest
+
+from cereal import custom
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.rivian.values import CAR as RIVIAN
+from opendbc.car.tesla.values import CAR as TESLA
+from opendbc.car.toyota.values import CAR as TOYOTA
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist, \
+  PRE_ACTIVE_GUARD_PERIOD, ACTIVE_STATES
+from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
+
+SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
+
+ALL_STATES = tuple(SpeedLimitAssistState.schema.enumerants.values())
+
+SPEED_LIMITS = {
+  'residential': 25 * CV.MPH_TO_MS,  # 25 mph
+  'city': 35 * CV.MPH_TO_MS,         # 35 mph
+  'highway': 65 * CV.MPH_TO_MS,      # 65 mph
+  'freeway': 80 * CV.MPH_TO_MS,      # 80 mph
+}
+
+DEFAULT_CAR = TOYOTA.TOYOTA_RAV4_TSS2
+
+
+@pytest.fixture
+def car_name(request):
+  return getattr(request, "param", DEFAULT_CAR)
+
+
+@pytest.fixture(autouse=True)
+def set_car_name_on_instance(request, car_name):
+  instance = getattr(request, "instance", None)
+  if instance:
+    instance.car_name = car_name
+
+
+class TestSpeedLimitAssist:
+
+  def setup_method(self, method):
+    self.params = Params()
+    self.reset_custom_params()
+    self.events_sp = EventsSP()
+    CI = self._setup_platform(self.car_name)
+    self.sla = SpeedLimitAssist(CI.CP, CI.CP_SP)
+    self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
+    self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1]  # use 80 MPH for now
+    self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
+
+  def teardown_method(self, method):
+    self.reset_state()
+
+  def _setup_platform(self, car_name):
+    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)
+    CI.CP.openpilotLongitudinalControl = True  # always assume it's openpilot longitudinal
+    sunnypilot_interfaces.setup_interfaces(CI, self.params)
+    return CI
+
+  def reset_custom_params(self):
+    self.params.put("IsReleaseSpBranch", True)
+    self.params.put("SpeedLimitMode", int(Mode.assist))
+    self.params.put_bool("IsMetric", False)
+    self.params.put("SpeedLimitOffsetType", 0)
+    self.params.put("SpeedLimitValueOffset", 0)
+
+  def reset_state(self):
+    self.sla.state = SpeedLimitAssistState.disabled
+    self.sla.frame = -1
+    self.sla.last_op_engaged_frame = 0
+    self.sla.op_engaged = False
+    self.sla.op_engaged_prev = False
+    self.sla._speed_limit = 0.
+    self.sla.speed_limit_prev = 0.
+    self.sla.last_valid_speed_limit_offsetted = 0.
+    self.sla._distance = 0.
+    self.events_sp.clear()
+
+  def initialize_active_state(self, initialize_v_cruise):
+    self.sla.state = SpeedLimitAssistState.active
+    self.sla.v_cruise_cluster = initialize_v_cruise
+    self.sla.v_cruise_cluster_prev = initialize_v_cruise
+    self.sla.prev_v_cruise_cluster_conv = round(initialize_v_cruise * self.speed_conv)
+
+  def test_initial_state(self):
+    assert self.sla.state == SpeedLimitAssistState.disabled
+    assert not self.sla.is_enabled
+    assert not self.sla.is_active
+    assert V_CRUISE_UNSET == self.sla.get_v_target_from_control()
+
+  @pytest.mark.parametrize("car_name", [RIVIAN.RIVIAN_R1_GEN1, TESLA.TESLA_MODEL_Y], indirect=True)
+  def test_disallowed_brands(self, car_name):
+    """
+      Speed Limit Assist is disabled for the following brands and conditions:
+      - All Tesla and is a release branch;
+      - All Rivian
+    """
+    assert not self.sla.enabled
+
+    # stay disallowed even when the param may have changed from somewhere else
+    self.params.put("SpeedLimitMode", int(Mode.assist))
+    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'],
+                      SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert not self.sla.enabled
+
+  def test_disabled(self):
+    self.params.put("SpeedLimitMode", int(Mode.off))
+    for _ in range(int(10. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.disabled
+
+  def test_transition_disabled_to_preactive(self):
+    for _ in range(int(3. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.preActive
+    assert self.sla.is_enabled and not self.sla.is_active
+
+  def test_transition_disabled_to_pending_no_speed_limit_not_max_initial_set_speed(self):
+    for _ in range(int(3. / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['highway'], 0, SPEED_LIMITS['city'], 0, 0, False, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.pending
+    assert self.sla.is_enabled and not self.sla.is_active
+
+  def test_preactive_to_active_with_max_speed_confirmation(self):
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
+                    SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+    assert self.sla.is_enabled and self.sla.is_active
+    assert self.sla.output_v_target == SPEED_LIMITS['highway']
+
+  def test_preactive_timeout_to_inactive(self):
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+
+    for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.inactive
+
+  def test_preactive_to_pending_no_speed_limit(self):
+    self.sla.state = SpeedLimitAssistState.preActive
+    self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed, 0, 0, False, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.pending
+    assert self.sla.is_enabled and not self.sla.is_active
+
+  def test_pending_to_active_when_speed_limit_available(self):
+    self.sla.state = SpeedLimitAssistState.pending
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed,
+                    SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+
+  def test_pending_to_adapting_when_below_speed_limit(self):
+    self.sla.state = SpeedLimitAssistState.pending
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'] + 5, 0, self.pcm_long_max_set_speed,
+                    SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.adapting
+    assert self.sla.is_enabled and self.sla.is_active
+
+  def test_active_to_adapting_transition(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+
+    self.sla.update(True, False, SPEED_LIMITS['highway'] + 2, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
+                    SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.adapting
+
+  def test_adapting_to_active_transition(self):
+    self.sla.state = SpeedLimitAssistState.adapting
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
+                    SPEED_LIMITS['highway'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.active
+
+  def test_manual_cruise_change_detection(self):
+    self.sla.state = SpeedLimitAssistState.active
+    expected_cruise = SPEED_LIMITS['highway']
+    self.sla.v_cruise_cluster_prev = expected_cruise
+
+    different_cruise = SPEED_LIMITS['highway'] + 5
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, different_cruise, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.inactive
+
+  # TODO-SP: test lower CST cases
+  def test_rapid_speed_limit_changes(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+    speed_limits = [SPEED_LIMITS['highway'], SPEED_LIMITS['freeway']]
+
+    for _, speed_limit in enumerate(speed_limits):
+      self.sla.update(True, False, speed_limit, 0, self.pcm_long_max_set_speed, speed_limit, speed_limit, True, 0, self.events_sp)
+    assert self.sla.state in ACTIVE_STATES
+
+  def test_invalid_speed_limits_handling(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+
+    invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS]
+
+    for invalid_limit in invalid_limits:
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp)
+      assert isinstance(self.sla.output_v_target, (int, float))
+      assert self.sla.output_v_target == V_CRUISE_UNSET or self.sla.output_v_target > 0
+
+  def test_stale_data_handling(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+    old_speed_limit = SPEED_LIMITS['city']
+
+    self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, 0, old_speed_limit, True, 0, self.events_sp)
+    assert self.sla.state in ACTIVE_STATES
+    assert self.sla.output_v_target == old_speed_limit
+
+  def test_distance_based_adapting(self):
+    self.sla.state = SpeedLimitAssistState.adapting
+    self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
+    self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
+
+    distance = 100.0
+    current_speed = SPEED_LIMITS['freeway']
+    target_speed = SPEED_LIMITS['highway']
+
+    self.sla.update(True, False, current_speed, 0, self.pcm_long_max_set_speed, target_speed, target_speed, True, distance, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.adapting
+    assert self.sla.output_v_target == target_speed  # TODO-SP: assert expected accel, need to enable self.acceleration_solutions
+
+  def test_long_disengaged_to_disabled(self):
+    self.initialize_active_state(self.pcm_long_max_set_speed)
+
+    self.sla.update(False, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'],
+                    SPEED_LIMITS['city'], True, 0, self.events_sp)
+    assert self.sla.state == SpeedLimitAssistState.disabled
+    assert self.sla.output_v_target == V_CRUISE_UNSET
+
+  def test_maintain_states_with_no_changes(self):
+    """Test that states are maintained when no significant changes occur"""
+    test_states = [
+      SpeedLimitAssistState.preActive,
+      SpeedLimitAssistState.pending,
+      SpeedLimitAssistState.active,
+      SpeedLimitAssistState.adapting
+    ]
+
+    for state in test_states:
+      self.sla.state = state
+      self.sla.op_engaged = True
+
+      initial_state = state
+
+      self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
+
+      assert self.sla.state in ALL_STATES  # Sanity check
+
+      if initial_state == SpeedLimitAssistState.preActive:
+        assert self.sla.state in [SpeedLimitAssistState.preActive, SpeedLimitAssistState.active]
+      elif initial_state in ACTIVE_STATES:
+        assert self.sla.state in ACTIVE_STATES
diff --git a/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
new file mode 100644
index 0000000000..c02831d71a
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_resolver.py
@@ -0,0 +1,144 @@
+"""
+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.
+"""
+import random
+import time
+
+import pytest
+from pytest_mock import MockerFixture
+
+from cereal import custom
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE
+
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver, ALL_SOURCES
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
+
+SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
+
+
+def create_mock(properties, mocker: MockerFixture):
+  mock = mocker.MagicMock()
+  for _property, value in properties.items():
+    setattr(mock, _property, value)
+  return mock
+
+
+def setup_sm_mock(mocker: MockerFixture):
+  cruise_speed_limit = random.uniform(0, 120)
+  live_map_data_limit = random.uniform(0, 120)
+
+  car_state = create_mock({
+    'gasPressed': False,
+    'brakePressed': False,
+    'standstill': False,
+  }, mocker)
+  car_state_sp = create_mock({
+    'speedLimit': cruise_speed_limit,
+  }, mocker)
+  live_map_data = create_mock({
+    'speedLimit': live_map_data_limit,
+    'speedLimitValid': True,
+    'speedLimitAhead': 0.,
+    'speedLimitAheadValid': 0.,
+    'speedLimitAheadDistance': 0.,
+  }, mocker)
+  gps_data = create_mock({
+    'unixTimestampMillis': time.monotonic() * 1e3,
+  }, mocker)
+  sm_mock = mocker.MagicMock()
+  sm_mock.__getitem__.side_effect = lambda key: {
+    'carState': car_state,
+    'liveMapDataSP': live_map_data,
+    'carStateSP': car_state_sp,
+    'gpsLocation': gps_data,
+  }[key]
+  return sm_mock
+
+
+parametrized_policies = pytest.mark.parametrize(
+  "policy, sm_key, function_key", [
+    (Policy.car_state_only, 'carStateSP', SpeedLimitSource.car),
+    (Policy.car_state_priority, 'carStateSP', SpeedLimitSource.car),
+    (Policy.map_data_only, 'liveMapDataSP', SpeedLimitSource.map),
+    (Policy.map_data_priority, 'liveMapDataSP', SpeedLimitSource.map),
+  ],
+  ids=lambda val: val.name if hasattr(val, 'name') else str(val)
+)
+
+
+@pytest.mark.parametrize("resolver_class", [SpeedLimitResolver])
+class TestSpeedLimitResolverValidation:
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_initial_state(self, resolver_class, policy):
+    resolver = resolver_class()
+    resolver.policy = policy
+    for source in ALL_SOURCES:
+      if source in resolver.limit_solutions:
+        assert resolver.limit_solutions[source] == 0.
+        assert resolver.distance_solutions[source] == 0.
+
+  @parametrized_policies
+  def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = policy
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the resolver
+    resolver.update(source_speed_limit, sm_mock)
+    assert resolver.speed_limit == source_speed_limit
+    assert resolver.source == ALL_SOURCES[function_key]
+
+  def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = Policy.combined
+    sm_mock = setup_sm_mock(mocker)
+    socket_to_source = {'carStateSP': SpeedLimitSource.car, 'liveMapDataSP': SpeedLimitSource.map}
+    minimum_key, minimum_speed_limit = min(
+      ((key, sm_mock[key].speedLimit) for key in
+       socket_to_source.keys()), key=lambda x: x[1])
+
+    # Assert the resolver
+    resolver.update(minimum_speed_limit, sm_mock)
+    assert resolver.speed_limit == minimum_speed_limit
+    assert resolver.source == socket_to_source[minimum_key]
+
+  @parametrized_policies
+  def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = policy
+    sm_mock = setup_sm_mock(mocker)
+    source_speed_limit = sm_mock[sm_key].speedLimit
+
+    # Assert the parsing
+    resolver.update(source_speed_limit, sm_mock)
+    assert resolver.limit_solutions[ALL_SOURCES[function_key]] == source_speed_limit
+    assert resolver.distance_solutions[ALL_SOURCES[function_key]] == 0.
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
+    v_ego = 50
+    resolver = resolver_class()
+    resolver.policy = policy
+
+    sm_mock = setup_sm_mock(mocker)
+    resolver.update(v_ego, sm_mock)
+
+    # After resolution
+    assert resolver.speed_limit is not None
+    assert resolver.distance is not None
+    assert resolver.source is not None
+
+  @pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
+  def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
+    resolver = resolver_class()
+    resolver.policy = policy
+    sm_mock = mocker.MagicMock()
+    sm_mock['gpsLocation'].unixTimestampMillis = (time.monotonic() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
+    resolver._get_from_map_data(sm_mock)
+    assert resolver.limit_solutions[SpeedLimitSource.map] == 0.
+    assert resolver.distance_solutions[SpeedLimitSource.map] == 0.
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 5d1fa360ed..b4ec5041c8 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -4,9 +4,7 @@ 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.
 """
-
-from parameterized import parameterized
-
+from openpilot.common.parameterized import parameterized
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeState, LaneChangeDirection
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode, \
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
new file mode 100644
index 0000000000..b547ea96b6
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -0,0 +1,144 @@
+"""
+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.
+"""
+from cereal import car
+
+from openpilot.common.constants import CV
+from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+
+
+class TestBlinkerPauseLateral:
+
+  def setup_method(self):
+    self.blinker_pause_lateral = BlinkerPauseLateral()
+    self._reset_states()
+
+  def _reset_states(self):
+    self.blinker_pause_lateral.enabled = True
+    self.blinker_pause_lateral.is_metric = False
+    self.blinker_pause_lateral.min_speed = 20  # MPH
+    self.blinker_pause_lateral.reengage_delay = 0
+    self.blinker_pause_lateral.blinker_off_timer = 0.0
+
+    self.CS = car.CarState.new_message()
+    self.CS.vEgo = 0
+    self.CS.leftBlinker = False
+    self.CS.rightBlinker = False
+
+  def _test_should_blinker_pause_lateral(self, expected_results) -> None:
+    for left in (True, False):
+      for right in (True, False):
+        self.CS.leftBlinker = left
+        self.CS.rightBlinker = right
+
+        result = self.blinker_pause_lateral.update(self.CS)
+        assert result == expected_results[(left, right)]
+
+  def test_below_min_speed_blinker(self):
+    self.CS.vEgo = 4.5  # ~10 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_reengage_delay(self):
+    self.blinker_pause_lateral.reengage_delay = 2 # seconds
+    self.CS.vEgo = 4.5 # ~10 MPH
+
+    expected_results = {
+      (False, False): True,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_above_min_speed_blinker(self):
+    self.CS.vEgo = 13.4  # ~30 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_just_below_min_speed(self):
+    self.CS.vEgo = (20 * CV.MPH_TO_MS) - 0.01
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_disabled(self):
+    self.blinker_pause_lateral.enabled = False
+    self.CS.vEgo = 4.5  # ~10 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_metric_units_below_min_speed(self):
+    self.blinker_pause_lateral.is_metric = True
+    self.CS.vEgo = 5.0  # ~18 km/h
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_metric_units_above_threshold(self):
+    self.blinker_pause_lateral.is_metric = True
+    self.CS.vEgo = 6.0  # ~21.6 km/h
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_change_min_speed_threshold(self):
+    self.blinker_pause_lateral.min_speed = 30  # MPH
+
+    # below min speed
+    self.CS.vEgo = 11.2  # ~25 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+    # above min speed
+    self.CS.vEgo = 15.6  # ~35 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
new file mode 100644
index 0000000000..57fe7b684f
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -0,0 +1,113 @@
+import pytest
+from cereal import log, custom
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+
+TurnDirection = custom.ModelDataV2SP.TurnDirection
+
+
+@pytest.mark.parametrize("left_blinker,right_blinker,v_ego,blindspot_left,blindspot_right,expected", [
+  (True, False, 5, False, False, TurnDirection.turnLeft),
+  (False, True, 6, False, False, TurnDirection.turnRight),
+  (True, False, 9, False, False, TurnDirection.none),
+  (True, False, 7, True, False, TurnDirection.none),
+  (False, True, 6, False, True, TurnDirection.none),
+  (False, False, 5, False, False, TurnDirection.none),
+  (True, True, 5, False, False, TurnDirection.none),
+])
+def test_lane_turn_desire_conditions(left_blinker, right_blinker, v_ego, blindspot_left, blindspot_right, expected):
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(blindspot_left, blindspot_right, left_blinker, right_blinker, v_ego)
+  assert controller.get_turn_direction() == expected
+
+
+def test_lane_turn_desire_disabled():
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = False
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, False, True, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none
+
+
+def test_lane_turn_overrides_lane_change():
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  # left turn desire
+  controller.update_lane_turn(False, False, True, False, 5)
+  assert controller.get_turn_direction() == TurnDirection.turnLeft
+  # right turn desire
+  controller.update_lane_turn(False, False, False, True, 6)
+  assert controller.get_turn_direction() == TurnDirection.turnRight
+  # no turn
+  controller.update_lane_turn(False, False, False, False, 7)
+  assert controller.get_turn_direction() == TurnDirection.none
+
+
+@pytest.mark.parametrize("v_ego,expected", [
+  (8.93, TurnDirection.turnLeft),  # just below threshold
+  (8.96, TurnDirection.none),  # above threshold
+  (8.95, TurnDirection.none),  # just above threshold
+])
+def test_lane_turn_desire_speed_boundary(v_ego, expected):
+  dh = DesireHelper()
+  controller = LaneTurnController(dh)
+  controller.enabled = True
+  controller.lane_turn_value = LANE_CHANGE_SPEED_MIN
+  controller.turn_direction = TurnDirection.none
+  controller.update_lane_turn(False, True, True, False, v_ego)
+  assert controller.get_turn_direction() == expected
+
+
+class DummyCarState:
+  def __init__(self, vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+               steeringPressed=False, steeringTorque=0, brakePressed=False):
+    self.vEgo = vEgo
+    self.leftBlinker = leftBlinker
+    self.rightBlinker = rightBlinker
+    self.leftBlindspot = leftBlindspot
+    self.rightBlindspot = rightBlindspot
+    self.steeringPressed = steeringPressed
+    self.steeringTorque = steeringTorque
+    self.brakePressed = brakePressed
+
+
+@pytest.fixture
+def set_lane_turn_params():
+  params = Params()
+  params.put("LaneTurnDesire", True)
+  params.put("LaneTurnValue", 20.0)
+
+
+@pytest.mark.parametrize("carstate, lateral_active, lane_change_prob, expected_desire", [
+  # Lane turn desire overrides lane change desire
+  (DummyCarState(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnLeft),
+  (DummyCarState(vEgo=7, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False), True, 1.0,
+   log.Desire.turnRight),
+  # Lane change desire only (no turn desires)
+  (DummyCarState(vEgo=9, leftBlinker=True, rightBlinker=False, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=1), True, 1.0, log.Desire.laneChangeLeft),
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=True, leftBlindspot=False, rightBlindspot=False,
+                 steeringPressed=True, steeringTorque=-1), True, 1.0, log.Desire.laneChangeRight),
+  # No desire (inactive)
+  (DummyCarState(vEgo=9, leftBlinker=False, rightBlinker=False), False, 1.0, log.Desire.none),
+  (DummyCarState(vEgo=4, leftBlinker=False, rightBlinker=False), True, 1.0, log.Desire.none),  # No blinkers? no desire!
+])
+def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
+  dh = DesireHelper()
+  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
+  for _ in range(10):
+    dh.update(carstate, lateral_active, lane_change_prob)
+  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
diff --git a/sunnypilot/selfdrive/locationd/.gitignore b/sunnypilot/selfdrive/locationd/.gitignore
new file mode 100644
index 0000000000..11b9f127b2
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/.gitignore
@@ -0,0 +1,3 @@
+params_learner
+paramsd
+locationd
diff --git a/sunnypilot/selfdrive/locationd/SConscript b/sunnypilot/selfdrive/locationd/SConscript
new file mode 100644
index 0000000000..27cd4d5b40
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/SConscript
@@ -0,0 +1,37 @@
+Import('env', 'arch', 'common', 'messaging', 'rednose', 'transformations')
+
+loc_libs = [messaging, common, 'pthread', 'dl']
+
+# build ekf models
+rednose_gen_dir = 'models/generated'
+rednose_gen_deps = [
+  "models/constants.py",
+]
+live_ekf = env.RednoseCompileFilter(
+  target='live',
+  filter_gen_script='models/live_kf.py',
+  output_dir=rednose_gen_dir,
+  extra_gen_artifacts=['live_kf_constants.h'],
+  gen_script_deps=rednose_gen_deps,
+)
+car_ekf = env.RednoseCompileFilter(
+  target='car',
+  filter_gen_script='models/car_kf.py',
+  output_dir=rednose_gen_dir,
+  extra_gen_artifacts=[],
+  gen_script_deps=rednose_gen_deps,
+)
+
+# locationd build
+locationd_sources = ["locationd.cc", "models/live_kf.cc"]
+
+lenv = env.Clone()
+# ekf filter libraries need to be linked, even if no symbols are used
+if arch != "Darwin":
+  lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"]
+
+lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath)
+lenv["RPATH"].append(Dir(rednose_gen_dir).abspath)
+locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations)
+lenv.Depends(locationd, rednose)
+lenv.Depends(locationd, live_ekf)
diff --git a/sunnypilot/selfdrive/locationd/__init__.py b/sunnypilot/selfdrive/locationd/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/locationd/locationd.cc b/sunnypilot/selfdrive/locationd/locationd.cc
new file mode 100644
index 0000000000..c42ab13f25
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/locationd.cc
@@ -0,0 +1,750 @@
+#include "sunnypilot/selfdrive/locationd/locationd.h"
+
+#include <sys/time.h>
+#include <sys/resource.h>
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
+using namespace EKFS;
+using namespace Eigen;
+
+ExitHandler do_exit;
+const double ACCEL_SANITY_CHECK = 100.0;  // m/s^2
+const double ROTATION_SANITY_CHECK = 10.0;  // rad/s
+const double TRANS_SANITY_CHECK = 200.0;  // m/s
+const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
+const double ALTITUDE_SANITY_CHECK = 10000; // m
+const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
+const double VALID_TIME_SINCE_RESET = 1.0; // s
+const double VALID_POS_STD = 50.0; // m
+const double MAX_RESET_TRACKER = 5.0;
+const double SANE_GPS_UNCERTAINTY = 1500.0; // m
+const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker
+const double RESET_TRACKER_DECAY = 0.99995;
+const double DECAY = 0.9993; // ~10 secs to resume after a bad input
+const double MAX_FILTER_REWIND_TIME = 0.8; // s
+const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30;
+
+// TODO: GPS sensor time offsets are empirically calculated
+// They should be replaced with synced time from a real clock
+const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
+const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
+const float  GPS_POS_STD_THRESHOLD = 50.0;
+const float  GPS_VEL_STD_THRESHOLD = 5.0;
+const float  GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
+const float  GPS_POS_STD_RESET_THRESHOLD = 2.0;
+const float  GPS_VEL_STD_RESET_THRESHOLD = 0.5;
+const float  GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
+const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
+
+const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
+
+static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
+  VectorXd res(floatlist.size());
+  for (int i = 0; i < floatlist.size(); i++) {
+    res[i] = floatlist[i];
+  }
+  return res;
+}
+
+static Vector4d quat2vector(const Quaterniond& quat) {
+  return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
+}
+
+static Quaterniond vector2quat(const VectorXd& vec) {
+  return Quaterniond(vec(0), vec(1), vec(2), vec(3));
+}
+
+static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) {
+  meas.setValue(kj::arrayPtr(val.data(), val.size()));
+  meas.setStd(kj::arrayPtr(std.data(), std.size()));
+  meas.setValid(valid);
+}
+
+
+static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
+  // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
+  return ((rot_matrix *  cov_in) * rot_matrix.transpose());
+}
+
+static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) {
+  // Stds cannot be rotated like values, only covariances can be rotated
+  return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
+}
+
+Localizer::Localizer(LocalizerGnssSource gnss_source) {
+  this->kf = std::make_unique<LiveKalman>();
+  this->reset_kalman();
+
+  this->calib = Vector3d(0.0, 0.0, 0.0);
+  this->device_from_calib = MatrixXdr::Identity(3, 3);
+  this->calib_from_device = MatrixXdr::Identity(3, 3);
+
+  for (int i = 0; i < POSENET_STD_HIST_HALF * 2; i++) {
+    this->posenet_stds.push_back(10.0);
+  }
+
+  VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+  this->configure_gnss_source(gnss_source);
+}
+
+void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
+  VectorXd predicted_state = this->kf->get_x();
+  MatrixXdr predicted_cov = this->kf->get_P();
+  VectorXd predicted_std = predicted_cov.diagonal().array().sqrt();
+
+  VectorXd fix_ecef = predicted_state.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
+  VectorXd fix_ecef_std = predicted_std.segment<STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START);
+  VectorXd vel_ecef = predicted_state.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
+  VectorXd vel_ecef_std = predicted_std.segment<STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START);
+  VectorXd fix_pos_geo_vec = this->get_position_geodetic();
+  VectorXd orientation_ecef = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ecef_std = predicted_std.segment<STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START);
+  MatrixXdr orientation_ecef_cov = predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  MatrixXdr device_from_ecef = euler2rot(orientation_ecef).transpose();
+  VectorXd calibrated_orientation_ecef = rot2euler((this->calib_from_device * device_from_ecef).transpose());
+
+  VectorXd acc_calib = this->calib_from_device * predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
+  MatrixXdr acc_calib_cov = predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START);
+  VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt();
+  VectorXd ang_vel_calib = this->calib_from_device * predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
+
+  MatrixXdr vel_angular_cov = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
+  VectorXd ang_vel_calib_std = rotate_cov(this->calib_from_device, vel_angular_cov).diagonal().array().sqrt();
+
+  VectorXd vel_device = device_from_ecef * vel_ecef;
+  VectorXd device_from_ecef_eul = quat2euler(vector2quat(predicted_state.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START))).transpose();
+  MatrixXdr condensed_cov(STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
+  condensed_cov.topLeftCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  condensed_cov.topRightCorner<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
+  condensed_cov.bottomRightCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START);
+  condensed_cov.bottomLeftCorner<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>() =
+    predicted_cov.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_ORIENTATION_ERR_START);
+  VectorXd H_input(device_from_ecef_eul.size() + vel_ecef.size());
+  H_input << device_from_ecef_eul, vel_ecef;
+  MatrixXdr HH = this->kf->H(H_input);
+  MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
+  VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
+
+  VectorXd vel_calib = this->calib_from_device * vel_device;
+  VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
+
+  VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
+  VectorXd orientation_ned_std = rotate_cov(this->converter->ecef2ned_matrix, orientation_ecef_cov).diagonal().array().sqrt();
+  VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef);
+  VectorXd nextfix_ecef = fix_ecef + vel_ecef;
+  VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
+
+  VectorXd accDevice = predicted_state.segment<STATE_ACCELERATION_LEN>(STATE_ACCELERATION_START);
+  VectorXd accDeviceErr = predicted_std.segment<STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START);
+
+  VectorXd angVelocityDevice = predicted_state.segment<STATE_ANGULAR_VELOCITY_LEN>(STATE_ANGULAR_VELOCITY_START);
+  VectorXd angVelocityDeviceErr = predicted_std.segment<STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START);
+
+  Vector3d nans = Vector3d(NAN, NAN, NAN);
+
+  // TODO fill in NED and Calibrated stds
+  // write measurements to msg
+  init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, this->gps_mode);
+  init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, this->gps_mode);
+  init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, this->gps_mode);
+  init_measurement(fix.initVelocityNED(), ned_vel, nans, this->gps_mode);
+  init_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true);
+  init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
+  init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, this->gps_mode);
+  init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated && this->gps_mode);
+  init_measurement(fix.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
+  init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated && this->gps_mode);
+  init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
+  init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
+  init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
+  init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
+  if (DEBUG) {
+    init_measurement(fix.initFilterState(), predicted_state, predicted_std, true);
+  }
+
+  double old_mean = 0.0, new_mean = 0.0;
+  int i = 0;
+  for (double x : this->posenet_stds) {
+    if (i < POSENET_STD_HIST_HALF) {
+      old_mean += x;
+    } else {
+      new_mean += x;
+    }
+    i++;
+  }
+  old_mean /= POSENET_STD_HIST_HALF;
+  new_mean /= POSENET_STD_HIST_HALF;
+  // experimentally found these values, no false positives in 20k minutes of driving
+  bool std_spike = (new_mean / old_mean > 4.0 && new_mean > 7.0);
+
+  fix.setPosenetOK(!(std_spike && this->car_speed > 5.0));
+  fix.setDeviceStable(!this->device_fell);
+  fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER);
+  fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff);
+  this->device_fell = false;
+
+  //fix.setGpsWeek(this->time.week);
+  //fix.setGpsTimeOfWeek(this->time.tow);
+  fix.setUnixTimestampMillis(this->unix_timestamp_millis);
+
+  double time_since_reset = this->kf->get_filter_time() - this->last_reset_time;
+  fix.setTimeSinceReset(time_since_reset);
+  if (fix_ecef_std.norm() < VALID_POS_STD && this->calibrated && time_since_reset > VALID_TIME_SINCE_RESET) {
+    fix.setStatus(cereal::LiveLocationKalman::Status::VALID);
+  } else if (fix_ecef_std.norm() < VALID_POS_STD && time_since_reset > VALID_TIME_SINCE_RESET) {
+    fix.setStatus(cereal::LiveLocationKalman::Status::UNCALIBRATED);
+  } else {
+    fix.setStatus(cereal::LiveLocationKalman::Status::UNINITIALIZED);
+  }
+}
+
+VectorXd Localizer::get_position_geodetic() {
+  VectorXd fix_ecef = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) };
+  Geodetic fix_pos_geo = ecef2geodetic(fix_ecef_ecef);
+  return Vector3d(fix_pos_geo.lat, fix_pos_geo.lon, fix_pos_geo.alt);
+}
+
+VectorXd Localizer::get_state() {
+  return this->kf->get_x();
+}
+
+VectorXd Localizer::get_stdev() {
+  return this->kf->get_P().diagonal().array().sqrt();
+}
+
+bool Localizer::are_inputs_ok() {
+  return this->critical_services_valid(this->observation_values_invalid) && !this->observation_timings_invalid;
+}
+
+void Localizer::observation_timings_invalid_reset(){
+  this->observation_timings_invalid = false;
+}
+
+void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) {
+  // TODO does not yet account for double sensor readings in the log
+
+  // Ignore empty readings (e.g. in case the magnetometer had no data ready)
+  if (log.getTimestamp() == 0) {
+    return;
+  }
+
+  double sensor_time = 1e-9 * log.getTimestamp();
+
+  // sensor time and log time should be close
+  if (std::abs(current_time - sensor_time) > 0.1) {
+    LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
+    this->observation_timings_invalid = true;
+    return;
+  } else if (!this->is_timestamp_valid(sensor_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
+  // TODO: handle messages from two IMUs at the same time
+  if (log.getSource() == cereal::SensorEventData::SensorSource::BMX055) {
+    return;
+  }
+
+  // Gyro Uncalibrated
+  if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) {
+    auto v = log.getGyroUncalibrated().getV();
+    auto meas = Vector3d(-v[2], -v[1], -v[0]);
+
+    VectorXd gyro_bias = this->kf->get_x().segment<STATE_GYRO_BIAS_LEN>(STATE_GYRO_BIAS_START);
+    float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]);
+    float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1];
+    bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold;
+
+    if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) {
+      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
+      this->observation_values_invalid["gyroscope"] *= DECAY;
+    } else {
+      this->observation_values_invalid["gyroscope"] += 1.0;
+    }
+  }
+
+  // Accelerometer
+  if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) {
+    auto v = log.getAcceleration().getV();
+
+    // TODO: reduce false positives and re-enable this check
+    // check if device fell, estimate 10 for g
+    // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
+    // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+
+    auto meas = Vector3d(-v[2], -v[1], -v[0]);
+    if (meas.norm() < ACCEL_SANITY_CHECK) {
+      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
+      this->observation_values_invalid["accelerometer"] *= DECAY;
+    } else {
+      this->observation_values_invalid["accelerometer"] += 1.0;
+    }
+  }
+}
+
+void Localizer::input_fake_gps_observations(double current_time) {
+  // This is done to make sure that the error estimate of the position does not blow up
+  // when the filter is in no-gps mode
+  // Steps : first predict -> observe current obs with reasonable STD
+  this->kf->predict(current_time);
+
+  VectorXd current_x = this->kf->get_x();
+  VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
+  VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
+  const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov();
+  const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov();
+
+  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
+  bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
+  bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
+  bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
+  bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
+
+  if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
+    //this->gps_valid = false;
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  double sensor_time = current_time - sensor_time_offset;
+
+  // Process message
+  //this->gps_valid = true;
+  this->gps_mode = true;
+  Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
+  this->converter = std::make_unique<LocalCoord>(geodetic);
+
+  VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
+  VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
+  float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getHorizontalAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
+  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
+  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
+
+  this->unix_timestamp_millis = log.getUnixTimestampMillis();
+  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
+
+  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef);
+  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg()));
+  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
+  for (int i = 0; i < orientation_error.size(); i++) {
+    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
+    if (orientation_error(i) < 0.0) {
+      orientation_error(i) += 2.0 * M_PI;
+    }
+    orientation_error(i) -= M_PI;
+  }
+  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
+
+  if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) {
+    LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
+  } else if (gps_est_error > 100.0) {
+    LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+  }
+
+  this->last_gps_msg = sensor_time;
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
+
+  if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  double sensor_time = log.getMeasTime() * 1e-9;
+  sensor_time -= this->gps_time_offset;
+
+  auto ecef_pos_v = log.getPositionECEF().getValue();
+  VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
+
+  // indexed at 0 cause all std values are the same MAE
+  auto ecef_pos_std = log.getPositionECEF().getStd()[0];
+  MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();
+
+  auto ecef_vel_v = log.getVelocityECEF().getValue();
+  VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);
+
+  // indexed at 0 cause all std values are the same MAE
+  auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
+  MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal();
+
+  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
+
+  VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
+  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos[0], ecef_pos[1], ecef_pos[2] }, orientation_ecef);
+
+  LocalCoord convs((ECEF){ .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+  ECEF next_ecef = {.x = ecef_pos[0] + ecef_vel[0], .y = ecef_pos[1] + ecef_vel[1], .z = ecef_pos[2] + ecef_vel[2]};
+  VectorXd ned_vel = convs.ecef2ned(next_ecef).to_vector();
+  double bearing_rad = atan2(ned_vel[1], ned_vel[0]);
+
+  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, bearing_rad);
+  VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
+  for (int i = 0; i < orientation_error.size(); i++) {
+    orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
+    if (orientation_error(i) < 0.0) {
+      orientation_error(i) += 2.0 * M_PI;
+    }
+    orientation_error(i) -= M_PI;
+  }
+  VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
+
+  if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) {
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  // prevent jumping gnss measurements (covered lots, standstill...)
+  bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD;
+  orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD;
+  orientation_reset &= !this->standstill;
+  if (orientation_reset) {
+    this->orientation_reset_count++;
+  } else {
+    this->orientation_reset_count = 0;
+  }
+
+  if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
+    // always reset on first gps message and if the location is off but the accuracy is high
+    LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+  } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) {
+    LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
+    this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
+    this->orientation_reset_count = 0;
+  }
+
+  this->gps_mode = true;
+  this->last_gps_msg = sensor_time;
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
+  this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
+}
+
+void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
+  this->car_speed = std::abs(log.getVEgo());
+  this->standstill = log.getStandstill();
+  if (this->standstill) {
+    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
+    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) });
+  }
+}
+
+void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
+  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
+  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+
+  if (!this->is_timestamp_valid(current_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
+  if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
+    return;
+  }
+
+  VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
+  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
+
+  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
+    return;
+  }
+
+  if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) {
+    this->observation_values_invalid["cameraOdometry"] += 1.0;
+    return;
+  }
+
+  this->posenet_stds.pop_front();
+  this->posenet_stds.push_back(trans_calib_std[0]);
+
+  // Multiply by 10 to avoid to high certainty in kalman filter because of temporally correlated noise
+  trans_calib_std *= 10.0;
+  rot_calib_std *= 10.0;
+  MatrixXdr rot_device_cov = rotate_std(this->device_from_calib, rot_calib_std).array().square().matrix().asDiagonal();
+  MatrixXdr trans_device_cov = rotate_std(this->device_from_calib, trans_calib_std).array().square().matrix().asDiagonal();
+  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
+    { rot_device }, { rot_device_cov });
+  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
+    { trans_device }, { trans_device_cov });
+  this->observation_values_invalid["cameraOdometry"] *= DECAY;
+  this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]);
+}
+
+void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
+  if (!this->is_timestamp_valid(current_time)) {
+    this->observation_timings_invalid = true;
+    return;
+  }
+
+  if (log.getRpyCalib().size() > 0) {
+    auto live_calib = floatlist2vector(log.getRpyCalib());
+    if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
+      this->observation_values_invalid["liveCalibration"] += 1.0;
+      return;
+    }
+
+    this->calib = live_calib;
+    this->device_from_calib = euler2rot(this->calib);
+    this->calib_from_device = this->device_from_calib.transpose();
+    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
+    this->observation_values_invalid["liveCalibration"] *= DECAY;
+  }
+}
+
+void Localizer::reset_kalman(double current_time) {
+  const VectorXd &init_x = this->kf->get_initial_x();
+  const MatrixXdr &init_P = this->kf->get_initial_P();
+  this->reset_kalman(current_time, init_x, init_P);
+}
+
+void Localizer::finite_check(double current_time) {
+  bool all_finite = this->kf->get_x().array().isFinite().all() or this->kf->get_P().array().isFinite().all();
+  if (!all_finite) {
+    LOGE("Non-finite values detected, kalman reset");
+    this->reset_kalman(current_time);
+  }
+}
+
+void Localizer::time_check(double current_time) {
+  if (std::isnan(this->last_reset_time)) {
+    this->last_reset_time = current_time;
+  }
+  if (std::isnan(this->first_valid_log_time)) {
+    this->first_valid_log_time = current_time;
+  }
+  double filter_time = this->kf->get_filter_time();
+  bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
+  if (big_time_gap) {
+    LOGE("Time gap of over 10s detected, kalman reset");
+    this->reset_kalman(current_time);
+  }
+}
+
+void Localizer::update_reset_tracker() {
+  // reset tracker is tuned to trigger when over 1reset/10s over 2min period
+  if (this->is_gps_ok()) {
+    this->reset_tracker *= RESET_TRACKER_DECAY;
+  } else {
+    this->reset_tracker = 0.0;
+  }
+}
+
+void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) {
+  // too nonlinear to init on completely wrong
+  VectorXd current_x = this->kf->get_x();
+  MatrixXdr current_P = this->kf->get_P();
+  MatrixXdr init_P = this->kf->get_initial_P();
+  const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P();
+  int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
+
+  current_x.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START) = init_orient;
+  current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START) = init_vel;
+  current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) = init_pos;
+
+  init_P.block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal();
+  init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
+  init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
+  init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START,
+    STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
+
+  this->reset_kalman(current_time, current_x, init_P);
+}
+
+void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) {
+  this->kf->init_state(init_x, init_P, current_time);
+  this->last_reset_time = current_time;
+  this->reset_tracker += 1.0;
+}
+
+void Localizer::handle_msg_bytes(const char *data, const size_t size) {
+  AlignedBuffer aligned_buf;
+
+  capnp::FlatArrayMessageReader cmsg(aligned_buf.align(data, size));
+  cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+
+  this->handle_msg(event);
+}
+
+void Localizer::handle_msg(const cereal::Event::Reader& log) {
+  double t = log.getLogMonoTime() * 1e-9;
+  this->time_check(t);
+  if (log.isAccelerometer()) {
+    this->handle_sensor(t, log.getAccelerometer());
+  } else if (log.isGyroscope()) {
+    this->handle_sensor(t, log.getGyroscope());
+  } else if (log.isGpsLocation()) {
+    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
+  } else if (log.isGpsLocationExternal()) {
+    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
+  //} else if (log.isGnssMeasurements()) {
+  //  this->handle_gnss(t, log.getGnssMeasurements());
+  } else if (log.isCarState()) {
+    this->handle_car_state(t, log.getCarState());
+  } else if (log.isCameraOdometry()) {
+    this->handle_cam_odo(t, log.getCameraOdometry());
+  } else if (log.isLiveCalibration()) {
+    this->handle_live_calib(t, log.getLiveCalibration());
+  }
+  this->finite_check();
+  this->update_reset_tracker();
+}
+
+kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK,
+                                                       bool sensorsOK, bool gpsOK, bool msgValid) {
+  cereal::Event::Builder evt = msg_builder.initEvent();
+  evt.setValid(msgValid);
+  cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
+  this->build_live_location(liveLoc);
+  liveLoc.setSensorsOK(sensorsOK);
+  liveLoc.setGpsOK(gpsOK);
+  liveLoc.setInputsOK(inputsOK);
+  return msg_builder.toBytes();
+}
+
+bool Localizer::is_gps_ok() {
+  return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0;
+}
+
+bool Localizer::critical_services_valid(const std::map<std::string, double> &critical_services) {
+  for (auto &kv : critical_services){
+    if (kv.second >= INPUT_INVALID_THRESHOLD){
+      return false;
+    }
+  }
+  return true;
+}
+
+bool Localizer::is_timestamp_valid(double current_time) {
+  double filter_time = this->kf->get_filter_time();
+  if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) {
+    LOGE("Observation timestamp is older than the max rewind threshold of the filter");
+    return false;
+  }
+  return true;
+}
+
+void Localizer::determine_gps_mode(double current_time) {
+  // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode
+  // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs
+  // 3. If the pos_std is smaller than what's not acceptable, let gps-mode be whatever it is
+  VectorXd current_pos_std = this->kf->get_P().block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal().array().sqrt();
+  if (current_pos_std.norm() > SANE_GPS_UNCERTAINTY){
+    if (this->gps_mode){
+      this->gps_mode = false;
+      this->reset_kalman(current_time);
+    } else {
+      this->input_fake_gps_observations(current_time);
+    }
+  }
+}
+
+void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
+  this->gnss_source = source;
+  if (source == LocalizerGnssSource::UBLOX) {
+    this->gps_std_factor = 10.0;
+    this->gps_variance_factor = 1.0;
+    this->gps_vertical_variance_factor = 1.0;
+    this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET;
+  } else {
+    this->gps_std_factor = 2.0;
+    this->gps_variance_factor = 0.0;
+    this->gps_vertical_variance_factor = 3.0;
+    this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET;
+  }
+}
+
+int Localizer::locationd_thread() {
+  Params params;
+  LocalizerGnssSource source;
+  const char* gps_location_socket;
+  if (params.getBool("UbloxAvailable")) {
+    source = LocalizerGnssSource::UBLOX;
+    gps_location_socket = "gpsLocationExternal";
+  } else {
+    source = LocalizerGnssSource::QCOM;
+    gps_location_socket = "gpsLocation";
+  }
+
+  this->configure_gnss_source(source);
+  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
+                                                          "carState", "accelerometer", "gyroscope"};
+
+  SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
+  PubMaster pm({"liveLocationKalman"});
+
+  uint64_t cnt = 0;
+  bool filterInitialized = false;
+  const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
+  for (std::string service : critical_input_services) {
+    this->observation_values_invalid.insert({service, 0.0});
+  }
+
+  while (!do_exit) {
+    sm.update();
+    if (filterInitialized){
+      this->observation_timings_invalid_reset();
+      for (const char* service : service_list) {
+        if (sm.updated(service) && sm.valid(service)){
+          const cereal::Event::Reader log = sm[service];
+          this->handle_msg(log);
+        }
+      }
+    } else {
+      filterInitialized = sm.allAliveAndValid();
+    }
+
+    const char* trigger_msg = "cameraOdometry";
+    if (sm.updated(trigger_msg)) {
+      bool inputsOK = sm.allValid() && this->are_inputs_ok();
+      bool gpsOK = this->is_gps_ok();
+      bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});
+
+      // Log time to first fix
+      if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) {
+        this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
+      }
+
+      MessageBuilder msg_builder;
+      kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
+      pm.send("liveLocationKalman", bytes.begin(), bytes.size());
+
+      if (cnt % 1200 == 0 && gpsOK) {  // once a minute
+        VectorXd posGeo = this->get_position_geodetic();
+        std::string lastGPSPosJSON = util::string_format(
+          "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
+        params.putNonBlocking("LastGPSPositionLLK", lastGPSPosJSON);
+      }
+      cnt++;
+    }
+  }
+  return 0;
+}
+
+int main() {
+  util::set_realtime_priority(5);
+
+  Localizer localizer;
+  return localizer.locationd_thread();
+}
diff --git a/sunnypilot/selfdrive/locationd/locationd.h b/sunnypilot/selfdrive/locationd/locationd.h
new file mode 100644
index 0000000000..a6ce697f30
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/locationd.h
@@ -0,0 +1,100 @@
+#pragma once
+
+#include <eigen3/Eigen/Dense>
+#include <deque>
+#include <fstream>
+#include <memory>
+#include <map>
+#include <string>
+
+#include "cereal/messaging/messaging.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+#include "sunnypilot/common/transformations/coordinates.hpp"
+#include "sunnypilot/common/transformations/orientation.hpp"
+#include "sunnypilot/system/sensord/sensors/constants.h"
+#include "sunnypilot/selfdrive/locationd/models/live_kf.h"
+
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
+#define POSENET_STD_HIST_HALF 20
+
+enum LocalizerGnssSource {
+  UBLOX, QCOM
+};
+
+class Localizer {
+public:
+  Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
+
+  int locationd_thread();
+
+  void reset_kalman(double current_time = NAN);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
+  void finite_check(double current_time = NAN);
+  void time_check(double current_time = NAN);
+  void update_reset_tracker();
+  bool is_gps_ok();
+  bool critical_services_valid(const std::map<std::string, double> &critical_services);
+  bool is_timestamp_valid(double current_time);
+  void determine_gps_mode(double current_time);
+  bool are_inputs_ok();
+  void observation_timings_invalid_reset();
+
+  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
+    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_live_location(cereal::LiveLocationKalman::Builder& fix);
+
+  Eigen::VectorXd get_position_geodetic();
+  Eigen::VectorXd get_state();
+  Eigen::VectorXd get_stdev();
+
+  void handle_msg_bytes(const char *data, const size_t size);
+  void handle_msg(const cereal::Event::Reader& log);
+  void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
+  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
+  void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
+  void handle_car_state(double current_time, const cereal::CarState::Reader& log);
+  void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
+  void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
+
+  void input_fake_gps_observations(double current_time);
+
+private:
+  std::unique_ptr<LiveKalman> kf;
+
+  Eigen::VectorXd calib;
+  MatrixXdr device_from_calib;
+  MatrixXdr calib_from_device;
+  bool calibrated = false;
+
+  double car_speed = 0.0;
+  double last_reset_time = NAN;
+  std::deque<double> posenet_stds;
+
+  std::unique_ptr<LocalCoord> converter;
+
+  int64_t unix_timestamp_millis = 0;
+  double reset_tracker = 0.0;
+  bool device_fell = false;
+  bool gps_mode = false;
+  double first_valid_log_time = NAN;
+  double ttff = NAN;
+  double last_gps_msg = 0;
+  LocalizerGnssSource gnss_source;
+  bool observation_timings_invalid = false;
+  std::map<std::string, double> observation_values_invalid;
+  bool standstill = true;
+  int32_t orientation_reset_count = 0;
+  float gps_std_factor;
+  float gps_variance_factor;
+  float gps_vertical_variance_factor;
+  double gps_time_offset;
+  Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std
+
+  void configure_gnss_source(const LocalizerGnssSource &source);
+};
diff --git a/sunnypilot/selfdrive/locationd/models/.gitignore b/sunnypilot/selfdrive/locationd/models/.gitignore
new file mode 100644
index 0000000000..9ab870da89
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/.gitignore
@@ -0,0 +1 @@
+generated/
diff --git a/sunnypilot/selfdrive/locationd/models/__init__.py b/sunnypilot/selfdrive/locationd/models/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/locationd/models/car_kf.py b/sunnypilot/selfdrive/locationd/models/car_kf.py
new file mode 100755
index 0000000000..9964cab973
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/car_kf.py
@@ -0,0 +1,180 @@
+#!/usr/bin/env python3
+import math
+import sys
+from typing import Any
+
+import numpy as np
+
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.sunnypilot.selfdrive.locationd.models.constants import ObservationKind
+from openpilot.common.swaglog import cloudlog
+
+from rednose.helpers.kalmanfilter import KalmanFilter
+
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
+
+
+i = 0
+
+def _slice(n):
+  global i
+  s = slice(i, i + n)
+  i += n
+
+  return s
+
+
+class States:
+  # Vehicle model params
+  STIFFNESS = _slice(1)  # [-]
+  STEER_RATIO = _slice(1)  # [-]
+  ANGLE_OFFSET = _slice(1)  # [rad]
+  ANGLE_OFFSET_FAST = _slice(1)  # [rad]
+
+  VELOCITY = _slice(2)  # (x, y) [m/s]
+  YAW_RATE = _slice(1)  # [rad/s]
+  STEER_ANGLE = _slice(1)  # [rad]
+  ROAD_ROLL = _slice(1)  # [rad]
+
+
+class CarKalman(KalmanFilter):
+  name = 'car'
+
+  initial_x = np.array([
+    1.0,
+    15.0,
+    0.0,
+    0.0,
+
+    10.0, 0.0,
+    0.0,
+    0.0,
+    0.0
+  ])
+
+  # process noise
+  Q = np.diag([
+    (.05 / 100)**2,
+    .01**2,
+    math.radians(0.02)**2,
+    math.radians(0.25)**2,
+
+    .1**2, .01**2,
+    math.radians(0.1)**2,
+    math.radians(0.1)**2,
+    math.radians(1)**2,
+  ])
+  P_initial = Q.copy()
+
+  obs_noise: dict[int, Any] = {
+    ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2),
+    ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
+    ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2),
+    ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2),
+    ObservationKind.STIFFNESS: np.atleast_2d(0.5**2),
+    ObservationKind.ROAD_FRAME_X_SPEED: np.atleast_2d(0.1**2),
+  }
+
+  global_vars = [
+    'mass',
+    'rotational_inertia',
+    'center_to_front',
+    'center_to_rear',
+    'stiffness_front',
+    'stiffness_rear',
+  ]
+
+  @staticmethod
+  def generate_code(generated_dir):
+    dim_state = CarKalman.initial_x.shape[0]
+    name = CarKalman.name
+
+    # Linearized single-track lateral dynamics, equations 7.211-7.213
+    # Massimo Guiggiani, The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
+    # Springer Cham, 2023. doi: https://doi.org/10.1007/978-3-031-06461-6
+
+    # globals
+    global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
+    m, j, aF, aR, cF_orig, cR_orig = global_vars
+
+    # make functions and jacobians with sympy
+    # state variables
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+
+    # Vehicle model constants
+    sf = state[States.STIFFNESS, :][0, 0]
+
+    cF, cR = sf * cF_orig, sf * cR_orig
+    angle_offset = state[States.ANGLE_OFFSET, :][0, 0]
+    angle_offset_fast = state[States.ANGLE_OFFSET_FAST, :][0, 0]
+    theta = state[States.ROAD_ROLL, :][0, 0]
+    sa = state[States.STEER_ANGLE, :][0, 0]
+
+    sR = state[States.STEER_RATIO, :][0, 0]
+    u, v = state[States.VELOCITY, :]
+    r = state[States.YAW_RATE, :][0, 0]
+
+    A = sp.Matrix(np.zeros((2, 2)))
+    A[0, 0] = -(cF + cR) / (m * u)
+    A[0, 1] = -(cF * aF - cR * aR) / (m * u) - u
+    A[1, 0] = -(cF * aF - cR * aR) / (j * u)
+    A[1, 1] = -(cF * aF**2 + cR * aR**2) / (j * u)
+
+    B = sp.Matrix(np.zeros((2, 1)))
+    B[0, 0] = cF / m / sR
+    B[1, 0] = (cF * aF) / j / sR
+
+    C = sp.Matrix(np.zeros((2, 1)))
+    C[0, 0] = ACCELERATION_DUE_TO_GRAVITY
+    C[1, 0] = 0
+
+    x = sp.Matrix([v, r])  # lateral velocity, yaw rate
+    x_dot = A * x + B * (sa - angle_offset - angle_offset_fast) - C * theta
+
+    dt = sp.Symbol('dt')
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.VELOCITY.start + 1, 0] = x_dot[0]
+    state_dot[States.YAW_RATE.start, 0] = x_dot[1]
+
+    # Basic descretization, 1st order integrator
+    # Can be pretty bad if dt is big
+    f_sym = state + dt * state_dot
+
+    #
+    # Observation functions
+    #
+    obs_eqs = [
+      [sp.Matrix([r]), ObservationKind.ROAD_FRAME_YAW_RATE, None],
+      [sp.Matrix([u, v]), ObservationKind.ROAD_FRAME_XY_SPEED, None],
+      [sp.Matrix([u]), ObservationKind.ROAD_FRAME_X_SPEED, None],
+      [sp.Matrix([sa]), ObservationKind.STEER_ANGLE, None],
+      [sp.Matrix([angle_offset_fast]), ObservationKind.ANGLE_OFFSET_FAST, None],
+      [sp.Matrix([sR]), ObservationKind.STEER_RATIO, None],
+      [sp.Matrix([sf]), ObservationKind.STIFFNESS, None],
+      [sp.Matrix([theta]), ObservationKind.ROAD_ROLL, None],
+    ]
+
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars)
+
+  def __init__(self, generated_dir):
+    dim_state, dim_state_err = CarKalman.initial_x.shape[0], CarKalman.P_initial.shape[0]
+    self.filter = EKF_sym_pyx(generated_dir, CarKalman.name, CarKalman.Q, CarKalman.initial_x, CarKalman.P_initial,
+                              dim_state, dim_state_err, global_vars=CarKalman.global_vars, logger=cloudlog)
+
+  def set_globals(self, mass, rotational_inertia, center_to_front, center_to_rear, stiffness_front, stiffness_rear):
+    self.filter.set_global("mass", mass)
+    self.filter.set_global("rotational_inertia", rotational_inertia)
+    self.filter.set_global("center_to_front", center_to_front)
+    self.filter.set_global("center_to_rear", center_to_rear)
+    self.filter.set_global("stiffness_front", stiffness_front)
+    self.filter.set_global("stiffness_rear", stiffness_rear)
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  CarKalman.generate_code(generated_dir)
diff --git a/sunnypilot/selfdrive/locationd/models/constants.py b/sunnypilot/selfdrive/locationd/models/constants.py
new file mode 100644
index 0000000000..6d328ce6f5
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/constants.py
@@ -0,0 +1,92 @@
+import os
+
+GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
+
+class ObservationKind:
+  UNKNOWN = 0
+  NO_OBSERVATION = 1
+  GPS_NED = 2
+  ODOMETRIC_SPEED = 3
+  PHONE_GYRO = 4
+  GPS_VEL = 5
+  PSEUDORANGE_GPS = 6
+  PSEUDORANGE_RATE_GPS = 7
+  SPEED = 8
+  NO_ROT = 9
+  PHONE_ACCEL = 10
+  ORB_POINT = 11
+  ECEF_POS = 12
+  CAMERA_ODO_TRANSLATION = 13
+  CAMERA_ODO_ROTATION = 14
+  ORB_FEATURES = 15
+  MSCKF_TEST = 16
+  FEATURE_TRACK_TEST = 17
+  LANE_PT = 18
+  IMU_FRAME = 19
+  PSEUDORANGE_GLONASS = 20
+  PSEUDORANGE_RATE_GLONASS = 21
+  PSEUDORANGE = 22
+  PSEUDORANGE_RATE = 23
+  ECEF_VEL = 35
+  ECEF_ORIENTATION_FROM_GPS = 32
+  NO_ACCEL = 33
+  ORB_FEATURES_WIDE = 34
+
+  ROAD_FRAME_XY_SPEED = 24  # (x, y) [m/s]
+  ROAD_FRAME_YAW_RATE = 25  # [rad/s]
+  STEER_ANGLE = 26  # [rad]
+  ANGLE_OFFSET_FAST = 27  # [rad]
+  STIFFNESS = 28  # [-]
+  STEER_RATIO = 29  # [-]
+  ROAD_FRAME_X_SPEED = 30  # (x) [m/s]
+  ROAD_ROLL = 31  # [rad]
+
+  names = [
+    'Unknown',
+    'No observation',
+    'GPS NED',
+    'Odometric speed',
+    'Phone gyro',
+    'GPS velocity',
+    'GPS pseudorange',
+    'GPS pseudorange rate',
+    'Speed',
+    'No rotation',
+    'Phone acceleration',
+    'ORB point',
+    'ECEF pos',
+    'camera odometric translation',
+    'camera odometric rotation',
+    'ORB features',
+    'MSCKF test',
+    'Feature track test',
+    'Lane ecef point',
+    'imu frame eulers',
+    'GLONASS pseudorange',
+    'GLONASS pseudorange rate',
+    'pseudorange',
+    'pseudorange rate',
+
+    'Road Frame x,y speed',
+    'Road Frame yaw rate',
+    'Steer Angle',
+    'Fast Angle Offset',
+    'Stiffness',
+    'Steer Ratio',
+    'Road Frame x speed',
+    'Road Roll',
+    'ECEF orientation from GPS',
+    'NO accel',
+    'ORB features wide camera',
+    'ECEF_VEL',
+  ]
+
+  @classmethod
+  def to_string(cls, kind):
+    return cls.names[kind]
+
+
+SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
+           ObservationKind.PSEUDORANGE_RATE_GPS,
+           ObservationKind.PSEUDORANGE_GLONASS,
+           ObservationKind.PSEUDORANGE_RATE_GLONASS]
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.cc b/sunnypilot/selfdrive/locationd/models/live_kf.cc
new file mode 100644
index 0000000000..7ef6be638e
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/live_kf.cc
@@ -0,0 +1,122 @@
+#include "sunnypilot/selfdrive/locationd/models/live_kf.h"
+
+using namespace EKFS;
+using namespace Eigen;
+
+Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec) {
+  return Eigen::Map<Eigen::VectorXd>((double*)vec.data(), vec.rows(), vec.cols());
+}
+
+Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat) {
+  return Eigen::Map<MatrixXdr>((double*)mat.data(), mat.rows(), mat.cols());
+}
+
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec) {
+  std::vector<Eigen::Map<Eigen::VectorXd>> res;
+  for (const Eigen::VectorXd &vec : vec_vec) {
+    res.push_back(get_mapvec(vec));
+  }
+  return res;
+}
+
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec) {
+  std::vector<Eigen::Map<MatrixXdr>> res;
+  for (const MatrixXdr &mat : mat_vec) {
+    res.push_back(get_mapmat(mat));
+  }
+  return res;
+}
+
+LiveKalman::LiveKalman() {
+  this->dim_state = live_initial_x.rows();
+  this->dim_state_err = live_initial_P_diag.rows();
+
+  this->initial_x = live_initial_x;
+  this->initial_P = live_initial_P_diag.asDiagonal();
+  this->fake_gps_pos_cov = live_fake_gps_pos_cov_diag.asDiagonal();
+  this->fake_gps_vel_cov = live_fake_gps_vel_cov_diag.asDiagonal();
+  this->reset_orientation_P = live_reset_orientation_diag.asDiagonal();
+  this->Q = live_Q_diag.asDiagonal();
+  for (auto& pair : live_obs_noise_diag) {
+    this->obs_noise[pair.first] = pair.second.asDiagonal();
+  }
+
+  // init filter
+  this->filter = std::make_shared<EKFSym>(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x),
+    get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
+    std::vector<int>{3}, std::vector<std::string>(), 0.8);
+}
+
+void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) {
+  MatrixXdr covs = covs_diag.asDiagonal();
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) {
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+void LiveKalman::init_state(const VectorXd &state, double filter_time) {
+  MatrixXdr covs = this->filter->covs();
+  this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
+}
+
+VectorXd LiveKalman::get_x() {
+  return this->filter->state();
+}
+
+MatrixXdr LiveKalman::get_P() {
+  return this->filter->covs();
+}
+
+double LiveKalman::get_filter_time() {
+  return this->filter->get_filter_time();
+}
+
+std::vector<MatrixXdr> LiveKalman::get_R(int kind, int n) {
+  std::vector<MatrixXdr> R;
+  for (int i = 0; i < n; i++) {
+    R.push_back(this->obs_noise[kind]);
+  }
+  return R;
+}
+
+std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, const std::vector<VectorXd> &meas, std::vector<MatrixXdr> R) {
+  std::optional<Estimate> r;
+  if (R.size() == 0) {
+    R = this->get_R(kind, meas.size());
+  }
+  r = this->filter->predict_and_update_batch(t, kind, get_vec_mapvec(meas), get_vec_mapmat(R));
+  return r;
+}
+
+void LiveKalman::predict(double t) {
+  this->filter->predict(t);
+}
+
+const Eigen::VectorXd &LiveKalman::get_initial_x() {
+  return this->initial_x;
+}
+
+const MatrixXdr &LiveKalman::get_initial_P() {
+  return this->initial_P;
+}
+
+const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() {
+  return this->fake_gps_pos_cov;
+}
+
+const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() {
+  return this->fake_gps_vel_cov;
+}
+
+const MatrixXdr &LiveKalman::get_reset_orientation_P() {
+  return this->reset_orientation_P;
+}
+
+MatrixXdr LiveKalman::H(const VectorXd &in) {
+  assert(in.size() == 6);
+  Matrix<double, 3, 6, Eigen::RowMajor> res;
+  this->filter->get_extra_routine("H")((double*)in.data(), res.data());
+  return res;
+}
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.h b/sunnypilot/selfdrive/locationd/models/live_kf.h
new file mode 100644
index 0000000000..e4b3e326b3
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/live_kf.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <string>
+#include <cmath>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+#include <eigen3/Eigen/Core>
+#include <eigen3/Eigen/Dense>
+
+#include "generated/live_kf_constants.h"
+#include "rednose/helpers/ekf_sym.h"
+
+#define EARTH_GM 3.986005e14  // m^3/s^2 (gravitational constant * mass of earth)
+
+using namespace EKFS;
+
+Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec);
+Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat);
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec);
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec);
+
+class LiveKalman {
+public:
+  LiveKalman();
+
+  void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
+  void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
+  void init_state(const Eigen::VectorXd &state, double filter_time);
+
+  Eigen::VectorXd get_x();
+  MatrixXdr get_P();
+  double get_filter_time();
+  std::vector<MatrixXdr> get_R(int kind, int n);
+
+  std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
+  std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
+  std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
+  std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
+  void predict(double t);
+
+  const Eigen::VectorXd &get_initial_x();
+  const MatrixXdr &get_initial_P();
+  const MatrixXdr &get_fake_gps_pos_cov();
+  const MatrixXdr &get_fake_gps_vel_cov();
+  const MatrixXdr &get_reset_orientation_P();
+
+  MatrixXdr H(const Eigen::VectorXd &in);
+
+private:
+  std::string name = "live";
+
+  std::shared_ptr<EKFSym> filter;
+
+  int dim_state;
+  int dim_state_err;
+
+  Eigen::VectorXd initial_x;
+  MatrixXdr initial_P;
+  MatrixXdr fake_gps_pos_cov;
+  MatrixXdr fake_gps_vel_cov;
+  MatrixXdr reset_orientation_P;
+  MatrixXdr Q;  // process noise
+  std::unordered_map<int, MatrixXdr> obs_noise;
+};
diff --git a/sunnypilot/selfdrive/locationd/models/live_kf.py b/sunnypilot/selfdrive/locationd/models/live_kf.py
new file mode 100755
index 0000000000..e5626b8f28
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/models/live_kf.py
@@ -0,0 +1,242 @@
+#!/usr/bin/env python3
+
+import sys
+import os
+import numpy as np
+
+from openpilot.sunnypilot.selfdrive.locationd.models.constants import ObservationKind
+
+import sympy as sp
+import inspect
+from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate
+from rednose.helpers.ekf_sym import gen_code
+
+EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
+
+
+def numpy2eigenstring(arr):
+  assert(len(arr.shape) == 1)
+  arr_str = np.array2string(arr, precision=20, separator=',')[1:-1].replace(' ', '').replace('\n', '')
+  return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
+
+
+class States:
+  ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
+  ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
+  ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
+  ANGULAR_VELOCITY = slice(10, 13)  # roll, pitch and yaw rates in device frame in radians/s
+  GYRO_BIAS = slice(13, 16)  # roll, pitch and yaw biases
+  ACCELERATION = slice(16, 19)  # Acceleration in device frame in m/s**2
+  ACC_BIAS = slice(19, 22)  # Acceletometer bias in m/s**2
+
+  # Error-state has different slices because it is an ESKF
+  ECEF_POS_ERR = slice(0, 3)
+  ECEF_ORIENTATION_ERR = slice(3, 6)  # euler angles for orientation error
+  ECEF_VELOCITY_ERR = slice(6, 9)
+  ANGULAR_VELOCITY_ERR = slice(9, 12)
+  GYRO_BIAS_ERR = slice(12, 15)
+  ACCELERATION_ERR = slice(15, 18)
+  ACC_BIAS_ERR = slice(18, 21)
+
+
+class LiveKalman:
+  name = 'live'
+
+  initial_x = np.array([3.88e6, -3.37e6, 3.76e6,
+                        0.42254641, -0.31238054, -0.83602975, -0.15788347,  # NED [0,0,0] -> ECEF Quat
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0,
+                        0, 0, 0])
+
+  # state covariance
+  initial_P_diag = np.array([10**2, 10**2, 10**2,
+                             0.01**2, 0.01**2, 0.01**2,
+                             10**2, 10**2, 10**2,
+                             1**2, 1**2, 1**2,
+                             1**2, 1**2, 1**2,
+                             100**2, 100**2, 100**2,
+                             0.01**2, 0.01**2, 0.01**2])
+
+  # state covariance when resetting midway in a segment
+  reset_orientation_diag = np.array([1**2, 1**2, 1**2])
+
+  # fake observation covariance, to ensure the uncertainty estimate of the filter is under control
+  fake_gps_pos_cov_diag = np.array([1000**2, 1000**2, 1000**2])
+  fake_gps_vel_cov_diag = np.array([10**2, 10**2, 10**2])
+
+  # process noise
+  Q_diag = np.array([0.03**2, 0.03**2, 0.03**2,
+                     0.001**2, 0.001**2, 0.001**2,
+                     0.01**2, 0.01**2, 0.01**2,
+                     0.1**2, 0.1**2, 0.1**2,
+                     (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                     3**2, 3**2, 3**2,
+                     0.005**2, 0.005**2, 0.005**2])
+
+  obs_noise_diag = {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_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.NO_ROT: np.array([0.005**2, 0.005**2, 0.005**2]),
+                    ObservationKind.NO_ACCEL: np.array([0.05**2, 0.05**2, 0.05**2]),
+                    ObservationKind.ECEF_POS: np.array([5**2, 5**2, 5**2]),
+                    ObservationKind.ECEF_VEL: np.array([.5**2, .5**2, .5**2]),
+                    ObservationKind.ECEF_ORIENTATION_FROM_GPS: np.array([.2**2, .2**2, .2**2, .2**2])}
+
+  @staticmethod
+  def generate_code(generated_dir):
+    name = LiveKalman.name
+    dim_state = LiveKalman.initial_x.shape[0]
+    dim_state_err = LiveKalman.initial_P_diag.shape[0]
+
+    state_sym = sp.MatrixSymbol('state', dim_state, 1)
+    state = sp.Matrix(state_sym)
+    x, y, z = state[States.ECEF_POS, :]
+    q = state[States.ECEF_ORIENTATION, :]
+    v = state[States.ECEF_VELOCITY, :]
+    vx, vy, vz = v
+    omega = state[States.ANGULAR_VELOCITY, :]
+    vroll, vpitch, vyaw = omega
+    roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
+    acceleration = state[States.ACCELERATION, :]
+    acc_bias = state[States.ACC_BIAS, :]
+
+    dt = sp.Symbol('dt')
+
+    # calibration and attitude rotation matrices
+    quat_rot = quat_rotate(*q)
+
+    # Got the quat predict equations from here
+    # A New Quaternion-Based Kalman Filter for
+    # Real-Time Attitude Estimation Using the Two-Step
+    # Geometrically-Intuitive Correction Algorithm
+    A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw],
+                         [vroll, 0, vyaw, -vpitch],
+                         [vpitch, -vyaw, 0, vroll],
+                         [vyaw, vpitch, -vroll, 0]])
+    q_dot = A * q
+
+    # Time derivative of the state as a function of state
+    state_dot = sp.Matrix(np.zeros((dim_state, 1)))
+    state_dot[States.ECEF_POS, :] = v
+    state_dot[States.ECEF_ORIENTATION, :] = q_dot
+    state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration
+
+    # Basic descretization, 1st order intergrator
+    # Can be pretty bad if dt is big
+    f_sym = state + dt * state_dot
+
+    state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1)
+    state_err = sp.Matrix(state_err_sym)
+    quat_err = state_err[States.ECEF_ORIENTATION_ERR, :]
+    v_err = state_err[States.ECEF_VELOCITY_ERR, :]
+    omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :]
+    acceleration_err = state_err[States.ACCELERATION_ERR, :]
+
+    # Time derivative of the state error as a function of state error and state
+    quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2])
+    q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err)
+    state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1)))
+    state_err_dot[States.ECEF_POS_ERR, :] = v_err
+    state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot
+    state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
+    f_err_sym = state_err + dt * state_err_dot
+
+    # Observation matrix modifier
+    H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
+    H_mod_sym[States.ECEF_POS, States.ECEF_POS_ERR] = np.eye(States.ECEF_POS.stop - States.ECEF_POS.start)
+    H_mod_sym[States.ECEF_ORIENTATION, States.ECEF_ORIENTATION_ERR] = 0.5 * quat_matrix_r(state[3:7])[:, 1:]
+    H_mod_sym[States.ECEF_ORIENTATION.stop:, States.ECEF_ORIENTATION_ERR.stop:] = np.eye(dim_state - States.ECEF_ORIENTATION.stop)
+
+    # these error functions are defined so that say there
+    # is a nominal x and true x:
+    # true x = err_function(nominal x, delta x)
+    # delta x = inv_err_function(nominal x, true x)
+    nom_x = sp.MatrixSymbol('nom_x', dim_state, 1)
+    true_x = sp.MatrixSymbol('true_x', dim_state, 1)
+    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
+
+    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
+    delta_quat = sp.Matrix(np.ones(4))
+    delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
+    err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
+    err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
+    err_function_sym[States.ECEF_ORIENTATION.stop:, :] = sp.Matrix(nom_x[States.ECEF_ORIENTATION.stop:, :] + delta_x[States.ECEF_ORIENTATION_ERR.stop:, :])
+
+    inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
+    inv_err_function_sym[States.ECEF_POS_ERR, 0] = sp.Matrix(-nom_x[States.ECEF_POS, 0] + true_x[States.ECEF_POS, 0])
+    delta_quat = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]).T * true_x[States.ECEF_ORIENTATION, 0]
+    inv_err_function_sym[States.ECEF_ORIENTATION_ERR, 0] = sp.Matrix(2 * delta_quat[1:])
+    inv_err_function_sym[States.ECEF_ORIENTATION_ERR.stop:, 0] = sp.Matrix(-nom_x[States.ECEF_ORIENTATION.stop:, 0] + true_x[States.ECEF_ORIENTATION.stop:, 0])
+
+    eskf_params = [[err_function_sym, nom_x, delta_x],
+                   [inv_err_function_sym, nom_x, true_x],
+                   H_mod_sym, f_err_sym, state_err_sym]
+    #
+    # Observation functions
+    #
+    h_gyro_sym = sp.Matrix([
+      vroll + roll_bias,
+      vpitch + pitch_bias,
+      vyaw + yaw_bias])
+
+    pos = sp.Matrix([x, y, z])
+    gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2)**(3.0 / 2.0))) * pos)
+    h_acc_sym = (gravity + acceleration + acc_bias)
+    h_acc_stationary_sym = acceleration
+    h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
+    h_pos_sym = sp.Matrix([x, y, z])
+    h_vel_sym = sp.Matrix([vx, vy, vz])
+    h_orientation_sym = q
+    h_relative_motion = sp.Matrix(quat_rot.T * v)
+
+    obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None],
+               [h_phone_rot_sym, ObservationKind.NO_ROT, None],
+               [h_acc_sym, ObservationKind.PHONE_ACCEL, None],
+               [h_pos_sym, ObservationKind.ECEF_POS, None],
+               [h_vel_sym, ObservationKind.ECEF_VEL, None],
+               [h_orientation_sym, ObservationKind.ECEF_ORIENTATION_FROM_GPS, None],
+               [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None],
+               [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
+               [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
+
+    # this returns a sympy routine for the jacobian of the observation function of the local vel
+    in_vec = sp.MatrixSymbol('in_vec', 6, 1)  # roll, pitch, yaw, vx, vy, vz
+    h = euler_rotate(in_vec[0], in_vec[1], in_vec[2]).T * (sp.Matrix([in_vec[3], in_vec[4], in_vec[5]]))
+    extra_routines = [('H', h.jacobian(in_vec), [in_vec])]
+
+    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, extra_routines=extra_routines)
+
+    # write constants to extra header file for use in cpp
+    live_kf_header = "#pragma once\n\n"
+    live_kf_header += "#include <unordered_map>\n"
+    live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
+    for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
+      assert(slc.step is None)  # unsupported
+      live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
+      live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
+      live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
+    live_kf_header += "\n"
+
+    for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
+      live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
+    live_kf_header += "\n"
+
+    live_kf_header += f"static const Eigen::VectorXd live_initial_x = {numpy2eigenstring(LiveKalman.initial_x)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_initial_P_diag = {numpy2eigenstring(LiveKalman.initial_P_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_fake_gps_pos_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_pos_cov_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_fake_gps_vel_cov_diag = {numpy2eigenstring(LiveKalman.fake_gps_vel_cov_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_reset_orientation_diag = {numpy2eigenstring(LiveKalman.reset_orientation_diag)};\n"
+    live_kf_header += f"static const Eigen::VectorXd live_Q_diag = {numpy2eigenstring(LiveKalman.Q_diag)};\n"
+    live_kf_header += "static const std::unordered_map<int, Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> live_obs_noise_diag = {\n"
+    for kind, noise in LiveKalman.obs_noise_diag.items():
+      live_kf_header += f"  {{ {kind}, {numpy2eigenstring(noise)} }},\n"
+    live_kf_header += "};\n\n"
+
+    open(os.path.join(generated_dir, "live_kf_constants.h"), 'w').write(live_kf_header)
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  LiveKalman.generate_code(generated_dir)
diff --git a/sunnypilot/selfdrive/locationd/tests/.gitignore b/sunnypilot/selfdrive/locationd/tests/.gitignore
new file mode 100644
index 0000000000..89f9ac04aa
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/tests/.gitignore
@@ -0,0 +1 @@
+out/
diff --git a/sunnypilot/selfdrive/locationd/tests/__init__.py b/sunnypilot/selfdrive/locationd/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/locationd/tests/test_locationd.py b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
new file mode 100644
index 0000000000..877bc821da
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/tests/test_locationd.py
@@ -0,0 +1,94 @@
+import pytest
+import platform
+import json
+import random
+import time
+import capnp
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.transformations.coordinates import ecef2geodetic
+
+from openpilot.system.manager.process_config import managed_processes
+
+
+if platform.system() == 'Darwin':
+  pytest.skip("Skipping locationd test on macOS due to unsupported msgq.", allow_module_level=True)
+
+
+class TestLocationdProc:
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
+              'accelerometer', 'gyroscope', 'magnetometer']
+
+  def setup_method(self):
+    self.pm = messaging.PubMaster(self.LLD_MSGS)
+
+    self.params = Params()
+    self.params.put_bool("UbloxAvailable", True)
+    managed_processes['locationd_llk'].prepare()
+    managed_processes['locationd_llk'].start()
+
+  def teardown_method(self):
+    managed_processes['locationd_llk'].stop()
+
+  def get_msg(self, name, t):
+    try:
+      msg = messaging.new_message(name)
+    except capnp.lib.capnp.KjException:
+      msg = messaging.new_message(name, 0)
+
+    if name == "gpsLocationExternal":
+      msg.gpsLocationExternal.flags = 1
+      msg.gpsLocationExternal.hasFix = True
+      msg.gpsLocationExternal.verticalAccuracy = 1.0
+      msg.gpsLocationExternal.speedAccuracy = 1.0
+      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
+      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
+      msg.gpsLocationExternal.latitude = float(self.lat)
+      msg.gpsLocationExternal.longitude = float(self.lon)
+      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
+      msg.gpsLocationExternal.altitude = float(self.alt)
+    #if name == "gnssMeasurements":
+    #  msg.gnssMeasurements.measTime = t
+    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
+    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.positionECEF.valid = True
+    #  msg.gnssMeasurements.velocityECEF.value = []
+    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
+    #  msg.gnssMeasurements.velocityECEF.valid = True
+    elif name == 'cameraOdometry':
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
+    msg.logMonoTime = t
+    msg.valid = True
+    return msg
+
+  def test_params_gps(self):
+    random.seed(123489234)
+    self.params.remove('LastGPSPositionLLK')
+
+    self.x = -2710700 + (random.random() * 1e5)
+    self.y = -4280600 + (random.random() * 1e5)
+    self.z = 3850300 + (random.random() * 1e5)
+    self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
+
+    # get fake messages at the correct frequency, listed in services.py
+    msgs = []
+    for sec in range(65):
+      for name in self.LLD_MSGS:
+        for j in range(int(SERVICE_LIST[name].frequency)):
+          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
+
+    for msg in sorted(msgs, key=lambda x: x.logMonoTime):
+      self.pm.send(msg.which(), msg)
+      if msg.which() == "cameraOdometry":
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
+    time.sleep(1)  # wait for async params write
+
+    lastGPS = json.loads(self.params.get('LastGPSPositionLLK'))
+    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
+    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
+    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001)
diff --git a/sunnypilot/selfdrive/locationd/torqued_ext.py b/sunnypilot/selfdrive/locationd/torqued_ext.py
new file mode 100644
index 0000000000..58a23da00e
--- /dev/null
+++ b/sunnypilot/selfdrive/locationd/torqued_ext.py
@@ -0,0 +1,65 @@
+"""
+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.
+"""
+
+import numpy as np
+
+from cereal import car
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+
+RELAXED_MIN_BUCKET_POINTS = np.array([1, 200, 300, 500, 500, 300, 200, 1])
+
+ALLOWED_CARS = ['toyota', 'hyundai', 'rivian', 'honda']
+
+
+
+class TorqueEstimatorExt:
+  def __init__(self, CP: car.CarParams):
+    self.CP = CP
+    self._params = Params()
+    self.frame = -1
+
+    self.enforce_torque_control_toggle = self._params.get_bool("EnforceTorqueControl")  # only during init
+    self.use_params = self.CP.brand in ALLOWED_CARS and self.CP.lateralTuning.which() == 'torque'
+    self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+    self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
+    self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS
+    self.factor_sanity = 0.0
+    self.friction_sanity = 0.0
+    self.offline_latAccelFactor = 0.0
+    self.offline_friction = 0.0
+
+  def initialize_custom_params(self, decimated=False):
+    self.update_use_params()
+
+    if self.enforce_torque_control_toggle:
+      if self._params.get_bool("LiveTorqueParamsRelaxedToggle"):
+        self.min_bucket_points = RELAXED_MIN_BUCKET_POINTS / (10 if decimated else 1)
+        self.factor_sanity = 0.5 if decimated else 1.0
+        self.friction_sanity = 0.8 if decimated else 1.0
+
+      if self._params.get_bool("CustomTorqueParams"):
+        self.offline_latAccelFactor = float(self._params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
+        self.offline_friction = float(self._params.get("TorqueParamsOverrideFriction", return_default=True))
+
+  def _update_params(self):
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.use_live_torque_params = self._params.get_bool("LiveTorqueParamsToggle")
+      self.torque_override_enabled = self._params.get_bool("TorqueParamsOverrideEnabled")
+
+  def update_use_params(self):
+    self._update_params()
+
+    if self.enforce_torque_control_toggle:
+      if self.torque_override_enabled:
+        self.use_params = False
+      else:
+        self.use_params = self.use_live_torque_params
+
+    self.frame += 1
diff --git a/sunnypilot/selfdrive/pandad/__init__.py b/sunnypilot/selfdrive/pandad/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_flasher.py b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
new file mode 100755
index 0000000000..70ddb44358
--- /dev/null
+++ b/sunnypilot/selfdrive/pandad/rivian_long_flasher.py
@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import os
+from itertools import accumulate
+
+from cereal import car, messaging
+from panda import Panda
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+FW_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), "rivian_long_fw.bin.signed")
+SECTOR_SIZES = [0x4000] * 4 + [0x10000] + [0x20000] * 11
+
+
+def _is_rivian() -> bool:
+  params = Params()
+
+  # check fixed fingerprint
+  if bundle := params.get("CarPlatformBundle"):
+    if bundle.get("brand") == "rivian":
+      return True
+
+  # check cached fingerprint
+  CP_bytes = params.get("CarParamsPersistent")
+  if CP_bytes is not None:
+    CP = messaging.log_from_bytes(CP_bytes, car.CarParams)
+    if CP.brand == "rivian":
+      return True
+
+  return False
+
+
+def _flash_static(handle, code):
+  assert Panda.flasher_present(handle)
+  last_sector = next((i + 1 for i, v in enumerate(accumulate(SECTOR_SIZES[1:])) if v > len(code)), -1)
+  assert 1 <= last_sector < 7, "Invalid firmware size"
+
+  handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
+  for i in range(1, last_sector + 1):
+    handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
+  for i in range(0, len(code), 0x10):
+    handle.bulkWrite(2, code[i:i + 0x10])
+  try:
+    handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'', expect_disconnect=True)
+  except Exception:
+    pass
+
+
+def _flash_panda(panda: Panda) -> None:
+  expected_sig = Panda.get_signature_from_firmware(FW_PATH)
+  if not panda.bootstub and panda.get_signature() == expected_sig:
+    cloudlog.info(f"F4 panda {panda.get_usb_serial()} already up to date")
+    return
+
+  cloudlog.info(f"Flashing F4 panda {panda.get_usb_serial()}")
+  with open(FW_PATH, "rb") as f:
+    code = f.read()
+
+  if not panda.bootstub:
+    # enter bootstub directly, panda.reset() rejects deprecated hw types
+    try:
+      panda._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 1, 0, b'', timeout=15000, expect_disconnect=True)
+    except Exception:
+      pass
+    panda.close()
+    panda.reconnect()
+
+  _flash_static(panda._handle, code)
+  panda.reconnect()
+  cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
+
+
+def flash_rivian_long(panda_serials: list[str]) -> None:
+  if not os.path.isfile(FW_PATH):
+    cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
+    return
+
+  if not _is_rivian():
+    cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
+    return
+
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
+
+
+if __name__ == '__main__':
+  flash_rivian_long(Panda.list())
diff --git a/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed b/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed
new file mode 100644
index 0000000000..bdbd237ba9
Binary files /dev/null and b/sunnypilot/selfdrive/pandad/rivian_long_fw.bin.signed differ
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 6813542c0e..b1343b2a08 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,18 +1,76 @@
+"""
+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.
+"""
+import cereal.messaging as messaging
 from cereal import log, car, custom
+from openpilot.common.constants import CV
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
-
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
+from openpilot.system.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
 EventNameSP = custom.OnroadEventSP.EventName
 
 
 # get event name from enum
 EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
 
+IS_MICI = HARDWARE.get_device_type() == 'mici'
+
+
+def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  speedLimit = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimit
+  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
+  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
+  return Alert(
+    message,
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
+
+
+def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
+  v_cruise_cluster = CS.vCruiseCluster
+  set_speed = sm['controlsState'].vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+  set_speed_conv = round(set_speed * speed_conv)
+
+  speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
+  speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
+  alert_1_str = ""
+  alert_size = AlertSize.small
+
+  if CP.openpilotLongitudinalControl and CP.pcmCruise:
+    # PCM long
+    cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[metric]
+    pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
+    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
+    speed_unit = "km/h" if metric else "mph"
+
+    alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
+  else:
+    if IS_MICI:
+      if set_speed_conv < speed_limit_final_last_conv:
+        alert_1_str = "Press + to confirm speed limit"
+      elif set_speed_conv > speed_limit_final_last_conv:
+        alert_1_str = "Press - to confirm speed limit"
+    else:
+      alert_size = AlertSize.none
+
+  return Alert(
+    alert_1_str,
+    "",
+    AlertStatus.normal, alert_size,
+    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)
+
 
 class EventsSP(EventsBase):
   def __init__(self):
@@ -64,7 +122,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventNameSP.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.WARNING: EngagementAlert(AudibleAlert.none),
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 
@@ -122,10 +180,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
   },
 
-  EventNameSP.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
   EventNameSP.experimentalModeSwitched: {
     ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
   },
@@ -134,4 +188,59 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: wrong_car_mode_alert,
   },
 
+  EventNameSP.pedalPressedAlertOnly: {
+    ET.WARNING: NoEntryAlert("Pedal Pressed")
+  },
+
+  EventNameSP.laneTurnLeft: {
+    ET.WARNING: Alert(
+      "Turning Left",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.laneTurnRight: {
+    ET.WARNING: Alert(
+      "Turning Right",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventNameSP.speedLimitActive: {
+    ET.WARNING: Alert(
+      "Auto adjusting to speed limit",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+  },
+
+  EventNameSP.speedLimitChanged: {
+    ET.WARNING: Alert(
+      "Set speed changed",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+  },
+
+  EventNameSP.speedLimitPreActive: {
+    ET.WARNING: speed_limit_pre_active_alert,
+  },
+
+  EventNameSP.speedLimitPending: {
+    ET.WARNING: Alert(
+      "Auto adjusting to last speed limit",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
+  },
+
+  EventNameSP.e2eChime: {
+    ET.PERMANENT: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
+  },
 }
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py
index 66396c4968..5f9f8edf94 100644
--- a/sunnypilot/selfdrive/selfdrived/events_base.py
+++ b/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -6,6 +6,7 @@ from collections.abc import Callable
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.realtime import DT_CTRL
+from openpilot.system.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus
@@ -185,6 +186,8 @@ class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
                alert_text_1: str = "openpilot Unavailable",
                visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
+    if HARDWARE.get_device_type() == 'mici':
+      alert_text_1, alert_text_2 = alert_text_2, alert_text_1
     super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
                      AlertSize.mid, Priority.LOW, visual_alert,
                      AudibleAlert.refuse, 3.)
@@ -230,6 +233,11 @@ class NormalPermanentAlert(Alert):
 
 class StartupAlert(Alert):
   def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+    alert_size = AlertSize.mid
+    if HARDWARE.get_device_type() == 'mici':
+      if alert_text_2 == "Always keep hands on wheel and eyes on road":
+        alert_text_2 = ""
+      alert_size = AlertSize.small
     super().__init__(alert_text_1, alert_text_2,
-                     alert_status, AlertSize.mid,
+                     alert_status, alert_size,
                      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
diff --git a/selfdrive/ui/sunnypilot/quiet_mode.py b/sunnypilot/selfdrive/ui/quiet_mode.py
similarity index 99%
rename from selfdrive/ui/sunnypilot/quiet_mode.py
rename to sunnypilot/selfdrive/ui/quiet_mode.py
index 893df95033..739ea1392c 100644
--- a/selfdrive/ui/sunnypilot/quiet_mode.py
+++ b/sunnypilot/selfdrive/ui/quiet_mode.py
@@ -17,6 +17,7 @@ ALERTS_ALWAYS_PLAY = {
   AudibleAlert.promptRepeat,
 }
 
+
 class QuietMode:
   def __init__(self):
     self.params = Params()
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index eb9343af9a..bda97262cb 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -2,10 +2,10 @@ import json
 import os
 import random
 import time
-from datetime import datetime, timedelta
-from pathlib import Path
-
 import jwt
+from typing import cast
+from datetime import datetime, timedelta, UTC
+
 from openpilot.common.api.base import BaseApi
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
@@ -24,20 +24,20 @@ class SunnylinkApi(BaseApi):
     self.spinner = None
     self.params = Params()
 
-  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, json=None, **kwargs):
+  def api_get(self, endpoint, method='GET', timeout=10, access_token=None, session=None, json=None, **kwargs):
     if not self.params.get_bool("SunnylinkEnabled"):
       return None
 
-    return super().api_get(endpoint, method, timeout, access_token, json, **kwargs)
+    return super().api_get(endpoint, method, timeout, access_token, session, json, **kwargs)
 
   def resume_queued(self, timeout=10, **kwargs):
     sunnylinkId, commaId = self._resolve_dongle_ids()
     return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
 
-  def get_token(self, expiry_hours=1):
+  def get_token(self, payload_extra=None, expiry_hours=1):
     # Add your additional data here
     additional_data = {}
-    return super()._get_token(expiry_hours, **additional_data)
+    return super()._get_token(payload_extra, expiry_hours, **additional_data)
 
   def _status_update(self, message):
     print(message)
@@ -46,8 +46,8 @@ class SunnylinkApi(BaseApi):
       time.sleep(0.5)
 
   def _resolve_dongle_ids(self):
-    sunnylink_dongle_id = self.params.get("SunnylinkDongleId", encoding='utf-8')
-    comma_dongle_id = self.dongle_id or self.params.get("DongleId", encoding='utf-8')
+    sunnylink_dongle_id = self.params.get("SunnylinkDongleId")
+    comma_dongle_id = self.dongle_id or self.params.get("DongleId")
     return sunnylink_dongle_id, comma_dongle_id
 
   def _resolve_imeis(self):
@@ -63,7 +63,7 @@ class SunnylinkApi(BaseApi):
     return imei1, imei2
 
   def _resolve_serial(self):
-    return (self.params.get("HardwareSerial", encoding='utf8')
+    return (self.params.get("HardwareSerial")
             or HARDWARE.get_serial())
 
   def register_device(self, spinner=None, timeout=60, verbose=False):
@@ -81,23 +81,20 @@ class SunnylinkApi(BaseApi):
     if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
       return sunnylink_dongle_id
 
-    privkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa")
-    pubkey_path = Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
+    jwt_algo, private_key, public_key = BaseApi.get_key_pair()
 
     start_time = time.monotonic()
     successful_registration = False
-    if not pubkey_path.is_file():
+    if not public_key:
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
-      Params().put("LastSunnylinkPingTime", "0")  # Reset the last ping time to 0 if we are trying to register
-      with pubkey_path.open() as f1, privkey_path.open() as f2:
-        public_key = f1.read()
-        private_key = f2.read()
+      Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
 
       backoff = 1
       while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm='RS256')
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
         try:
           if verbose or time.monotonic() - start_time < timeout / 2:
             self._status_update("Registering device to sunnylink...")
@@ -147,8 +144,8 @@ class SunnylinkApi(BaseApi):
     self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
 
     # Set the last ping time to the current time since we were just talking to the API
-    last_ping = int(time.monotonic() * 1e9) if successful_registration else start_time
-    Params().put("LastSunnylinkPingTime", str(last_ping))
+    last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9)
+    Params().put("LastSunnylinkPingTime", last_ping)
 
     # Disable sunnylink if registration was not successful
     if not successful_registration:
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index a675820628..e8066dca49 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -1,9 +1,16 @@
 #!/usr/bin/env python3
+"""
+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.
+"""
 from __future__ import annotations
 
 import base64
+import errno
 import gzip
+import json
 import os
 import ssl
 import threading
@@ -14,14 +21,16 @@ 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.hardware.hw import Paths
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
-                       create_connection)
+                       create_connection, WebSocketConnectionClosedException)
 
 import cereal.messaging as messaging
-from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready
+from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 
 SUNNYLINK_ATHENA_HOST = os.getenv('SUNNYLINK_ATHENA_HOST', 'wss://ws.stg.api.sunnypilot.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -29,10 +38,19 @@ LOCAL_PORT_WHITELIST = {8022}
 SUNNYLINK_LOG_ATTR_NAME = "user.sunny.upload"
 SUNNYLINK_RECONNECT_TIMEOUT_S = 70  # FYI changing this will also would require a change on sidebar.cc
 DISALLOW_LOG_UPLOAD = threading.Event()
+METADATA_PATH = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "params_metadata.json")
 
 params = Params()
-sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
-sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+
+# Parameters that should never be remotely modified
+BLOCKED_PARAMS = {
+  "CompletedSunnylinkConsentVersion",
+  "CompletedTrainingVersion",
+  "GithubUsername",  # Could grant SSH access
+  "GithubSshKeys",   # Direct SSH key injection
+  "HasAcceptedTerms",
+  "HasAcceptedTermsSP",
+}
 
 
 def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
@@ -47,9 +65,9 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
-              # threading.Thread(target=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=upload_handler, args=(end_event,), name='upload_handler'),
+              threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
+              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root(), True), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)
@@ -68,7 +86,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
         end_event.set()
         comma_prime_cellular_end_event.set()
 
-      prime_type = params.get("PrimeType", encoding='utf-8') or 0
+      prime_type = params.get("PrimeType") or 0
       metered = sm['deviceState'].networkMetered
 
       if DISALLOW_LOG_UPLOAD.is_set() and not comma_prime_cellular_end_event.is_set():
@@ -103,14 +121,17 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
       elif opcode in (ABNF.OPCODE_PING, ABNF.OPCODE_PONG):
         cloudlog.debug("sunnylinkd.ws_recv.pong")
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastSunnylinkPingTime", str(last_ping))
+        Params().put("LastSunnylinkPingTime", last_ping)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > SUNNYLINK_RECONNECT_TIMEOUT_S * 1e9:
-        cloudlog.exception("sunnylinkd.ws_recv.timeout")
+        cloudlog.warning("sunnylinkd.ws_recv.timeout")
         end_event.set()
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_recv.exception")
+    except Exception as e:
+      if isinstance(e, WebSocketConnectionClosedException):
+        cloudlog.warning(f"sunnylinkd.ws_recv.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_recv.exception")
       end_event.set()
 
 
@@ -127,6 +148,8 @@ def ws_ping(ws: WebSocket, end_event: threading.Event) -> None:
 
 
 def ws_queue(end_event: threading.Event) -> None:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   resume_requested = False
   tries = 0
 
@@ -137,11 +160,15 @@ def ws_queue(end_event: threading.Event) -> None:
         sunnylink_api.resume_queued(timeout=29)
         resume_requested = True
         tries = 0
-    except Exception:
-      cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+    except Exception as e:
+      if isinstance(e, (ConnectionError, TimeoutError)):
+        cloudlog.warning(f"sunnylinkd.ws_queue.resume_queued.{type(e).__name__}")
+      else:
+        cloudlog.exception("sunnylinkd.ws_queue.resume_queued.exception")
+
       resume_requested = False
       tries += 1
-      time.sleep(backoff(tries))  # Wait for the backoff time before the next attempt
+      time.sleep(backoff(tries))
 
   if end_event.is_set():
     cloudlog.debug("end_event is set, exiting ws_queue thread")
@@ -170,17 +197,61 @@ def getParamsAllKeys() -> list[str]:
 
 
 @dispatcher.add_method
-def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
+def getParamsAllKeysV1() -> dict[str, str]:
   try:
-    params = Params()
-    params_dict: dict[str, bytes] = {key: params.get(key) or b'' for key in params_keys}
+    with open(METADATA_PATH) as f:
+      metadata = json.load(f)
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.metadata.exception")
+    metadata = {}
 
-    # Compress the values before encoding to base64 as output from params.get is bytes and same for compression
-    if compression:
-      params_dict = {key: gzip.compress(value) for key, value in params_dict.items()}
+  try:
+    available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
 
-    # Last step is to encode the values to base64 and decode to utf-8 for JSON serialization
-    return {key: base64.b64encode(value).decode('utf-8') for key, value in params_dict.items()}
+    params_dict: dict[str, list[dict[str, str | bool | int | object | dict | None]]] = {"params": []}
+    for key in available_keys:
+      value = get_param_as_byte(key, get_default=True)
+
+      param_entry = {
+        "key": key,
+        "type": int(params.get_type(key).value),
+        "default_value": base64.b64encode(value).decode('utf-8') if value else None,
+      }
+
+      if key in metadata:
+        meta_copy = metadata[key].copy()
+        param_entry["_extra"] = meta_copy
+
+      params_dict["params"].append(param_entry)
+    return {"keys": json.dumps(params_dict.get("params", []))}
+  except Exception:
+    cloudlog.exception("sunnylinkd.getParamsAllKeysV1.exception")
+    raise
+
+
+@dispatcher.add_method
+def getParams(params_keys: list[str], compression: bool = False) -> str | dict[str, str]:
+  params = Params()
+  available_keys: list[str] = [k.decode('utf-8') for k in Params().all_keys()]
+
+  try:
+    param_keys_validated = [key for key in params_keys if key in available_keys]
+    params_dict: dict[str, list[dict[str, str | bool | int]]] = {"params": []}
+    for key in param_keys_validated:
+      value = get_param_as_byte(key)
+      if value is None:
+        continue
+
+      params_dict["params"].append({
+        "key": key,
+        "value": base64.b64encode(gzip.compress(value) if compression else value).decode('utf-8'),
+        "type": int(params.get_type(key).value),
+        "is_compressed": compression
+      })
+
+    response = {str(param.get('key')): str(param.get('value')) for param in params_dict.get("params", [])}
+    response |= {"params": json.dumps(params_dict.get("params", []))} # Upcoming for settings v1
+    return response
 
   except Exception as e:
     cloudlog.exception("sunnylinkd.getParams.exception", e)
@@ -189,32 +260,31 @@ def getParams(params_keys: list[str], compression: bool = False) -> str | dict[s
 
 @dispatcher.add_method
 def saveParams(params_to_update: dict[str, str], compression: bool = False) -> None:
-  params = Params()
-  params_dict = {key: base64.b64decode(value) for key, value in params_to_update.items()}
+  for key, value in params_to_update.items():
+    # disallow modifications to blocked parameters
+    if key in BLOCKED_PARAMS:
+      cloudlog.warning(f"sunnylinkd.saveParams.blocked: Attempted to modify blocked parameter '{key}'")
+      continue
 
-  if compression:
-    params_dict = {key: gzip.decompress(value) for key, value in params_dict.items()}
-
-  for key, value in params_dict.items():
     try:
-      params.put(key, value)
+      save_param_from_base64_encoded_string(key, value, compression)
     except Exception as e:
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+
   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}
+    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):
+def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
@@ -224,8 +294,12 @@ def main(exit_event: threading.Event = None):
     cloudlog.info("Waiting for sunnylink registration to complete")
     time.sleep(10)
 
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   UploadQueueCache.initialize(upload_queue)
 
+  update_car_list_param()
+
   ws_uri = f"{SUNNYLINK_ATHENA_HOST}"
   conn_start = None
   conn_retries = 0
@@ -252,14 +326,19 @@ def main(exit_event: threading.Event = None):
       handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
-    except (ConnectionError, TimeoutError, WebSocketException):
+    except Exception as e:
       conn_retries += 1
       params.remove("LastSunnylinkPingTime")
-    except Exception:
-      cloudlog.exception("sunnylinkd.main.exception")
 
-      conn_retries += 1
-      params.remove("LastSunnylinkPingTime")
+      if isinstance(e, (ConnectionError, TimeoutError, WebSocketException)):
+        cloudlog.warning(f"sunnylinkd.main.{type(e).__name__}")
+      elif isinstance(e, OSError):
+        name = errno.errorcode.get(e.errno or -1, "UNKNOWN")
+        msg = f"sunnylinkd.main.OSError.{name} ({e.errno})"
+        is_expected_error = e.errno in (errno.ENETDOWN, errno.ENETRESET, errno.ENETUNREACH)
+        cloudlog.warning(msg) if is_expected_error else cloudlog.exception(msg)
+      else:
+        cloudlog.exception("sunnylinkd.main.exception")
 
     time.sleep(backoff(conn_retries))
 
diff --git a/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py b/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
new file mode 100644
index 0000000000..616bff037e
--- /dev/null
+++ b/sunnypilot/sunnylink/athena/tests/test_sunnylinkd.py
@@ -0,0 +1,59 @@
+"""
+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.
+"""
+from openpilot.sunnypilot.sunnylink.athena import sunnylinkd
+
+
+class TestSunnylinkdMethods:
+  def setup_method(self):
+    self.saved_params = []
+
+    self.original_save = sunnylinkd.save_param_from_base64_encoded_string
+
+    def mock_save_param(key, value, compression=False):
+      self.saved_params.append((key, value, compression))
+
+    sunnylinkd.save_param_from_base64_encoded_string = mock_save_param
+
+  def teardown_method(self):
+    sunnylinkd.save_param_from_base64_encoded_string = self.original_save
+
+  def test_saveParams_blocked(self):
+    blocked_params = {
+      "GithubUsername": "attacker",
+      "GithubSshKeys": "ssh-rsa attacker_key",
+    }
+
+    sunnylinkd.saveParams(blocked_params)
+
+    assert len(self.saved_params) == 0
+
+  def test_saveParams_allowed(self):
+    allowed_params = {
+      "SpeedLimitOffset": "5",
+      "MyCustomParam": "123"
+    }
+
+    sunnylinkd.saveParams(allowed_params)
+
+    # verify content
+    assert len(self.saved_params) == 2
+    keys_saved = [p[0] for p in self.saved_params]
+    assert "SpeedLimitOffset" in keys_saved
+    assert "MyCustomParam" in keys_saved
+
+  def test_saveParams_mixed(self):
+    mixed_params = {
+      "GithubUsername": "attacker",
+      "SpeedLimitOffset": "10"
+    }
+
+    sunnylinkd.saveParams(mixed_params)
+
+    # should save allowed one
+    assert len(self.saved_params) == 1
+    assert self.saved_params[0][0] == "SpeedLimitOffset"
+    assert self.saved_params[0][1] == "10"
diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index d6408d7ba7..44cdb3bff2 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -7,19 +7,21 @@ See the LICENSE.md file in the root directory for more details.
 
 import base64
 import json
+import requests
 import time
 from enum import Enum
 from typing import Any
 
 from openpilot.common.git import get_branch
-from openpilot.common.params import Params, ParamKeyType
+from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_version
 
 from cereal import messaging, custom
-from sunnypilot.sunnylink.api import SunnylinkApi
-from sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compress_data, SnakeCaseEncoder
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.sunnypilot.sunnylink.backups.utils import decrypt_compressed_data, encrypt_compressed_data, SnakeCaseEncoder
+from openpilot.sunnypilot.sunnylink.utils import get_param_as_byte, save_param_from_base64_encoded_string
 
 
 class OperationType(Enum):
@@ -32,7 +34,7 @@ class BackupManagerSP:
 
   def __init__(self):
     self.params = Params()
-    self.device_id = self.params.get("SunnylinkDongleId", encoding="utf8")
+    self.device_id = self.params.get("SunnylinkDongleId")
     self.api = SunnylinkApi(self.device_id)
     self.pm = messaging.PubMaster(["backupManagerSP"])
 
@@ -45,6 +47,7 @@ class BackupManagerSP:
     self.operation: OperationType | None = None
 
     self.last_error = ""
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
 
   def _report_status(self) -> None:
     """Reports current backup manager state through the messaging system."""
@@ -72,9 +75,9 @@ class BackupManagerSP:
   def _collect_config_data(self) -> dict[str, Any]:
     """Collects configuration data to be backed up."""
     config_data = {}
-    params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyType.BACKUP)]
+    params_to_backup = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
     for param in params_to_backup:
-      value = self.params.get(param)
+      value = get_param_as_byte(param)
       if value is not None:
         config_data[param] = base64.b64encode(value).decode('utf-8')
     return config_data
@@ -94,7 +97,7 @@ class BackupManagerSP:
 
       # Serialize and encrypt config data
       config_json = json.dumps(config_data)
-      encrypted_config = encrypt_compress_data(config_json, use_aes_256=True)
+      encrypted_config = encrypt_compressed_data(config_json, use_aes_256=True)
       self._update_progress(50.0, OperationType.BACKUP)
 
       backup_info = custom.BackupManagerSP.BackupInfo()
@@ -113,20 +116,24 @@ class BackupManagerSP:
       payload = json.loads(json.dumps(backup_info.to_dict(), cls=SnakeCaseEncoder))
       self._update_progress(75.0, OperationType.BACKUP)
 
+      cloudlog.debug(f"Uploading backup with payload: {json.dumps(payload)}")
       # Upload to sunnylink
       result = self.api.api_get(
         f"backup/{self.device_id}",
         method='PUT',
         access_token=self.api.get_token(),
-        json=payload
+        json=payload,
+        session=self._session
       )
 
       if result:
         self.backup_status = custom.BackupManagerSP.Status.completed
         self._update_progress(100.0, OperationType.BACKUP)
+        cloudlog.info("Backup successfully created and uploaded")
       else:
         self.backup_status = custom.BackupManagerSP.Status.failed
         self.last_error = "Failed to upload backup"
+        cloudlog.error(result)
         self._report_status()
 
       return bool(self.backup_status == custom.BackupManagerSP.Status.completed)
@@ -146,7 +153,7 @@ class BackupManagerSP:
 
       # Get backup data from API for the specified version
       endpoint = f"backup/{self.device_id}" + f"/{version or ''}" + "?api-version=1"
-      backup_data = self.api.api_get(endpoint, access_token=self.api.get_token())
+      backup_data = self.api.api_get(endpoint, access_token=self.api.get_token(), session=self._session)
       if not backup_data:
         raise Exception(f"No backup found for device {self.device_id}")
 
@@ -169,8 +176,7 @@ class BackupManagerSP:
       self._update_progress(75.0, OperationType.RESTORE)
 
       # Apply configuration
-      all_values_encoded = self._get_metadata_value(backup_metadata, "all_values_encoded", "false")
-      self._apply_config(config_data, str(all_values_encoded).lower() == "true")
+      self._apply_config(config_data)
 
       self.restore_status = custom.BackupManagerSP.Status.completed
       self._update_progress(100.0, OperationType.RESTORE)
@@ -183,27 +189,26 @@ class BackupManagerSP:
       self._report_status()
       return False
 
-  def _apply_config(self, config_data: dict[str, str], all_values_encoded: bool = False) -> None:
+  def _apply_config(self, config_data: dict[str, str]) -> None:
     """Applies configuration data from a backup, but only for parameters marked as backupable."""
-    # Get the current list of parameters that can be backed up
-    backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyType.BACKUP)]
+    backupable_params = [k.decode('utf-8') for k in self.params.all_keys(ParamKeyFlag.BACKUP)]
+    backupable_set_lower = {p.lower() for p in backupable_params}
 
-    # Count for logging/reporting
     restored_count = 0
     skipped_count = 0
 
     for param, encoded_value in config_data.items():
-      try:
-        # Only restore parameters that are currently marked as backupable
-        if param in backupable_params:
-          value = base64.b64decode(encoded_value) if all_values_encoded else encoded_value
-          self.params.put(param, value)
+      if param.lower() in backupable_set_lower:
+        # Find real param name (with correct casing)
+        real_param = next(p for p in backupable_params if p.lower() == param.lower())
+        try:
+          save_param_from_base64_encoded_string(real_param, encoded_value)
           restored_count += 1
-        else:
-          skipped_count += 1
-          cloudlog.info(f"Skipped restoring param {param}: not marked for backup in current version")
-      except Exception as e:
-        cloudlog.error(f"Failed to restore param {param}: {str(e)}")
+        except Exception as e:
+          cloudlog.error(f"Failed to restore param {param}: {str(e)}")
+      else:
+        skipped_count += 1
+        cloudlog.info(f"Skipped restoring param {param}: not marked for backup in current version")
 
     cloudlog.info(f"Restore complete: {restored_count} params restored, {skipped_count} params skipped")
 
@@ -247,13 +252,13 @@ class BackupManagerSP:
         # Check for backup command
         if self.params.get_bool("BackupManager_CreateBackup"):
           try:
-            await self.create_backup()
-            reset_progress = True
+            if await self.create_backup():
+              reset_progress = True
           finally:
             self.params.remove("BackupManager_CreateBackup")
 
         # Check for restore command
-        restore_version = self.params.get("BackupManager_RestoreVersion", encoding="utf8")
+        restore_version = self.params.get("BackupManager_RestoreVersion")
         if restore_version:
           try:
             version = int(restore_version) if restore_version.isdigit() else None
diff --git a/sunnypilot/sunnylink/backups/utils.py b/sunnypilot/sunnylink/backups/utils.py
index bcf7ea8ebb..eb59205128 100644
--- a/sunnypilot/sunnylink/backups/utils.py
+++ b/sunnypilot/sunnylink/backups/utils.py
@@ -4,9 +4,9 @@ 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.
 """
-
 import base64
 import hashlib
+import os
 import zlib
 import re
 import json
@@ -14,9 +14,10 @@ from pathlib import Path
 
 from cryptography.hazmat.backends import default_backend
 from cryptography.hazmat.primitives import serialization
-from cryptography.hazmat.primitives.asymmetric import rsa
+from cryptography.hazmat.primitives.asymmetric import rsa, ec
 
-from sunnypilot.sunnylink.backups.AESCipher import AESCipher
+from openpilot.common.api.base import KEYS
+from openpilot.sunnypilot.sunnylink.backups.AESCipher import AESCipher
 from openpilot.system.hardware.hw import Paths
 
 
@@ -27,37 +28,43 @@ class KeyDerivation:
       return f.read()
 
   @staticmethod
-  def derive_aes_key_iv_from_rsa(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
-    rsa_key_pem: bytes = KeyDerivation._load_key(key_path)
-    key_plain = rsa_key_pem.decode(errors="ignore")
+  def derive_aes_key_iv(key_path: str, use_aes_256: bool) -> tuple[bytes, bytes]:
+    key_pem: bytes = KeyDerivation._load_key(key_path)
+    key_plain = key_pem.decode(errors="ignore")
 
     if "private" in key_plain.lower():
-      private_key = serialization.load_pem_private_key(rsa_key_pem, password=None, backend=default_backend())
-      if not isinstance(private_key, rsa.RSAPrivateKey):
-        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
-
-      der_data = private_key.private_bytes(
-        encoding=serialization.Encoding.DER,
-        format=serialization.PrivateFormat.TraditionalOpenSSL,
-        encryption_algorithm=serialization.NoEncryption()
-      )
+      private_key = serialization.load_pem_private_key(key_pem, password=None, backend=default_backend())
+      if isinstance(private_key, (rsa.RSAPrivateKey, ec.EllipticCurvePrivateKey)):
+        public_key = private_key.public_key()
+      else:
+        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     elif "public" in key_plain.lower():
-      public_key = serialization.load_pem_public_key(rsa_key_pem, backend=default_backend())
-      if not isinstance(public_key, rsa.RSAPublicKey):
-        raise ValueError("Invalid RSA key format: Unable to determine if key is public or private.")
-
-      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
+      public_key = serialization.load_pem_public_key(key_pem, backend=default_backend())
+      if not isinstance(public_key, (rsa.RSAPublicKey, ec.EllipticCurvePublicKey)):
+        raise ValueError("Invalid key format: Unable to determine if key is public or private.")
     else:
-      raise ValueError("Unknown key format: Unable to determine if key is public or private.")
+      raise ValueError("Invalid key format: Unable to determine if key is public or private.")
 
-    sha256_hash = hashlib.sha256(der_data).digest()
-    aes_key = sha256_hash[:32] if use_aes_256 else sha256_hash[:16]
-    aes_iv = sha256_hash[16:32]
+    if isinstance(public_key, rsa.RSAPublicKey):
+      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.PKCS1)
+    elif isinstance(public_key, ec.EllipticCurvePublicKey):
+      der_data = public_key.public_bytes(encoding=serialization.Encoding.DER, format=serialization.PublicFormat.SubjectPublicKeyInfo)
+    else:
+      raise ValueError("Unsupported key type.")
 
-    return aes_key, aes_iv
+    if use_aes_256:
+      # AES-256-CBC
+      key = hashlib.sha256(der_data).digest()
+      iv = hashlib.md5(der_data).digest()
+    else:
+      # AES-128-CBC
+      key = hashlib.md5(der_data).digest()
+      iv = hashlib.md5(der_data).digest()  # Insecure IV reuse, kept for compatibility
+
+    return key, iv
 
 
-def qUncompress(data):
+def uncompress_dat(data):
   """
   Decompress data using zlib.
 
@@ -71,7 +78,7 @@ def qUncompress(data):
   return zlib.decompress(data_stripped_4)
 
 
-def qCompress(data):
+def compress_dat(data):
   """
   Compress data using zlib.
 
@@ -85,6 +92,19 @@ def qCompress(data):
   return b"ZLIB" + compressed_data
 
 
+def get_key_path(use_aes_256=False) -> str:
+  key_path = ""
+  for key in KEYS:
+    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+      key_path = str(Path(Paths.persist_root() + f'/comma/{key}') if use_aes_256 else Path(Paths.persist_root() + f'/comma/{key}.pub'))
+      break
+
+  if not key_path:
+    raise FileNotFoundError("No valid key pair found in persist storage.")
+
+  return key_path
+
+
 def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   """
   Decrypt and decompress data from base64 string.
@@ -96,18 +116,17 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
   Returns:
       str: Decrypted and decompressed string
   """
-  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Decode base64
     encrypted_data = base64.b64decode(encrypted_base64)
 
     # Decrypt
-    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
     cipher = AESCipher(key, iv)
     decrypted_data = cipher.decrypt(encrypted_data)
 
     # Decompress
-    decompressed_data = qUncompress(decrypted_data)
+    decompressed_data = uncompress_dat(decrypted_data)
 
     # Decode UTF-8
     result = decompressed_data.decode('utf-8')
@@ -117,7 +136,7 @@ def decrypt_compressed_data(encrypted_base64, use_aes_256=False):
     return ""
 
 
-def encrypt_compress_data(text, use_aes_256=True):
+def encrypt_compressed_data(text, use_aes_256=True):
   """
   Compress and encrypt string data to base64.
 
@@ -128,16 +147,15 @@ def encrypt_compress_data(text, use_aes_256=True):
   Returns:
       str: Base64 encoded encrypted data
   """
-  key_path = Path(f"{Paths.persist_root()}/comma/id_rsa") if use_aes_256 else Path(f"{Paths.persist_root()}/comma/id_rsa.pub")
   try:
     # Encode to UTF-8
     text_bytes = text.encode('utf-8')
 
     # Compress
-    compressed_data = qCompress(text_bytes)
+    compressed_data = compress_dat(text_bytes)
 
     # Encrypt
-    key, iv = KeyDerivation.derive_aes_key_iv_from_rsa(str(key_path), use_aes_256)
+    key, iv = KeyDerivation.derive_aes_key_iv(get_key_path(use_aes_256), use_aes_256)
     cipher = AESCipher(key, iv)
     encrypted_data = cipher.encrypt(compressed_data)
 
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
new file mode 100644
index 0000000000..4d66bf8762
--- /dev/null
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -0,0 +1,1391 @@
+{
+  "AccessToken": {
+    "title": "AccessTokenIsNice",
+    "description": ""
+  },
+  "AdbEnabled": {
+    "title": "Enable ADB",
+    "description": ""
+  },
+  "AlphaLongitudinalEnabled": {
+    "title": "Alpha Longitudinal",
+    "description": ""
+  },
+  "AlwaysOnDM": {
+    "title": "Always-on Driver Monitor",
+    "description": ""
+  },
+  "ApiCache_Device": {
+    "title": "Api Cache  Device",
+    "description": ""
+  },
+  "ApiCache_DriveStats": {
+    "title": "Api Cache  Drive Stats",
+    "description": ""
+  },
+  "ApiCache_FirehoseStats": {
+    "title": "Firehose Mode Stats",
+    "description": ""
+  },
+  "AssistNowToken": {
+    "title": "Assist Now Token",
+    "description": ""
+  },
+  "AthenadPid": {
+    "title": "Athenad Pid",
+    "description": ""
+  },
+  "AthenadRecentlyViewedRoutes": {
+    "title": "Athenad Recently Viewed Routes",
+    "description": ""
+  },
+  "AthenadUploadQueue": {
+    "title": "Athenad Upload Queue",
+    "description": ""
+  },
+  "AutoLaneChangeBsmDelay": {
+    "title": "Auto Lane Change BSM Delay",
+    "description": ""
+  },
+  "AutoLaneChangeTimer": {
+    "title": "Auto Lane Change Timer",
+    "description": "",
+    "options": [
+      {
+        "value": -1,
+        "label": "Off"
+      },
+      {
+        "value": 0,
+        "label": "Nudge"
+      },
+      {
+        "value": 1,
+        "label": "Nudgeless"
+      },
+      {
+        "value": 2,
+        "label": "0.5s"
+      },
+      {
+        "value": 3,
+        "label": "1s"
+      },
+      {
+        "value": 4,
+        "label": "2s"
+      },
+      {
+        "value": 5,
+        "label": "3s"
+      }
+    ]
+  },
+  "BackupManager_CreateBackup": {
+    "title": "Create Backup",
+    "description": ""
+  },
+  "BackupManager_RestoreVersion": {
+    "title": "Restore Version",
+    "description": ""
+  },
+  "BlindSpot": {
+    "title": "[TIZI/TICI only] Blind Spot Detection",
+    "description": "Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."
+  },
+  "BlinkerLateralReengageDelay": {
+    "title": "Post-Blinker Delay",
+    "description": "Delay before lateral control resumes after the turn signal ends."
+  },
+  "BlinkerMinLateralControlSpeed": {
+    "title": "Blinker Min Lateral Control Speed",
+    "description": ""
+  },
+  "BlinkerPauseLateralControl": {
+    "title": "Blinker Pause Lateral Control",
+    "description": ""
+  },
+  "BootCount": {
+    "title": "Boot Count",
+    "description": ""
+  },
+  "Brightness": {
+    "title": "Screen Brightness",
+    "description": ""
+  },
+  "CalibrationParams": {
+    "title": "Calibration Params",
+    "description": ""
+  },
+  "CameraDebugExpGain": {
+    "title": "Camera Debug Exp Gain",
+    "description": ""
+  },
+  "CameraDebugExpTime": {
+    "title": "Camera Debug Exp Time",
+    "description": ""
+  },
+  "CameraOffset": {
+    "title": "Adjust Camera Offset",
+    "description": "Virtually shift camera's perspective to move model's center to Left(+ values) or Right (- values)",
+    "min": -0.35,
+    "max": 0.35,
+    "step": 0.01,
+    "unit": "meters"
+  },
+  "CarBatteryCapacity": {
+    "title": "Car Battery Capacity",
+    "description": "Battery Size",
+    "unit": "kWh"
+  },
+  "CarList": {
+    "title": "Supported Car List",
+    "description": "All supported platform in sunnypilot"
+  },
+  "CarParams": {
+    "title": "Car Params",
+    "description": ""
+  },
+  "CarParamsCache": {
+    "title": "Car Params Cache",
+    "description": ""
+  },
+  "CarParamsPersistent": {
+    "title": "Car Params Persistent",
+    "description": ""
+  },
+  "CarParamsPrevRoute": {
+    "title": "Car Params Prev Route",
+    "description": ""
+  },
+  "CarParamsSP": {
+    "title": "Car Params Sp",
+    "description": ""
+  },
+  "CarParamsSPCache": {
+    "title": "Car Params Sp Cache",
+    "description": ""
+  },
+  "CarParamsSPPersistent": {
+    "title": "Car Params Sp Persistent",
+    "description": ""
+  },
+  "CarPlatformBundle": {
+    "title": "Car Platform Bundle",
+    "description": ""
+  },
+  "ChevronInfo": {
+    "title": "Chevron Info",
+    "description": ""
+  },
+  "CompletedSunnylinkConsentVersion": {
+    "title": "Completed sunnylink Consent Version",
+    "description": ""
+  },
+  "CompletedTrainingVersion": {
+    "title": "Completed Training Version",
+    "description": ""
+  },
+  "ControlsReady": {
+    "title": "Controls Ready",
+    "description": ""
+  },
+  "CurrentBootlog": {
+    "title": "Current Bootlog",
+    "description": ""
+  },
+  "CurrentRoute": {
+    "title": "Current Route",
+    "description": ""
+  },
+  "CustomAccIncrementsEnabled": {
+    "title": "Custom ACC Increments",
+    "description": ""
+  },
+  "CustomAccLongPressIncrement": {
+    "title": "Custom ACC Long Press Increment",
+    "description": "",
+    "min": 1,
+    "max": 10,
+    "step": 1
+  },
+  "CustomAccShortPressIncrement": {
+    "title": "Custom ACC Short Press Increment",
+    "description": "",
+    "min": 1,
+    "max": 10,
+    "step": 1
+  },
+  "CustomTorqueParams": {
+    "title": "Enable Custom Torque Tuning",
+    "description": "Enables custom tuning for Torque lateral control"
+  },
+  "DevUIInfo": {
+    "title": "Developer UI Info",
+    "description": ""
+  },
+  "DeviceBootMode": {
+    "title": "Device Boot Mode",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Standard"
+      },
+      {
+        "value": 1,
+        "label": "Always Offroad"
+      }
+    ]
+  },
+  "DisableLogging": {
+    "title": "Disable Logging",
+    "description": ""
+  },
+  "DisablePowerDown": {
+    "title": "Disable Power Down",
+    "description": ""
+  },
+  "DisableUpdates": {
+    "title": "Disable Updates",
+    "description": ""
+  },
+  "DisengageOnAccelerator": {
+    "title": "Disengage On Accelerator",
+    "description": ""
+  },
+  "DoReboot": {
+    "title": "Reboot",
+    "description": ""
+  },
+  "DoShutdown": {
+    "title": "Power Off",
+    "description": ""
+  },
+  "DoUninstall": {
+    "title": "Uninstall sunnypilot",
+    "description": ""
+  },
+  "DongleId": {
+    "title": "Device ID",
+    "description": ""
+  },
+  "DriverTooDistracted": {
+    "title": "Driver Too Distracted",
+    "description": ""
+  },
+  "DynamicExperimentalControl": {
+    "title": "Dynamic Experimental Control",
+    "description": ""
+  },
+  "EnableCopyparty": {
+    "title": "copyparty Service",
+    "description": ""
+  },
+  "EnableGithubRunner": {
+    "title": "GitHub Runner Service",
+    "description": ""
+  },
+  "EnableSunnylinkUploader": {
+    "title": "Enable sunnylink Uploader",
+    "description": ""
+  },
+  "EnforceTorqueControl": {
+    "title": "Enforce Torque Control",
+    "description": "Enable this to enforce sunnypilot to steer with Torque lateral control."
+  },
+  "ExperimentalMode": {
+    "title": "Experimental Mode",
+    "description": ""
+  },
+  "ExperimentalModeConfirmed": {
+    "title": "Experimental Mode Confirmed",
+    "description": ""
+  },
+  "FirmwareQueryDone": {
+    "title": "Firmware Query Done",
+    "description": ""
+  },
+  "ForcePowerDown": {
+    "title": "Force Power Down",
+    "description": ""
+  },
+  "GitBranch": {
+    "title": "Git Branch",
+    "description": ""
+  },
+  "GitCommit": {
+    "title": "Git Commit",
+    "description": ""
+  },
+  "GitCommitDate": {
+    "title": "Git Commit Date",
+    "description": ""
+  },
+  "GitDiff": {
+    "title": "Git Diff",
+    "description": ""
+  },
+  "GitRemote": {
+    "title": "Git Remote",
+    "description": ""
+  },
+  "GithubRunnerSufficientVoltage": {
+    "title": "Github Runner Sufficient Voltage",
+    "description": ""
+  },
+  "GithubSshKeys": {
+    "title": "Github Ssh Keys",
+    "description": ""
+  },
+  "GithubUsername": {
+    "title": "GitHub Username",
+    "description": ""
+  },
+  "GreenLightAlert": {
+    "title": "Green Traffic Light Alert (Beta)",
+    "description": "A chime and on-screen alert (TIZI/TICI only) will play when the traffic light you are waiting for turns green and you have no vehicle in front of you. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
+  },
+  "GsmApn": {
+    "title": "GSM APN",
+    "description": ""
+  },
+  "GsmMetered": {
+    "title": "Gsm Metered",
+    "description": ""
+  },
+  "GsmRoaming": {
+    "title": "GSM Roaming",
+    "description": ""
+  },
+  "HardwareSerial": {
+    "title": "Serial Number",
+    "description": ""
+  },
+  "HasAcceptedTerms": {
+    "title": "Has Accepted Terms",
+    "description": ""
+  },
+  "HasAcceptedTermsSP": {
+    "title": "Has Accepted sunnypilot Terms",
+    "description": ""
+  },
+  "HideVEgoUI": {
+    "title": "[TIZI/TICI only] Speedometer: Hide from Onroad Screen",
+    "description": "When enabled, the speedometer on the onroad screen is not displayed."
+  },
+  "HyundaiLongitudinalTuning": {
+    "title": "Hyundai Longitudinal Tuning",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Dynamic"
+      },
+      {
+        "value": 2,
+        "label": "Predictive"
+      }
+    ]
+  },
+  "InstallDate": {
+    "title": "Install Date",
+    "description": ""
+  },
+  "IntelligentCruiseButtonManagement": {
+    "title": "Intelligent Cruise Button Management",
+    "description": ""
+  },
+  "InteractivityTimeout": {
+    "title": "Interactivity Timeout",
+    "description": "Apply a custom timeout for settings UI. This is the time after which settings UI closes automatically if user is not interacting with the screen.",
+    "options": [
+      {
+        "value": 0,
+        "label": "Default"
+      },
+      {
+        "value": 10,
+        "label": "10 s"
+      },
+      {
+        "value": 20,
+        "label": "20 s"
+      },
+      {
+        "value": 30,
+        "label": "30 s"
+      },
+      {
+        "value": 40,
+        "label": "40 s"
+      },
+      {
+        "value": 50,
+        "label": "50 s"
+      },
+      {
+        "value": 60,
+        "label": "1 m"
+      },
+      {
+        "value": 70,
+        "label": "1 m"
+      },
+      {
+        "value": 80,
+        "label": "1 m"
+      },
+      {
+        "value": 90,
+        "label": "1 m"
+      },
+      {
+        "value": 100,
+        "label": "1 m"
+      },
+      {
+        "value": 110,
+        "label": "1 m"
+      },
+      {
+        "value": 120,
+        "label": "2 m"
+      }
+    ]
+  },
+  "IsDevelopmentBranch": {
+    "title": "Is Development Branch",
+    "description": ""
+  },
+  "IsDriverViewEnabled": {
+    "title": "Is Driver View Enabled",
+    "description": ""
+  },
+  "IsEngaged": {
+    "title": "Is Engaged",
+    "description": ""
+  },
+  "IsLdwEnabled": {
+    "title": "Lane Departure Warnings",
+    "description": ""
+  },
+  "IsMetric": {
+    "title": "Use Metric Units",
+    "description": ""
+  },
+  "IsOffroad": {
+    "title": "Is Offroad",
+    "description": ""
+  },
+  "IsOnroad": {
+    "title": "Is Onroad",
+    "description": ""
+  },
+  "IsReleaseBranch": {
+    "title": "Is Release Branch",
+    "description": ""
+  },
+  "IsReleaseSpBranch": {
+    "title": "Is Release Sp Branch",
+    "description": ""
+  },
+  "IsRhdDetected": {
+    "title": "Is Rhd Detected",
+    "description": ""
+  },
+  "IsTakingSnapshot": {
+    "title": "Is Taking Snapshot",
+    "description": ""
+  },
+  "IsTestedBranch": {
+    "title": "Is Tested Branch",
+    "description": ""
+  },
+  "JoystickDebugMode": {
+    "title": "Joystick Debug Mode",
+    "description": ""
+  },
+  "LagdToggle": {
+    "title": "Live Learning Steer Delay",
+    "description": "Allow device to learn and adapt car's steering response time"
+  },
+  "LagdToggleDelay": {
+    "title": "Manual Software Delay",
+    "description": "Software delay to use when Live Learning Steer Delay is toggled off",
+    "min": 0.05,
+    "max": 0.5,
+    "step": 0.01
+  },
+  "LagdValueCache": {
+    "title": "LaGD Value Cache",
+    "description": ""
+  },
+  "LaneTurnDesire": {
+    "title": "Lane Turn Desire",
+    "description": "Force model to plan an intent to turn based on blinker"
+  },
+  "LaneTurnValue": {
+    "title": "Lane Turn Speed",
+    "description": "Maximum speed for lane turn desire",
+    "min": 0,
+    "max": 20,
+    "step": 1
+  },
+  "LanguageSetting": {
+    "title": "Language",
+    "description": ""
+  },
+  "LastAgnosPowerMonitorShutdown": {
+    "title": "Last AGNOS Power Monitor Shutdown",
+    "description": ""
+  },
+  "LastAthenaPingTime": {
+    "title": "Last Athena Ping Time",
+    "description": ""
+  },
+  "LastGPSPosition": {
+    "title": "Last Gps Position",
+    "description": ""
+  },
+  "LastGPSPositionLLK": {
+    "title": "Last GPS Position LLK",
+    "description": ""
+  },
+  "LastManagerExitReason": {
+    "title": "Last Manager Exit Reason",
+    "description": ""
+  },
+  "LastOffroadStatusPacket": {
+    "title": "Last Offroad Status Packet",
+    "description": ""
+  },
+  "LastPowerDropDetected": {
+    "title": "Last Power Drop Detected",
+    "description": ""
+  },
+  "LastSunnylinkPingTime": {
+    "title": "Last sunnylink Ping Time",
+    "description": ""
+  },
+  "LastUpdateException": {
+    "title": "Last Update Exception",
+    "description": ""
+  },
+  "LastUpdateRouteCount": {
+    "title": "Last Update Route Count",
+    "description": ""
+  },
+  "LastUpdateTime": {
+    "title": "Last Update Time",
+    "description": ""
+  },
+  "LastUpdateUptimeOnroad": {
+    "title": "Last Update Uptime Onroad",
+    "description": ""
+  },
+  "LeadDepartAlert": {
+    "title": "Lead Departure Alert (Beta)",
+    "description": "A chime and on-screen alert (TIZI/TICI only) will play when you are stopped, and the vehicle in front of you start moving. <br>Note: This chime is only designed as a notification. It is the driver's responsibility to observe their environment and make decisions accordingly."
+  },
+  "LiveDelay": {
+    "title": "Live Delay",
+    "description": ""
+  },
+  "LiveParameters": {
+    "title": "Live Parameters",
+    "description": ""
+  },
+  "LiveParametersV2": {
+    "title": "Live Parameters V2",
+    "description": ""
+  },
+  "LiveTorqueParameters": {
+    "title": "Live Torque Parameters",
+    "description": ""
+  },
+  "LiveTorqueParamsRelaxedToggle": {
+    "title": "Less Restrict Settings for Self-Tune (Beta)",
+    "description": "Less strict settings when using Self-Tune. This allows torqued to be more forgiving when learning values."
+  },
+  "LiveTorqueParamsToggle": {
+    "title": "Self-Tune",
+    "description": "Enables self-tune for Torque lateral control"
+  },
+  "LocationFilterInitialState": {
+    "title": "Location Filter Initial State",
+    "description": ""
+  },
+  "LongitudinalManeuverMode": {
+    "title": "Longitudinal Maneuver Mode",
+    "description": ""
+  },
+  "LongitudinalPersonality": {
+    "title": "Driving Personality",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Aggressive"
+      },
+      {
+        "value": 1,
+        "label": "Standard"
+      },
+      {
+        "value": 2,
+        "label": "Relaxed"
+      }
+    ]
+  },
+  "Mads": {
+    "title": "MADS Enabled",
+    "description": ""
+  },
+  "MadsMainCruiseAllowed": {
+    "title": "MADS Main Cruise Allowed",
+    "description": ""
+  },
+  "MadsSteeringMode": {
+    "title": "MADS Steering Mode",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Remain Active"
+      },
+      {
+        "value": 1,
+        "label": "Pause"
+      },
+      {
+        "value": 2,
+        "label": "Disengage"
+      }
+    ]
+  },
+  "MadsUnifiedEngagementMode": {
+    "title": "MADS Unified Engagement Mode",
+    "description": ""
+  },
+  "MapAdvisorySpeedLimit": {
+    "title": "Map Advisory Speed Limit",
+    "description": ""
+  },
+  "MapSpeedLimit": {
+    "title": "Map Speed Limit",
+    "description": ""
+  },
+  "MapTargetVelocities": {
+    "title": "Map Target Velocities",
+    "description": ""
+  },
+  "MapdVersion": {
+    "title": "Mapd Version",
+    "description": ""
+  },
+  "MaxTimeOffroad": {
+    "title": "Max Time Offroad",
+    "description": "",
+    "unit": "minutes"
+  },
+  "ModelManager_ActiveBundle": {
+    "title": "Model Manager Active Bundle",
+    "description": ""
+  },
+  "ModelManager_ClearCache": {
+    "title": "Model Manager Clear Cache",
+    "description": ""
+  },
+  "ModelManager_DownloadIndex": {
+    "title": "Model Manager Download Index",
+    "description": ""
+  },
+  "ModelManager_Favs": {
+    "title": "Model Manager Favorites",
+    "description": ""
+  },
+  "ModelManager_LastSyncTime": {
+    "title": "Model Manager Last Sync Time",
+    "description": ""
+  },
+  "ModelManager_ModelsCache": {
+    "title": "Model Manager Models Cache",
+    "description": ""
+  },
+  "ModelRunnerTypeCache": {
+    "title": "Model Runner Type Cache",
+    "description": ""
+  },
+  "NetworkMetered": {
+    "title": "Network Usage",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Default"
+      },
+      {
+        "value": 1,
+        "label": "Metered"
+      },
+      {
+        "value": 2,
+        "label": "Unmetered"
+      }
+    ]
+  },
+  "NeuralNetworkLateralControl": {
+    "title": "Neural Network Lateral Control",
+    "description": ""
+  },
+  "NextMapSpeedLimit": {
+    "title": "Next Map Speed Limit",
+    "description": ""
+  },
+  "OSMDownloadBounds": {
+    "title": "OSM Download Bounds",
+    "description": ""
+  },
+  "OSMDownloadLocations": {
+    "title": "OSM Download Locations",
+    "description": ""
+  },
+  "OSMDownloadProgress": {
+    "title": "OSM Download Progress",
+    "description": ""
+  },
+  "ObdMultiplexingChanged": {
+    "title": "Obd Multiplexing Changed",
+    "description": ""
+  },
+  "ObdMultiplexingEnabled": {
+    "title": "Obd Multiplexing Enabled",
+    "description": ""
+  },
+  "OffroadMode": {
+    "title": "Force Offroad Mode",
+    "description": ""
+  },
+  "Offroad_CarUnrecognized": {
+    "title": "Offroad Car Unrecognized",
+    "description": ""
+  },
+  "Offroad_ConnectivityNeeded": {
+    "title": "Offroad Connectivity Needed",
+    "description": ""
+  },
+  "Offroad_ConnectivityNeededPrompt": {
+    "title": "Offroad Connectivity Needed Prompt",
+    "description": ""
+  },
+  "Offroad_DriverMonitoringUncertain": {
+    "title": "Offroad Driver Monitoring Uncertain",
+    "description": ""
+  },
+  "Offroad_ExcessiveActuation": {
+    "title": "Offroad Excessive Actuation",
+    "description": ""
+  },
+  "Offroad_IsTakingSnapshot": {
+    "title": "Offroad Is Taking Snapshot",
+    "description": ""
+  },
+  "Offroad_NeosUpdate": {
+    "title": "Offroad Neos Update",
+    "description": ""
+  },
+  "Offroad_NoFirmware": {
+    "title": "Offroad No Firmware",
+    "description": ""
+  },
+  "Offroad_OSMUpdateRequired": {
+    "title": "Offroad OSM Update Required",
+    "description": ""
+  },
+  "Offroad_Recalibration": {
+    "title": "Offroad Recalibration",
+    "description": ""
+  },
+  "Offroad_TemperatureTooHigh": {
+    "title": "Offroad Temperature Too High",
+    "description": ""
+  },
+  "Offroad_TiciSupport": {
+    "title": "Offroad Tici Support",
+    "description": ""
+  },
+  "Offroad_UnregisteredHardware": {
+    "title": "Offroad Unregistered Hardware",
+    "description": ""
+  },
+  "Offroad_UpdateFailed": {
+    "title": "Offroad Update Failed",
+    "description": ""
+  },
+  "OnroadCycleRequested": {
+    "title": "Onroad Cycle Requested",
+    "description": ""
+  },
+  "OnroadScreenOffBrightness": {
+    "title": "Onroad Brightness",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Auto (Default)"
+      },
+      {
+        "value": 1,
+        "label": "Auto (Dark)"
+      },
+      {
+        "value": 2,
+        "label": "Screen Off"
+      },
+      {
+        "value": 3,
+        "label": "5 %"
+      },
+      {
+        "value": 4,
+        "label": "10 %"
+      },
+      {
+        "value": 5,
+        "label": "15 %"
+      },
+      {
+        "value": 6,
+        "label": "20 %"
+      },
+      {
+        "value": 7,
+        "label": "25 %"
+      },
+      {
+        "value": 8,
+        "label": "30 %"
+      },
+      {
+        "value": 9,
+        "label": "35 %"
+      },
+      {
+        "value": 10,
+        "label": "40 %"
+      },
+      {
+        "value": 11,
+        "label": "45 %"
+      },
+      {
+        "value": 12,
+        "label": "50 %"
+      },
+      {
+        "value": 13,
+        "label": "55 %"
+      },
+      {
+        "value": 14,
+        "label": "60 %"
+      },
+      {
+        "value": 15,
+        "label": "65 %"
+      },
+      {
+        "value": 16,
+        "label": "70 %"
+      },
+      {
+        "value": 17,
+        "label": "75 %"
+      },
+      {
+        "value": 18,
+        "label": "80 %"
+      },
+      {
+        "value": 19,
+        "label": "85 %"
+      },
+      {
+        "value": 20,
+        "label": "90 %"
+      },
+      {
+        "value": 21,
+        "label": "95 %"
+      },
+      {
+        "value": 22,
+        "label": "100 %"
+      }
+    ]
+  },
+  "OnroadScreenOffBrightnessMigrated": {
+    "title": "Onroad Brightness Migration Version",
+    "description": "This param is to track whether OnroadScreenOffBrightness needs to be migrated."
+  },
+  "OnroadScreenOffControl": {
+    "title": "Onroad Brightness",
+    "description": "Adjusts the screen brightness while it's in onroad state."
+  },
+  "OnroadScreenOffTimer": {
+    "title": "Onroad Brightness Delay",
+    "description": "",
+    "options": [
+      {
+        "value": 3,
+        "label": "3s"
+      },
+      {
+        "value": 5,
+        "label": "5s"
+      },
+      {
+        "value": 7,
+        "label": "7s"
+      },
+      {
+        "value": 10,
+        "label": "10s"
+      },
+      {
+        "value": 15,
+        "label": "15s"
+      },
+      {
+        "value": 30,
+        "label": "30s"
+      },
+      {
+        "value": 60,
+        "label": "1m"
+      },
+      {
+        "value": 120,
+        "label": "2m"
+      },
+      {
+        "value": 180,
+        "label": "3m"
+      },
+      {
+        "value": 240,
+        "label": "4m"
+      },
+      {
+        "value": 300,
+        "label": "5m"
+      },
+      {
+        "value": 360,
+        "label": "6m"
+      },
+      {
+        "value": 420,
+        "label": "7m"
+      },
+      {
+        "value": 480,
+        "label": "8m"
+      },
+      {
+        "value": 540,
+        "label": "9m"
+      },
+      {
+        "value": 600,
+        "label": "10m"
+      }
+    ]
+  },
+  "OnroadScreenOffTimerMigrated": {
+    "title": "Onroad Brightness Delay Migration Version",
+    "description": "This param is to track whether OnroadScreenOffTimer needs to be migrated."
+  },
+  "OnroadUploads": {
+    "title": "Onroad Uploads",
+    "description": ""
+  },
+  "OpenpilotEnabledToggle": {
+    "title": "Enable sunnypilot",
+    "description": ""
+  },
+  "OsmDbUpdatesCheck": {
+    "title": "OSM DB Updates Check",
+    "description": ""
+  },
+  "OsmDownloadedDate": {
+    "title": "OSM Downloaded Date",
+    "description": ""
+  },
+  "OsmLocal": {
+    "title": "OSM Local",
+    "description": ""
+  },
+  "OsmLocationName": {
+    "title": "OSM Location Name",
+    "description": ""
+  },
+  "OsmLocationTitle": {
+    "title": "OSM Location Title",
+    "description": ""
+  },
+  "OsmLocationUrl": {
+    "title": "OSM Location URL",
+    "description": ""
+  },
+  "OsmStateName": {
+    "title": "OSM State Name",
+    "description": ""
+  },
+  "OsmStateTitle": {
+    "title": "OSM State Title",
+    "description": ""
+  },
+  "OsmWayTest": {
+    "title": "OSM Way Test",
+    "description": ""
+  },
+  "PandaHeartbeatLost": {
+    "title": "Panda Heartbeat Lost",
+    "description": ""
+  },
+  "PandaSignatures": {
+    "title": "Panda Signatures",
+    "description": ""
+  },
+  "PandaSomResetTriggered": {
+    "title": "Panda Som Reset Triggered",
+    "description": ""
+  },
+  "PlanplusControl": {
+    "title": "Plan Plus Controls",
+    "description": "Adjust planplus model recentering strength. The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong",
+    "min": 0.0,
+    "max": 2.0,
+    "step": 0.1
+  },
+  "PrimeType": {
+    "title": "Prime Type",
+    "description": ""
+  },
+  "QuickBootToggle": {
+    "title": "Quick Boot",
+    "description": ""
+  },
+  "QuietMode": {
+    "title": "Quiet Mode",
+    "description": ""
+  },
+  "RainbowMode": {
+    "title": "Rainbow Mode",
+    "description": ""
+  },
+  "RecordAudio": {
+    "title": "Record & Upload Mic Audio",
+    "description": ""
+  },
+  "RecordAudioFeedback": {
+    "title": "Record Audio Feedback",
+    "description": ""
+  },
+  "RecordFront": {
+    "title": "Record & Upload Driver Camera",
+    "description": ""
+  },
+  "RecordFrontLock": {
+    "title": "Record Front Lock",
+    "description": ""
+  },
+  "RoadName": {
+    "title": "Road Name",
+    "description": ""
+  },
+  "RoadNameToggle": {
+    "title": "[TIZI/TICI only] Display Road Name",
+    "description": "Displays the name of the road the car is traveling on. <br>The OpenStreetMap database of the location must be downloaded to fetch the road name."
+  },
+  "RocketFuel": {
+    "title": "[TIZI/TICI only] Real-time Acceleration Bar",
+    "description": "Show an indicator on the left side of the screen to display real-time vehicle acceleration and deceleration. This displays what the car is currently doing, not what the planner is requesting."
+  },
+  "RouteCount": {
+    "title": "Route Count",
+    "description": ""
+  },
+  "SecOCKey": {
+    "title": "Sec Oc Key",
+    "description": ""
+  },
+  "ShowAdvancedControls": {
+    "title": "Show Advanced Controls",
+    "description": "Enable to show advanced controls on device"
+  },
+  "ShowDebugInfo": {
+    "title": "UI Debug Mode",
+    "description": ""
+  },
+  "ShowTurnSignals": {
+    "title": "[TIZI/TICI only] Display Turn Signals",
+    "description": "When enabled, visual turn indicators are drawn on the HUD."
+  },
+  "SmartCruiseControlMap": {
+    "title": "Smart Cruise Control - Map",
+    "description": ""
+  },
+  "SmartCruiseControlVision": {
+    "title": "Smart Cruise Control - Vision",
+    "description": ""
+  },
+  "SnoozeUpdate": {
+    "title": "Snooze Update",
+    "description": ""
+  },
+  "SpeedLimitMode": {
+    "title": "Speed Limit Assist Mode",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Information"
+      },
+      {
+        "value": 2,
+        "label": "Warning"
+      },
+      {
+        "value": 3,
+        "label": "Assist"
+      }
+    ]
+  },
+  "SpeedLimitOffsetType": {
+    "title": "Speed Limit Offset Type",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Off"
+      },
+      {
+        "value": 1,
+        "label": "Fixed"
+      },
+      {
+        "value": 2,
+        "label": "Percentage"
+      }
+    ]
+  },
+  "SpeedLimitPolicy": {
+    "title": "Speed Limit Source",
+    "description": "",
+    "options": [
+      {
+        "value": 0,
+        "label": "Car State Only"
+      },
+      {
+        "value": 1,
+        "label": "Map Data Only"
+      },
+      {
+        "value": 2,
+        "label": "Car State Priority"
+      },
+      {
+        "value": 3,
+        "label": "Map Data Priority"
+      },
+      {
+        "value": 4,
+        "label": "Combined"
+      }
+    ]
+  },
+  "SpeedLimitValueOffset": {
+    "title": "Speed Limit Offset Value",
+    "description": "",
+    "min": -30,
+    "max": 30,
+    "step": 1
+  },
+  "SshEnabled": {
+    "title": "Enable SSH",
+    "description": ""
+  },
+  "StandstillTimer": {
+    "title": "[TIZI/TICI only] Standstill Timer",
+    "description": "Show a timer on the HUD when the car is at a standstill."
+  },
+  "SubaruStopAndGo": {
+    "title": "Subaru Stop and Go",
+    "description": ""
+  },
+  "SubaruStopAndGoManualParkingBrake": {
+    "title": "Subaru Stop and Go Manual Parking Brake",
+    "description": ""
+  },
+  "SunnylinkCache_Roles": {
+    "title": "sunnylink Cache  Roles",
+    "description": ""
+  },
+  "SunnylinkCache_Users": {
+    "title": "sunnylink Cache  Users",
+    "description": ""
+  },
+  "SunnylinkDongleId": {
+    "title": "sunnylink Dongle ID",
+    "description": ""
+  },
+  "SunnylinkEnabled": {
+    "title": "sunnylink Enabled",
+    "description": ""
+  },
+  "SunnylinkTempFault": {
+    "title": "sunnylink Temp Fault",
+    "description": ""
+  },
+  "SunnylinkdPid": {
+    "title": "Sunnylinkd Pid",
+    "description": ""
+  },
+  "TermsVersion": {
+    "title": "Terms Version",
+    "description": ""
+  },
+  "TeslaCoopSteering": {
+    "title": "Tesla Coop Steering",
+    "description": ""
+  },
+  "TorqueBar": {
+    "title": "[TIZI/TICI only] Steering Arc",
+    "description": "Display steering arc on the driving screen when lateral control is enabled."
+  },
+  "TorqueControlTune": {
+    "title": "Torque Control Tune Version",
+    "description": "Select the version of Torque Control Tune to use.",
+    "options": [
+      {
+        "value": "",
+        "label": "Default"
+      },
+      {
+        "value": 1.0,
+        "label": "v1.0"
+      },
+      {
+        "value": 0.0,
+        "label": "v0.0"
+      }
+    ]
+  },
+  "TorqueParamsOverrideEnabled": {
+    "title": "Manual Real-Time Tuning",
+    "description": ""
+  },
+  "TorqueParamsOverrideFriction": {
+    "title": "Manual Tune - Friction",
+    "description": "",
+    "min": 0.0,
+    "max": 1.0,
+    "step": 0.01
+  },
+  "TorqueParamsOverrideLatAccelFactor": {
+    "title": "Manual Tune - Lateral Acceleration Factor",
+    "description": "",
+    "min": 0.1,
+    "max": 5.0,
+    "step": 0.1,
+    "unit": "m/s\u00b2"
+  },
+  "ToyotaEnforceStockLongitudinal": {
+    "title": "Toyota: Enforce Factory Longitudinal Control",
+    "description": "When enabled, sunnypilot will not take over control of gas and brakes. Factory Toyota longitudinal control will be used."
+  },
+  "ToyotaStopAndGoHack": {
+    "title": "Toyota: Stop and Go Hack (Alpha)",
+    "description": "sunnypilot will allow some Toyota/Lexus cars to auto resume during stop and go traffic. This feature is only applicable to certain models that are able to use longitudinal control. This is an alpha feature. Use at your own risk."
+  },
+  "TrainingVersion": {
+    "title": "Training Version",
+    "description": ""
+  },
+  "TrueVEgoUI": {
+    "title": "[TIZI/TICI only] Speedometer: Always Display True Speed",
+    "description": "For applicable vehicles, always display the true vehicle current speed from wheel speed sensors."
+  },
+  "UbloxAvailable": {
+    "title": "Ublox Available",
+    "description": ""
+  },
+  "UpdateAvailable": {
+    "title": "Update Available",
+    "description": ""
+  },
+  "UpdateFailedCount": {
+    "title": "Update Failed Count",
+    "description": ""
+  },
+  "UpdaterAvailableBranches": {
+    "title": "Updater Available Branches",
+    "description": ""
+  },
+  "UpdaterCurrentDescription": {
+    "title": "Updater Current Description",
+    "description": ""
+  },
+  "UpdaterCurrentReleaseNotes": {
+    "title": "Updater Current Release Notes",
+    "description": ""
+  },
+  "UpdaterFetchAvailable": {
+    "title": "Updater Fetch Available",
+    "description": ""
+  },
+  "UpdaterLastFetchTime": {
+    "title": "Updater Last Fetch Time",
+    "description": ""
+  },
+  "UpdaterNewDescription": {
+    "title": "Updater New Description",
+    "description": ""
+  },
+  "UpdaterNewReleaseNotes": {
+    "title": "Updater New Release Notes",
+    "description": ""
+  },
+  "UpdaterState": {
+    "title": "Updater State",
+    "description": ""
+  },
+  "UpdaterTargetBranch": {
+    "title": "Updater Target Branch",
+    "description": ""
+  },
+  "UptimeOffroad": {
+    "title": "Uptime Offroad",
+    "description": ""
+  },
+  "UptimeOnroad": {
+    "title": "Uptime Onroad",
+    "description": ""
+  },
+  "Version": {
+    "title": "openpilot Version",
+    "description": ""
+  }
+}
diff --git a/sunnypilot/sunnylink/registration_manager.py b/sunnypilot/sunnylink/registration_manager.py
index 34323c2789..1b822e5c2d 100755
--- a/sunnypilot/sunnylink/registration_manager.py
+++ b/sunnypilot/sunnylink/registration_manager.py
@@ -1,28 +1,34 @@
 #!/usr/bin/env python3
 import time
 
+from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.swaglog import cloudlog
 
 from cereal import log, messaging
-from sunnypilot.sunnylink.utils import register_sunnylink
+from openpilot.sunnypilot.sunnylink.utils import register_sunnylink
 
 NetworkType = log.DeviceState.NetworkType
 
 
 def main():
   """The main method is expected to be called by the manager when the device boots up."""
-  rk = Ratekeeper(.5)
-  sm = messaging.SubMaster(['deviceState'], poll='deviceState')
-  while True:
-    sm.update(1000)
-    if sm['deviceState'].networkType != NetworkType.none:
-      break
+  try:
+    rk = Ratekeeper(.5)
+    sm = messaging.SubMaster(['deviceState'], poll='deviceState')
+    while True:
+      sm.update(1000)
+      if sm['deviceState'].networkType != NetworkType.none:
+        break
 
-    cloudlog.info(f"Waiting to become online... {time.monotonic()}")
-    rk.keep_time()
+      cloudlog.info(f"Waiting to become online... {time.monotonic()}")
+      rk.keep_time()
 
-  register_sunnylink()
+    register_sunnylink()
+  except Exception:
+    cloudlog.exception("Sunnylink registration failed")
+    Params().put_bool("SunnylinkTempFault", True)
+    raise
 
 
 if __name__ == "__main__":
diff --git a/sunnypilot/sunnylink/statsd.py b/sunnypilot/sunnylink/statsd.py
new file mode 100755
index 0000000000..233b531e85
--- /dev/null
+++ b/sunnypilot/sunnylink/statsd.py
@@ -0,0 +1,278 @@
+#!/usr/bin/env python3
+import base64
+import json
+import os
+import threading
+import traceback
+
+import zmq
+import time
+import uuid
+from pathlib import Path
+from collections import defaultdict
+from datetime import datetime, UTC
+
+from openpilot.common.params import Params
+from cereal.messaging import SubMaster
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.utils import atomic_write
+from openpilot.system.version import get_build_metadata
+from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.common.realtime import Ratekeeper
+
+STATSLOGSP = StatLogSP(intercept=False)
+
+def sp_stats(end_event):
+  """Collect sunnypilot-specific statistics and send as raw metrics."""
+  rk = Ratekeeper(.1, print_delay_threshold=None)
+  statlogsp = STATSLOGSP
+  params = Params()
+
+  def flatten_dict(d, parent_key='', sep='.'):
+    items = {}
+    if isinstance(d, dict):
+      for k, v in d.items():
+        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+        items.update(flatten_dict(v, new_key, sep=sep))
+    elif isinstance(d, (list, tuple)):
+      for i, v in enumerate(d):
+        new_key = f"{parent_key}[{i}]"
+        items.update(flatten_dict(v, new_key, sep=sep))
+    else:
+      items[parent_key] = d
+    return items
+
+  # Collect sunnypilot parameters
+  stats_dict = {}
+
+  param_keys = [
+    'SunnylinkEnabled',
+    'AutoLaneChangeBsmDelay',
+    'AutoLaneChangeTimer',
+    'CarPlatformBundle',
+    'CurrentRoute',
+    'DevUIInfo',
+    'EnableCopyparty',
+    'IntelligentCruiseButtonManagement',
+    'QuietMode',
+    'RainbowMode',
+    'ShowAdvancedControls',
+    'Mads',
+    'MadsMainCruiseAllowed',
+    'MadsSteeringMode',
+    'MadsUnifiedEngagementMode',
+    'ModelManager_ActiveBundle',
+    'ModelManager_Favs',
+    'EnableSunnylinkUploader',
+    'SunnylinkEnabled',
+    'InstallDate',
+    'UptimeOffroad',
+    'UptimeOnroad',
+  ]
+
+  while not end_event.is_set():
+    try:
+      for key in param_keys:
+
+        try:
+          value = params.get(key)
+        except Exception as e:
+          stats_dict[key] = e
+          continue
+
+        if value is None:
+          continue
+
+        if isinstance(value, (dict, list, tuple)):
+          stats_dict.update(flatten_dict(value, key))
+        else:
+          stats_dict[key] = value
+
+      if stats_dict:
+        statlogsp.raw('sunnypilot.device_params', stats_dict)
+    except Exception as e:
+      cloudlog.error(f"Exception {e}")
+    finally:
+      rk.keep_time()
+
+
+def stats_main(end_event):
+  comma_dongle_id = Params().get("DongleId")
+  sunnylink_dongle_id = Params().get("SunnylinkDongleId")
+
+  def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "
+
+    if isinstance(value, float):
+      value = {'value': value}
+
+    for k, v in value.items():
+      res += f"{k}={str(v)},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  def get_influxdb_line_raw(measurement: str, value: dict, timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    try:
+      custom_tags = ""
+      for k, v in tags.items():
+        custom_tags += f",{k}={str(v)}"
+      res += custom_tags
+
+      fields = ""
+      for k, v in value.items():
+        # Skip complex types - only keep simple scalar values
+        if isinstance(v, (dict, list, bytes, bytearray)):
+          continue
+
+        fields += f"{k}={json.dumps(v)},"
+
+      res += f" {fields}"
+    except Exception as e:
+      cloudlog.error(f"Unable to get influxdb line for: {value}")
+      res += f",invalid=1 reason={e},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  # open statistics socket
+  ctx = zmq.Context.instance()
+  sock = ctx.socket(zmq.PULL)
+  sock.bind(f"{STATS_SOCKET}_sp")
+
+  STATS_DIR = Paths.stats_sp_root()
+
+  # initialize stats directory
+  Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
+
+  build_metadata = get_build_metadata()
+
+  # initialize tags
+  tags = {
+    'started': False,
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
+    'deviceType': HARDWARE.get_device_type(),
+  }
+
+  # subscribe to deviceState for started state
+  sm = SubMaster(['deviceState'])
+
+  idx = 0
+  boot_uid = str(uuid.uuid4())[:8]
+  last_flush_time = time.monotonic()
+  gauges = {}
+  samples: dict[str, list[float]] = defaultdict(list)
+  raws: dict = defaultdict()
+  try:
+    while not end_event.is_set():
+      started_prev = sm['deviceState'].started
+      sm.update()
+
+      # Update metrics
+      while True:
+        try:
+          metric = sock.recv_string(zmq.NOBLOCK)
+          try:
+            metric_type = metric.split('|')[1]
+            metric_name = metric.split(':')[0]
+            metric_value_raw = metric.split('|')[0].split(':')[1]
+
+            if metric_type == METRIC_TYPE.GAUGE:
+              metric_value = float(metric_value_raw)
+              gauges[metric_name] = metric_value
+            elif metric_type == METRIC_TYPE.SAMPLE:
+              metric_value = float(metric_value_raw)
+              samples[metric_name].append(metric_value)
+            elif metric_type == METRIC_TYPE.RAW:
+              raws[metric_name] = metric_value_raw
+            else:
+              cloudlog.event("unknown metric type", metric_type=metric_type)
+          except Exception:
+            print(traceback.format_exc())
+            cloudlog.event("malformed metric", metric=metric)
+        except zmq.error.Again:
+          break
+
+      # flush when started state changes or after FLUSH_TIME_S
+      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
+        result = ""
+        current_time = datetime.now(UTC)
+        tags['started'] = sm['deviceState'].started
+
+        for key, value in raws.items():
+          decoded_value = json.loads(base64.b64decode(value).decode('utf-8'))
+          result += get_influxdb_line_raw(key, decoded_value, current_time, tags)
+
+        for key, value in gauges.items():
+          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
+
+        for key, values in samples.items():
+          values.sort()
+          sample_count = len(values)
+          sample_sum = sum(values)
+
+          stats = {
+            'count': sample_count,
+            'min': values[0],
+            'max': values[-1],
+            'mean': sample_sum / sample_count,
+          }
+          for percentile in [0.05, 0.5, 0.95]:
+            value = values[int(round(percentile * (sample_count - 1)))]
+            stats[f"p{int(percentile * 100)}"] = value
+
+          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
+
+        # clear intermediate data
+        gauges.clear()
+        samples.clear()
+        last_flush_time = time.monotonic()
+
+        # check that we aren't filling up the drive
+        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
+          if len(result) > 0:
+            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
+            with atomic_write(stats_path) as f:
+              f.write(result)
+            idx += 1
+        else:
+          cloudlog.error("stats dir full")
+  finally:
+    sock.close()
+    ctx.term()
+
+
+def main():
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  end_event = threading.Event()
+
+  threads = [
+    threading.Thread(target=stats_main, args=(end_event,)),
+    threading.Thread(target=sp_stats, args=(end_event,)),
+  ]
+
+  for t in threads:
+    t.start()
+
+  try:
+    while all(t.is_alive() for t in threads):
+      rk.keep_time()
+  finally:
+    end_event.set()
+
+  for t in threads:
+    t.join()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/sunnylink/sunnylink_state.py b/sunnypilot/sunnylink/sunnylink_state.py
new file mode 100644
index 0000000000..927d041991
--- /dev/null
+++ b/sunnypilot/sunnylink/sunnylink_state.py
@@ -0,0 +1,235 @@
+"""
+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.
+"""
+from enum import IntEnum
+import threading
+import requests
+import time
+import json
+import pyray as rl
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
+from openpilot.system.ui.sunnypilot.lib.styles import style
+
+
+class RoleType(IntEnum):
+  READONLY = 0
+  SPONSOR = 1
+  ADMIN = 2
+
+
+class SponsorTier(IntEnum):
+  FREE = 0
+  NOVICE = 1
+  SUPPORTER = 2
+  CONTRIBUTOR = 3
+  BENEFACTOR = 4
+  GUARDIAN = 5
+
+
+class User:
+  device_id: str
+  user_id: str
+  created_at: int
+  updated_at: int
+  token_hash: str
+
+  def __init__(self, json_data):
+    self.device_id = json_data.get("device_id")
+    self.user_id = json_data.get("user_id")
+    self.created_at = json_data.get("created_at")
+    self.updated_at = json_data.get("updated_at")
+    self.token_hash = json_data.get("token_hash")
+
+
+class Role:
+  role_type: str
+  role_tier: str
+
+  def __init__(self, json_data):
+    self.role_type = json_data.get("role_type")
+    self.role_tier = json_data.get("role_tier")
+
+
+def _parse_roles(roles: str) -> list[Role]:
+  lst_roles = []
+  try:
+    roles_list = json.loads(roles)
+    for r in roles_list:
+      try:
+        role = Role(r)
+        lst_roles.append(role)
+      except Exception as e:
+        cloudlog.exception(f"Failed to parse role {r}: {e}")
+    return lst_roles
+  except Exception as e:
+    cloudlog.exception(f"Error parsing roles: {e}")
+    return []
+
+
+def _parse_users(users: str) -> list[User]:
+  lst_users = []
+  try:
+    users_list = json.loads(users)
+    for u in users_list:
+      try:
+        user = User(u)
+        lst_users.append(user)
+      except Exception as e:
+        cloudlog.exception(f"Failed to parse user {u}: {e}")
+    return lst_users
+  except Exception as e:
+    cloudlog.exception(f"Error parsing users: {e}")
+    return []
+
+
+class SunnylinkState:
+  FETCH_INTERVAL = 5.0  # seconds between API calls
+  API_TIMEOUT = 10.0  # seconds for API requests
+  SLEEP_INTERVAL = 0.5  # seconds to sleep between checks in the worker thread
+  NOT_PAIRED_USERNAMES = ["unregisteredsponsor", "temporarysponsor"]
+
+  def __init__(self):
+    self._params = Params()
+    self._lock = threading.Lock()
+    self._session = requests.Session()  # reuse session to reduce SSL handshake overhead
+    self._running = False
+    self._thread = None
+    self._sm = messaging.SubMaster(['deviceState'])
+
+    self._roles: list[Role] = []
+    self._users: list[User] = []
+    self.sponsor_tier: SponsorTier = SponsorTier.FREE
+    self.sunnylink_dongle_id = self._params.get("SunnylinkDongleId")
+    self._api = SunnylinkApi(self.sunnylink_dongle_id)
+
+    self._panel_open = False
+
+    self._load_initial_state()
+
+  def _load_initial_state(self) -> None:
+    roles_cache = self._params.get("SunnylinkCache_Roles")
+    users_cache = self._params.get("SunnylinkCache_Users")
+    if roles_cache is not None:
+      self._roles = _parse_roles(roles_cache)
+      self.sponsor_tier = self._get_highest_tier()
+    if users_cache is not None:
+      self._users = _parse_users(users_cache)
+
+  def _get_highest_tier(self) -> SponsorTier:
+    role_tier = SponsorTier.FREE
+    for role in self._roles:
+      try:
+        if RoleType[role.role_type.upper()] == RoleType.SPONSOR:
+          role_tier = max(role_tier, SponsorTier[role.role_tier.upper()])
+      except Exception as e:
+        cloudlog.exception(f"Error parsing role {role}: {e} for dongle id {self.sunnylink_dongle_id}")
+    return role_tier
+
+  def _fetch_roles(self) -> None:
+    if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
+      return
+
+    try:
+      token = self._api.get_token()
+      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/roles", method='GET', access_token=token, session=self._session)
+      if response.status_code == 200:
+        roles = response.text
+        self._params.put("SunnylinkCache_Roles", roles)
+        with self._lock:
+          self._roles = _parse_roles(roles)
+          sponsor_tier = self._get_highest_tier()
+          if sponsor_tier != self.sponsor_tier:
+            self.sponsor_tier = sponsor_tier
+            cloudlog.info(f"Sunnylink sponsor tier updated to {sponsor_tier.name}")
+    except Exception as e:
+      cloudlog.exception(f"Failed to fetch sunnylink roles: {e} for dongle id {self.sunnylink_dongle_id}")
+
+  def _fetch_users(self) -> None:
+    if not self.sunnylink_dongle_id or self.sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
+      return
+
+    try:
+      token = self._api.get_token()
+      response = self._api.api_get(f"device/{self.sunnylink_dongle_id}/users", method='GET', access_token=token, session=self._session)
+      if response.status_code == 200:
+        users = response.text
+        self._params.put("SunnylinkCache_Users", users)
+        with self._lock:
+          self._users = _parse_users(users)
+    except Exception as e:
+      cloudlog.exception(f"Failed to fetch sunnylink users: {e} for dongle id {self.sunnylink_dongle_id}")
+
+  def _worker_thread(self) -> None:
+    while self._running:
+      with self._lock:
+        panel_open = self._panel_open
+
+      if panel_open:
+        self._sm.update()
+        if self.is_connected():
+          self._fetch_roles()
+          self._fetch_users()
+
+      for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
+        if not self._running:
+          break
+        time.sleep(self.SLEEP_INTERVAL)
+
+  def start(self) -> None:
+    if self._thread and self._thread.is_alive():
+      return
+    self._running = True
+    self._thread = threading.Thread(target=self._worker_thread, daemon=True)
+    self._thread.start()
+
+  def stop(self) -> None:
+    self._running = False
+    if self._thread and self._thread.is_alive():
+      self._thread.join(timeout=1.0)
+
+  def get_sponsor_tier(self) -> SponsorTier:
+    with self._lock:
+      return self.sponsor_tier
+
+  def is_sponsor(self) -> bool:
+    with self._lock:
+      is_sponsor = any(role.role_type.upper() == RoleType.SPONSOR.name and role.role_tier.upper() != SponsorTier.FREE.name
+                       for role in self._roles)
+      return is_sponsor
+
+  def is_paired(self) -> bool:
+    with self._lock:
+      is_paired = any(user.user_id not in self.NOT_PAIRED_USERNAMES for user in self._users)
+      return is_paired
+
+  def is_connected(self) -> bool:
+    network_type = self._sm["deviceState"].networkType
+    return bool(network_type != 0)
+
+  def get_sponsor_tier_color(self) -> rl.Color:
+    tier = self.get_sponsor_tier()
+
+    if tier == SponsorTier.GUARDIAN:
+      return rl.Color(255, 215, 0, 255)
+    elif tier == SponsorTier.BENEFACTOR:
+      return rl.Color(60, 179, 113, 255)
+    elif tier == SponsorTier.CONTRIBUTOR:
+      return rl.Color(70, 130, 180, 255)
+    elif tier == SponsorTier.SUPPORTER:
+      return rl.Color(147, 112, 219, 255)
+    else:
+      return style.ITEM_TEXT_VALUE_COLOR
+
+  def set_settings_open(self, _open: bool) -> None:
+    with self._lock:
+      self._panel_open = _open
+
+  def __del__(self):
+    self.stop()
diff --git a/sunnypilot/sunnylink/tests/test_params_metadata.py b/sunnypilot/sunnylink/tests/test_params_metadata.py
new file mode 100644
index 0000000000..f4f1fbc4b1
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_params_metadata.py
@@ -0,0 +1,86 @@
+"""
+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.
+"""
+import json
+
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import getParamsAllKeysV1, METADATA_PATH
+
+
+def test_get_params_all_keys_v1():
+  """
+  Test the getParamsAllKeysV1 API endpoint.
+
+  Why:
+  This endpoint is used by the UI (and potentially external tools) to fetch the list of
+  available parameters along with their metadata (titles, descriptions, options, constraints).
+  We need to ensure it returns the correct structure and that the metadata from
+  params_metadata.json is correctly merged into the response.
+
+  Expected:
+  - The response should contain a "keys" field which is a JSON string of a list of parameters.
+  - Each parameter object should have "key", "type", "default_value", and optionally "_extra".
+  - The "_extra" field should contain the rich metadata (title, options, min/max, etc.) matching
+    the source of truth (params_metadata.json).
+  """
+  response = getParamsAllKeysV1()
+  assert "keys" in response
+
+  keys_json = response["keys"]
+  params_list = json.loads(keys_json)
+
+  assert isinstance(params_list, list)
+  assert len(params_list) > 0
+
+  # Check structure of first item
+  first_param = params_list[0]
+  assert "key" in first_param
+  assert "type" in first_param
+  assert "default_value" in first_param
+
+  if "_extra" in first_param:
+    assert isinstance(first_param["_extra"], dict)
+    assert "default" not in first_param["_extra"]
+    assert "type" not in first_param["_extra"]
+
+  # Load the source of truth
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Verify that the API response matches the metadata file for a few sample keys
+  # This ensures the plumbing is working without being brittle to content changes
+
+  # 1. Check a key that should have metadata
+  keys_with_metadata = [k for k in params_list if k["key"] in metadata]
+  assert len(keys_with_metadata) > 0, "No parameters found that match metadata keys"
+
+  for param in keys_with_metadata[:5]:  # Check first 5 matches
+    key = param["key"]
+    expected_meta = metadata[key]
+
+    assert "_extra" in param, f"Parameter {key} should have _extra field"
+    actual_meta = param["_extra"]
+
+    # Verify all fields in JSON are present in the API response
+    for meta_key, meta_val in expected_meta.items():
+      assert meta_key in actual_meta, f"Missing {meta_key} in API response for {key}"
+      assert actual_meta[meta_key] == meta_val, f"Mismatch for {key}.{meta_key}: expected {meta_val}, got {actual_meta[meta_key]}"
+
+  # 2. Check that we are correctly serving options if they exist
+  params_with_options = [k for k in keys_with_metadata if "options" in k.get("_extra", {})]
+  if params_with_options:
+    param = params_with_options[0]
+    key = param["key"]
+    assert isinstance(param["_extra"]["options"], list), f"Options for {key} should be a list"
+    assert param["_extra"]["options"] == metadata[key]["options"]
+
+  # 3. Check that we are correctly serving numeric constraints if they exist
+  params_with_constraints = [k for k in keys_with_metadata if "min" in k.get("_extra", {})]
+  if params_with_constraints:
+    param = params_with_constraints[0]
+    key = param["key"]
+    assert param["_extra"]["min"] == metadata[key]["min"]
+    assert param["_extra"]["max"] == metadata[key]["max"]
+    assert param["_extra"]["step"] == metadata[key]["step"]
diff --git a/sunnypilot/sunnylink/tests/test_params_sync.py b/sunnypilot/sunnylink/tests/test_params_sync.py
new file mode 100644
index 0000000000..05114de49a
--- /dev/null
+++ b/sunnypilot/sunnylink/tests/test_params_sync.py
@@ -0,0 +1,284 @@
+"""
+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.
+"""
+import json
+import os
+import pytest
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.sunnylink.athena.sunnylinkd import METADATA_PATH
+
+
+def test_metadata_json_exists():
+  """
+  Test that the params_metadata.json file exists at the expected path.
+
+  Why:
+  The metadata file is the source of truth for parameter descriptions, options, and constraints.
+  If it's missing, the UI will not be able to display rich information for parameters.
+
+  Expected:
+  The file should exist at sunnypilot/sunnylink/params_metadata.json.
+  """
+  assert os.path.exists(METADATA_PATH), f"Metadata file not found at {METADATA_PATH}"
+
+
+def test_metadata_json_valid():
+  """
+  Test that the params_metadata.json file contains valid JSON.
+
+  Why:
+  Invalid JSON will cause the metadata loading to fail, potentially crashing the UI or
+  resulting in missing metadata.
+
+  Expected:
+  The file content should be parseable as a JSON object (dictionary).
+  """
+  with open(METADATA_PATH) as f:
+    try:
+      data = json.load(f)
+    except json.JSONDecodeError:
+      pytest.fail("Metadata file is not valid JSON")
+
+    assert isinstance(data, dict), "Metadata root must be a dictionary"
+
+
+def test_all_params_have_metadata():
+  """
+  Test that every parameter in the codebase has a corresponding entry in params_metadata.json.
+
+  Why:
+  We want to ensure 100% coverage of parameter metadata. Any parameter added to the codebase
+  should also be documented in the metadata file.
+
+  Expected:
+  There should be no parameters in Params() that are missing from the metadata file.
+  If this fails, run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py'.
+  """
+  params = Params()
+  all_keys = [k.decode('utf-8') for k in params.all_keys()]
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  missing_keys = [key for key in all_keys if key not in metadata]
+
+  if missing_keys:
+    pytest.fail(
+      f"The following parameters are missing from metadata: {missing_keys}. "
+      + "Please run 'python3 sunnypilot/sunnylink/tools/update_params_metadata.py' to update."
+    )
+
+
+def test_metadata_keys_exist_in_params():
+  """
+  Test that all keys in params_metadata.json actually exist in the codebase.
+
+  Why:
+  We want to avoid stale metadata for parameters that have been removed or renamed.
+  This keeps the metadata file clean and relevant.
+
+  Expected:
+  There should be no keys in the metadata file that are not present in Params().
+  This prints a warning rather than failing, as it's less critical than missing metadata.
+  """
+  params = Params()
+  all_keys = {k.decode('utf-8') for k in params.all_keys()}
+
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  extra_keys = [key for key in metadata.keys() if key not in all_keys]
+
+  if extra_keys:
+    print(f"Warning: The following keys in metadata do not exist in Params: {extra_keys}")
+
+
+def test_no_default_titles():
+  """
+  Test that no parameter has a title that is identical to its key.
+
+  Why:
+  The default behavior of the update script is to set the title equal to the key.
+  We want to force developers to provide human-readable, descriptive titles for all parameters.
+
+  Expected:
+  No parameter metadata should have 'title' == 'key'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  default_title_keys = [key for key, meta in metadata.items() if meta.get("title") == key]
+
+  if default_title_keys:
+    pytest.fail(
+      f"The following parameters have default titles (title == key): {default_title_keys}. "
+      + "Please update 'params_metadata.json' with descriptive titles."
+    )
+
+
+def test_options_structure():
+  """
+  Test that the 'options' field in metadata follows the correct structure.
+
+  Why:
+  The UI expects 'options' to be a list of objects with 'value' and 'label' keys.
+  Incorrect structure will break the UI rendering for dropdowns/toggles.
+
+  Expected:
+  If 'options' is present, it must be a list of dicts, and each dict must have 'value' and 'label'.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "options" in meta:
+      options = meta["options"]
+      assert isinstance(options, list), f"Options for {key} must be a list"
+      for option in options:
+        assert isinstance(option, dict), f"Option in {key} must be a dictionary"
+        assert "value" in option, f"Option in {key} must have a 'value' key"
+        assert "label" in option, f"Option in {key} must have a 'label' key"
+
+
+def test_numeric_constraints():
+  """
+  Test that numeric parameters have valid 'min', 'max', and 'step' constraints.
+
+  Why:
+  The UI uses these constraints to validate user input and render sliders/steppers.
+  Missing or invalid constraints can lead to UI bugs or invalid parameter values.
+
+  Expected:
+  If any of min/max/step is present, ALL of them must be present.
+  They must be numbers (int/float), and min must be less than max.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  for key, meta in metadata.items():
+    if "min" in meta or "max" in meta or "step" in meta:
+      assert "min" in meta, f"Numeric param {key} must have 'min'"
+      assert "max" in meta, f"Numeric param {key} must have 'max'"
+      assert "step" in meta, f"Numeric param {key} must have 'step'"
+
+      assert isinstance(meta["min"], (int, float)), f"Min for {key} must be number"
+      assert isinstance(meta["max"], (int, float)), f"Max for {key} must be number"
+      assert isinstance(meta["step"], (int, float)), f"Step for {key} must be number"
+      assert meta["min"] < meta["max"], f"Min must be less than max for {key}"
+
+
+def test_known_params_metadata():
+  """
+  Test specific known parameters to ensure they have the expected rich metadata.
+
+  Why:
+  This acts as a spot check to ensure that our rich metadata population logic is working correctly
+  and that critical parameters (like LongitudinalPersonality) have their options and constraints preserved.
+
+  Expected:
+  'LongitudinalPersonality' should have 3 options (Aggressive, Standard, Relaxed).
+  'CustomAccLongPressIncrement' should have min=1, max=10, step=1.
+  """
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  # Check an enum-like param
+  lp = metadata.get("LongitudinalPersonality")
+  assert lp is not None
+  assert "options" in lp
+  assert len(lp["options"]) == 3
+  assert lp["options"][0]["label"] == "Aggressive"
+  assert lp["options"][0]["value"] == 0
+
+  # Check a numeric param
+  acc_long = metadata.get("CustomAccLongPressIncrement")
+  assert acc_long is not None
+  assert acc_long["min"] == 1
+  assert acc_long["max"] == 10
+  assert acc_long["step"] == 1
+
+
+def test_torque_control_tune_versions_in_sync():
+  """
+  Test that TorqueControlTune options in params_metadata.json match versions in latcontrol_torque_versions.json.
+
+  Why:
+  The TorqueControlTune dropdown in the UI should always reflect the available torque tune versions.
+  If versions are added/removed from latcontrol_torque_versions.json, the metadata must be updated accordingly.
+
+  Expected:
+  - TorqueControlTune should have a 'Default' option with empty string value
+  - All versions from latcontrol_torque_versions.json should be present in the options
+  - The version values and labels should match between both files
+  """
+  from openpilot.common.basedir import BASEDIR
+
+  versions_json_path = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+  sync_script_path = "python3 sunnypilot/sunnylink/tools/sync_torque_versions.py"
+
+  # Load both files
+  with open(METADATA_PATH) as f:
+    metadata = json.load(f)
+
+  with open(versions_json_path) as f:
+    versions = json.load(f)
+
+  # Get TorqueControlTune metadata
+  torque_tune = metadata.get("TorqueControlTune")
+  if torque_tune is None:
+    pytest.fail(f"TorqueControlTune not found in params_metadata.json. Please run '{sync_script_path}' to sync.")
+
+  if "options" not in torque_tune:
+    pytest.fail(f"TorqueControlTune must have options. Please run '{sync_script_path}' to sync.")
+
+  options = torque_tune["options"]
+  if not isinstance(options, list):
+    pytest.fail(f"TorqueControlTune options must be a list. Please run '{sync_script_path}' to sync.")
+
+  if len(options) == 0:
+    pytest.fail(f"TorqueControlTune must have at least one option. Please run '{sync_script_path}' to sync.")
+
+  # Check that Default option exists
+  default_option = next((opt for opt in options if opt.get("value") == ""), None)
+  if default_option is None:
+    pytest.fail(f"TorqueControlTune must have a 'Default' option with empty string value. Please run '{sync_script_path}' to sync.")
+
+  if default_option.get("label") != "Default":
+    pytest.fail(f"Default option must have label 'Default'. Please run '{sync_script_path}' to sync.")
+
+  # Build expected options from versions.json
+  expected_version_keys = set(versions.keys())
+  actual_version_keys = set()
+
+  for option in options:
+    if option.get("value") == "":
+      continue  # Skip the default option
+
+    label = option.get("label")
+    value = option.get("value")
+
+    # Check that this option corresponds to a version
+    if label not in versions:
+      pytest.fail(f"Option label '{label}' not found in latcontrol_torque_versions.json. Please run '{sync_script_path}' to sync.")
+
+    # Check that the value matches the version number
+    expected_value = float(versions[label]["version"])
+    if value != expected_value:
+      pytest.fail(f"Option '{label}' has value {value}, expected {expected_value}. Please run '{sync_script_path}' to sync.")
+
+    actual_version_keys.add(label)
+
+  # Check that all versions are represented
+  missing_versions = expected_version_keys - actual_version_keys
+  if missing_versions:
+    pytest.fail(f"The following versions are missing from TorqueControlTune options: {missing_versions}. " +
+                f"Please run '{sync_script_path}' to sync.")
+
+  extra_versions = actual_version_keys - expected_version_keys
+  if extra_versions:
+    pytest.fail("The following versions in TorqueControlTune options are not in latcontrol_torque_versions.json: " +
+                f"{extra_versions}. Please run '{sync_script_path}' to sync.")
diff --git a/sunnypilot/sunnylink/tools/update_params_metadata.py b/sunnypilot/sunnylink/tools/update_params_metadata.py
new file mode 100755
index 0000000000..ea3765420d
--- /dev/null
+++ b/sunnypilot/sunnylink/tools/update_params_metadata.py
@@ -0,0 +1,133 @@
+#!/usr/bin/env python3
+"""
+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.
+"""
+import json
+import os
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.sunnypilot.system.params_migration import ONROAD_BRIGHTNESS_TIMER_VALUES
+
+METADATA_PATH = os.path.join(os.path.dirname(__file__), "../params_metadata.json")
+TORQUE_VERSIONS_JSON = os.path.join(BASEDIR, "sunnypilot", "selfdrive", "controls", "lib", "latcontrol_torque_versions.json")
+
+
+def main():
+  params = Params()
+  all_keys = params.all_keys()
+
+  if os.path.exists(METADATA_PATH):
+    with open(METADATA_PATH) as f:
+      try:
+        data = json.load(f)
+      except json.JSONDecodeError:
+        data = {}
+  else:
+    data = {}
+
+  # Add new keys
+  for key in all_keys:
+    key_str = key.decode("utf-8")
+    if key_str not in data:
+      print(f"Adding new key: {key_str}")
+      data[key_str] = {
+        "title": key_str,
+        "description": "",
+      }
+
+  # Remove deleted keys
+  # keys_to_remove = [k for k in data.keys() if k.encode("utf-8") not in all_keys]
+  # for k in keys_to_remove:
+  #   print(f"Removing deleted key: {k}")
+  #   del data[k]
+
+  # Sort keys
+  sorted_data = dict(sorted(data.items()))
+
+  with open(METADATA_PATH, "w") as f:
+    json.dump(sorted_data, f, indent=2)
+    f.write("\n")
+
+  print(f"Updated {METADATA_PATH}")
+
+  # update onroad screen brightness params
+  update_onroad_brightness_param()
+
+  # update onroad screen brightness timer params
+  update_onroad_brightness_timer_param()
+
+  # update torque versions param
+  update_torque_versions_param()
+
+
+def update_onroad_brightness_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffBrightness" in params_metadata:
+      options = [
+        {"value": 0, "label": "Auto (Default)"},
+        {"value": 1, "label": "Auto (Dark)"},
+        {"value": 2, "label": "Screen Off"},
+      ]
+      for i in range(3, 23):
+        options.append({"value": i, "label": f"{(i - 2) * 5} %"})
+      params_metadata["OnroadScreenOffBrightness"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffBrightness options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffBrightness versions in params_metadata.json: {e}")
+
+
+def update_onroad_brightness_timer_param():
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+    if "OnroadScreenOffTimer" in params_metadata:
+      options = []
+      for _index, seconds in sorted(ONROAD_BRIGHTNESS_TIMER_VALUES.items()):
+        label = f"{seconds}s" if seconds < 60 else f"{seconds // 60}m"
+        options.append({"value": seconds, "label": label})
+      params_metadata["OnroadScreenOffTimer"]["options"] = options
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+      print(f"Updated OnroadScreenOffTimer options in params_metadata.json with {len(options)} options.")
+  except Exception as e:
+    print(f"Failed to update OnroadScreenOffTimer options in params_metadata.json: {e}")
+
+
+def update_torque_versions_param():
+  with open(TORQUE_VERSIONS_JSON) as f:
+    current_versions = json.load(f)
+
+  try:
+    with open(METADATA_PATH) as f:
+      params_metadata = json.load(f)
+
+    options = [{"value": "", "label": "Default"}]
+    for version_key, version_data in current_versions.items():
+      version_value = float(version_data["version"])
+      options.append({"value": version_value, "label": str(version_key)})
+
+    if "TorqueControlTune" in params_metadata:
+      params_metadata["TorqueControlTune"]["options"] = options
+
+      with open(METADATA_PATH, 'w') as f:
+        json.dump(params_metadata, f, indent=2)
+        f.write('\n')
+
+      print(f"Updated TorqueControlTune options in params_metadata.json with {len(options)} options: \n{options}")
+
+  except Exception as e:
+    print(f"Failed to update TorqueControlTune versions in params_metadata.json: {e}")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py
index 69ef2cfd8a..0b7eb78edb 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/sunnypilot/sunnylink/uploader.py
@@ -1,40 +1,38 @@
 #!/usr/bin/env python3
-import bz2
-import datetime
-import io
 import json
 import os
 import random
+import requests
 import threading
 import time
 import traceback
+import datetime
 from collections.abc import Iterator
-from typing import BinaryIO
 
-import requests
+from cereal import log
+import cereal.messaging as messaging
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-
-import cereal.messaging as messaging
-from cereal import log
-from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
-
 UPLOAD_ATTR_VALUE = b'1'
 
-UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+MAX_UPLOAD_SIZES = {
+  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
+  # bugs, including ones that can cause massive log sizes
+  "qcam": 5*1e6,
+}
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
-OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
-
 
 class FakeRequest:
   def __init__(self):
@@ -52,7 +50,6 @@ def get_directory_sort(d: str) -> list[str]:
   o = ["0", ] if d.startswith("2024-") else ["1", ]
   return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
-
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
@@ -65,7 +62,6 @@ def listdir_by_creation(d: str) -> list[str]:
     cloudlog.exception("listdir_by_creation failed")
     return []
 
-
 def clear_locks(root: str) -> None:
   for logdir in os.listdir(root):
     path = os.path.join(root, logdir)
@@ -89,11 +85,11 @@ class Uploader:
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
-    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
-    requested_routes = [] if r is None else r.split(",")
+    r = self.params.get("AthenadRecentlyViewedRoutes")
+    requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
@@ -137,11 +133,11 @@ class Uploader:
       if any(f in fn for f in self.immediate_folders):
         return name, key, fn
 
-    return next(
-      ((name, key, fn)
-       for name, key, fn in upload_files if name in self.immediate_priority),
-      None,
-    )
+    for name, key, fn in upload_files:
+      if name in self.immediate_priority:
+        return name, key, fn
+
+    return None
 
   def do_upload(self, key: str, fn: str):
     url_resp = self.api.get(
@@ -161,15 +157,15 @@ class Uploader:
     if fake_upload:
       return FakeResponse()
 
-    with open(fn, "rb") as f:
-      data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
-        data = io.BytesIO(compressed)
-      else:
-        data = f
-
-      return requests.put(url, data=data, headers=headers, timeout=10)
+    stream = None
+    try:
+      compress = key.endswith('.zst') and not fn.endswith('.zst')
+      stream, _ = get_upload_stream(fn, compress)
+      response = requests.put(url, data=stream, headers=headers, timeout=10)
+      return response
+    finally:
+      if stream:
+        stream.close()
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -183,7 +179,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:
@@ -224,6 +220,7 @@ class Uploader:
 
     return success
 
+
   def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
@@ -232,13 +229,13 @@ class Uploader:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 
 
-def main(exit_event: threading.Event = None) -> None:
+def main(exit_event: threading.Event | None = None) -> None:
   if exit_event is None:
     exit_event = threading.Event()
 
@@ -250,10 +247,7 @@ def main(exit_event: threading.Event = None) -> None:
   clear_locks(Paths.log_root())
 
   params = Params()
-  dongle_id = params.get("SunnylinkDongleId", encoding='utf8')
-
-  offroad_transition_prev = 0.
-  offroad_last = False
+  dongle_id = params.get("SunnylinkDongleId")
 
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
@@ -265,35 +259,13 @@ def main(exit_event: threading.Event = None) -> None:
   backoff = 0.1
   while not exit_event.is_set():
     sm.update(0)
-
     offroad = params.get_bool("IsOffroad")
-    t = time.monotonic()
-    if offroad and not offroad_last and t > 300.:
-      offroad_transition_prev = time.monotonic()
-    offroad_last = offroad
-
-    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
+    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
     if network_type == NetworkType.none:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
       continue
 
-    if params.get_bool("DisableOnroadUploads"):
-      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
-        if not offroad:
-          cloudlog.info("not uploading: onroad uploads disabled")
-        else:
-          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
-          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
-          if time_left > 2.0 * 60.0:
-            time_left_str = f"{int(time_left / 60)} minute(s)"
-          else:
-            time_left_str = f"{int(time_left)} seconds(s)"
-          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
-        if allow_sleep:
-          time.sleep(60)
-        continue
-
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success is None:
       backoff = 60 if offroad else 5
@@ -301,7 +273,7 @@ def main(exit_event: threading.Event = None) -> None:
       backoff = 0.1
     else:
       cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff * 2, 120)
+      backoff = min(backoff*2, 120)
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 55b1f6f285..f4f14f7e81 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -1,33 +1,37 @@
-from sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.common.params import Params
+import base64
+import gzip
+import json
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID
+from openpilot.common.params import Params, ParamKeyType
 from openpilot.system.version import is_prebuilt
 
 
-def get_sunnylink_status(params=None) -> tuple[bool, bool]:
+def get_sunnylink_status(params=None) -> tuple[bool, bool, bool]:
   """Get the status of Sunnylink on the device. Returns a tuple of (is_sunnylink_enabled, is_registered)."""
   params = params or Params()
   is_sunnylink_enabled = params.get_bool("SunnylinkEnabled")
-  is_registered = params.get("SunnylinkDongleId", encoding='utf-8') not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
-  return is_sunnylink_enabled, is_registered
+  is_registered = params.get("SunnylinkDongleId") not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID)
+  is_on_temporary_fault = params.get_bool("SunnylinkTempFault")
+  return is_sunnylink_enabled, is_registered, is_on_temporary_fault
 
 
 def sunnylink_ready(params=None) -> bool:
   """Check if the device is ready to communicate with Sunnylink. That means it is enabled and registered."""
   params = params or Params()
-  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
-  return is_sunnylink_enabled and is_registered
+  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
+  return is_sunnylink_enabled and is_registered and not is_on_temporary_fault
 
 
 def use_sunnylink_uploader(params) -> bool:
   """Check if the device is ready to use Sunnylink and the uploader is enabled."""
-  return sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
+  return not params.get_bool("NetworkMetered") and sunnylink_ready(params) and params.get_bool("EnableSunnylinkUploader")
 
 
 def sunnylink_need_register(params=None) -> bool:
   """Check if the device needs to be registered with Sunnylink."""
   params = params or Params()
-  is_sunnylink_enabled, is_registered = get_sunnylink_status(params)
-  return is_sunnylink_enabled and not is_registered
+  is_sunnylink_enabled, is_registered, is_on_temporary_fault = get_sunnylink_status(params)
+  return is_sunnylink_enabled and not is_registered and not is_on_temporary_fault
 
 
 def register_sunnylink():
@@ -44,14 +48,80 @@ def register_sunnylink():
       "timeout": 60
     }
 
-  sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
-  print(f"SunnyLinkId: {sunnylink_id}")
+  try:
+    sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
+    print(f"SunnyLinkId: {sunnylink_id}")
+  except Exception:
+    Params().put_bool("SunnylinkTempFault", True)
+    raise
 
 
 def get_api_token():
   """Get the API token for the device."""
   params = Params()
-  sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
+  sunnylink_dongle_id = params.get("SunnylinkDongleId")
   sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
   token = sunnylink_api.get_token()
   print(f"API Token: {token}")
+
+
+def get_param_as_byte(param_name: str, params=None, get_default=False) -> bytes | None:
+  """Get a parameter as bytes. Returns None if the parameter does not exist."""
+  params = params or Params()
+  param = params.get(param_name) if not get_default else params.get_default_value(param_name)
+
+  if param is None:
+    return None
+
+  param_type = params.get_type(param_name)
+  return _to_bytes(param, param_type)
+
+
+def _to_bytes(param: bytes, param_type: ParamKeyType) -> bytes | None:
+  """Convert a parameter value to bytes based on its type."""
+  if param_type == ParamKeyType.BYTES:
+    return bytes(param)
+  elif param_type == ParamKeyType.JSON:
+    return json.dumps(param).encode('utf-8')
+  return str(param).encode('utf-8')
+
+
+def save_param_from_base64_encoded_string(param_name: str, base64_encoded_data: str, is_compressed=False) -> None:
+  """Save a parameter from bytes. Overwrites the parameter if it already exists."""
+  params = Params()
+  # Find real param name (with correct casing)
+  param_type = params.get_type(param_name)
+  value = base64.b64decode(base64_encoded_data)
+
+  if is_compressed:
+    value = gzip.decompress(value)
+
+  # We convert to string anything that isn't bytes first. We later transform further.
+  param_value = _convert_param_to_type(value, param_type)
+  params.put(param_name, param_value)
+
+
+def _convert_param_to_type(value: bytes, param_type: ParamKeyType) -> bytes | str | int | float | bool | dict | None:
+  """
+  Convert a byte value to the specified param type. Used internally when getting a Param to convert it to the right type.
+  If this method looks familiar, it's because on SP we have a similar one in openpilot/sunnypilot/car/__init__.py.
+  """
+
+  # We convert to string anything that isn't bytes first. We later transform further.
+  if param_type != ParamKeyType.BYTES:
+    value = value.decode('utf-8')
+
+  if param_type == ParamKeyType.STRING:
+    value = value
+  elif param_type == ParamKeyType.BOOL:
+    value = value.lower() in ('true', '1', 'yes')
+  elif param_type == ParamKeyType.INT:
+    value = int(value)
+  elif param_type == ParamKeyType.FLOAT:
+    value = float(value)
+  elif param_type == ParamKeyType.TIME:
+    value = str(value)
+  elif param_type == ParamKeyType.JSON:
+    value = json.loads(value)
+
+  return value
diff --git a/sunnypilot/system/__init__.py b/sunnypilot/system/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/system/hardware/c3/README.md b/sunnypilot/system/hardware/c3/README.md
new file mode 100644
index 0000000000..f74a210191
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/README.md
@@ -0,0 +1,3 @@
+# C3 specific hardware code
+
+`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.
\ No newline at end of file
diff --git a/sunnypilot/system/hardware/c3/agnos.json b/sunnypilot/system/hardware/c3/agnos.json
new file mode 100644
index 0000000000..941a4956bf
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/agnos.json
@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
+    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
+    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "size": 18515968,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img.xz",
+    "hash": "1468d50b7ad0fda0f04074755d21e786e3b1b6ca5dd5b17eb2608202025e6126",
+    "hash_raw": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+    "size": 5368709120,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "242aa5adad1c04e1398e00e2440d1babf962022eb12b89adf2e60ee3068946e7",
+    "alt": {
+      "hash": "e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-e0007afa5d1026671c1943d44bb7f7ad26259f673392dd00a03073a2870df087.img",
+      "size": 5368709120
+    }
+  }
+]
\ No newline at end of file
diff --git a/sunnypilot/system/hardware/c3/launch_chffrplus.sh b/sunnypilot/system/hardware/c3/launch_chffrplus.sh
new file mode 100755
index 0000000000..45cc950537
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/launch_chffrplus.sh
@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+
+SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+DIR="$( cd "$SP_C3_DIR/../../../.." >/dev/null 2>&1 && pwd )"
+
+source "$SP_C3_DIR/launch_env.sh"
+
+function agnos_init {
+  # TODO: move this to agnos
+  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
+
+  # set success flag for current boot slot
+  sudo abctl --set_success
+
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
+
+  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$SP_C3_DIR/agnos.json"
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+  fi
+}
+
+function launch {
+  # Remove orphaned git lock if it exists on boot
+  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
+
+  # Check to see if there's a valid overlay-based update available. Conditions
+  # are as follows:
+  #
+  # 1. The DIR init file has to exist, with a newer modtime than anything in
+  #    the DIR Git repo. This checks for local development work or the user
+  #    switching branches/forks, which should not be overwritten.
+  # 2. The FINALIZED consistent file has to exist, indicating there's an update
+  #    that completed successfully and synced to disk.
+
+  if [ -f "${DIR}/.overlay_init" ]; then
+    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
+    if [ $? -eq 0 ]; then
+      echo "${DIR} has been modified, skipping overlay update installation"
+    else
+      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
+        if [ ! -d /data/safe_staging/old_openpilot ]; then
+          echo "Valid overlay update found, installing"
+          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
+
+          mv $DIR /data/safe_staging/old_openpilot
+          mv "${STAGING_ROOT}/finalized" $DIR
+          cd $DIR
+
+          echo "Restarting launch script ${LAUNCHER_LOCATION}"
+          unset AGNOS_VERSION
+          exec "${LAUNCHER_LOCATION}"
+        else
+          echo "openpilot backup found, not updating"
+          # TODO: restore backup? This means the updater didn't start after swapping
+        fi
+      fi
+    fi
+  fi
+
+  # handle pythonpath
+  ln -sfn $(pwd) /data/pythonpath
+  export PYTHONPATH="$PWD"
+
+  # hardware specific init
+  if [ -f /AGNOS ]; then
+    agnos_init
+  fi
+
+  # write tmux scrollback to a file
+  tmux capture-pane -pq -S-1000 > /tmp/launch_log
+
+  # start manager
+  cd $DIR/system/manager
+  if [ ! -f $DIR/prebuilt ]; then
+    ./build.py
+  fi
+  ./manager.py
+
+  # if broken, keep on screen error
+  while true; do sleep 1; done
+}
+
+launch
diff --git a/sunnypilot/system/hardware/c3/launch_env.sh b/sunnypilot/system/hardware/c3/launch_env.sh
new file mode 100755
index 0000000000..4c011c6ac0
--- /dev/null
+++ b/sunnypilot/system/hardware/c3/launch_env.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+export OMP_NUM_THREADS=1
+export MKL_NUM_THREADS=1
+export NUMEXPR_NUM_THREADS=1
+export OPENBLAS_NUM_THREADS=1
+export VECLIB_MAXIMUM_THREADS=1
+
+if [ -z "$AGNOS_VERSION" ]; then
+  export AGNOS_VERSION="12.8"
+fi
+
+export STAGING_ROOT="/data/safe_staging"
diff --git a/sunnypilot/system/params_migration.py b/sunnypilot/system/params_migration.py
new file mode 100644
index 0000000000..5e524de06e
--- /dev/null
+++ b/sunnypilot/system/params_migration.py
@@ -0,0 +1,47 @@
+"""
+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.
+"""
+from openpilot.common.swaglog import cloudlog
+
+ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
+ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
+
+# index → seconds mapping for OnroadScreenOffTimer (SSoT)
+ONROAD_BRIGHTNESS_TIMER_VALUES = {0: 3, 1: 5, 2: 7, 3: 10, 4: 15, 5: 30, **{i: (i - 5) * 60 for i in range(6, 16)}}
+VALID_TIMER_VALUES = set(ONROAD_BRIGHTNESS_TIMER_VALUES.values())
+
+
+def run_migration(_params):
+  # migrate OnroadScreenOffBrightness
+  if _params.get("OnroadScreenOffBrightnessMigrated") != ONROAD_BRIGHTNESS_MIGRATION_VERSION:
+    try:
+      val = _params.get("OnroadScreenOffBrightness", return_default=True)
+      if val >= 2:  # old: 5%, new: Screen Off
+        new_val = val + 1
+        _params.put("OnroadScreenOffBrightness", new_val)
+        log_str = f"Successfully migrated OnroadScreenOffBrightness from {val} to {new_val}."
+      else:
+        log_str = "Migration not required for OnroadScreenOffBrightness."
+
+      _params.put("OnroadScreenOffBrightnessMigrated", ONROAD_BRIGHTNESS_MIGRATION_VERSION)
+      cloudlog.info(log_str + f" Setting OnroadScreenOffBrightnessMigrated to {ONROAD_BRIGHTNESS_MIGRATION_VERSION}")
+    except Exception as e:
+      cloudlog.exception(f"Error migrating OnroadScreenOffBrightness: {e}")
+
+  # migrate OnroadScreenOffTimer
+  if _params.get("OnroadScreenOffTimerMigrated") != ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION:
+    try:
+      val = _params.get("OnroadScreenOffTimer", return_default=True)
+      if val not in VALID_TIMER_VALUES:
+        _params.put("OnroadScreenOffTimer", 15)
+        log_str = f"Successfully migrated OnroadScreenOffTimer from {val} to 15 (default)."
+      else:
+        log_str = "Migration not required for OnroadScreenOffTimer."
+
+      _params.put("OnroadScreenOffTimerMigrated", ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION)
+      cloudlog.info(log_str + f" Setting OnroadScreenOffTimerMigrated to {ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION}")
+    except Exception as e:
+      cloudlog.exception(f"Error migrating OnroadScreenOffTimer: {e}")
diff --git a/system/sensord/.gitignore b/sunnypilot/system/sensord/.gitignore
similarity index 100%
rename from system/sensord/.gitignore
rename to sunnypilot/system/sensord/.gitignore
diff --git a/system/sensord/SConscript b/sunnypilot/system/sensord/SConscript
similarity index 75%
rename from system/sensord/SConscript
rename to sunnypilot/system/sensord/SConscript
index e2dfb522c6..1222f0bfcd 100644
--- a/system/sensord/SConscript
+++ b/sunnypilot/system/sensord/SConscript
@@ -2,10 +2,6 @@ Import('env', 'arch', 'common', 'messaging')
 
 sensors = [
   'sensors/i2c_sensor.cc',
-  'sensors/bmx055_accel.cc',
-  'sensors/bmx055_gyro.cc',
-  'sensors/bmx055_magn.cc',
-  'sensors/bmx055_temp.cc',
   'sensors/lsm6ds3_accel.cc',
   'sensors/lsm6ds3_gyro.cc',
   'sensors/lsm6ds3_temp.cc',
diff --git a/system/sensord/sensors/bmx055_accel.cc b/sunnypilot/system/sensord/sensors/bmx055_accel.cc
similarity index 97%
rename from system/sensord/sensors/bmx055_accel.cc
rename to sunnypilot/system/sensord/sensors/bmx055_accel.cc
index bcc31e1d6c..5db10c3b5b 100644
--- a/system/sensord/sensors/bmx055_accel.cc
+++ b/sunnypilot/system/sensord/sensors/bmx055_accel.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/bmx055_accel.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
 
 #include <cassert>
 
diff --git a/system/sensord/sensors/bmx055_accel.h b/sunnypilot/system/sensord/sensors/bmx055_accel.h
similarity index 95%
rename from system/sensord/sensors/bmx055_accel.h
rename to sunnypilot/system/sensord/sensors/bmx055_accel.h
index 2cc316e992..4aea163c8b 100644
--- a/system/sensord/sensors/bmx055_accel.h
+++ b/sunnypilot/system/sensord/sensors/bmx055_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_ACCEL_I2C_ADDR       0x18
diff --git a/system/sensord/sensors/bmx055_gyro.cc b/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
similarity index 97%
rename from system/sensord/sensors/bmx055_gyro.cc
rename to sunnypilot/system/sensord/sensors/bmx055_gyro.cc
index 0cc405f654..4701c70d71 100644
--- a/system/sensord/sensors/bmx055_gyro.cc
+++ b/sunnypilot/system/sensord/sensors/bmx055_gyro.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/bmx055_gyro.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_gyro.h"
 
 #include <cassert>
 #include <cmath>
diff --git a/system/sensord/sensors/bmx055_gyro.h b/sunnypilot/system/sensord/sensors/bmx055_gyro.h
similarity index 95%
rename from system/sensord/sensors/bmx055_gyro.h
rename to sunnypilot/system/sensord/sensors/bmx055_gyro.h
index 7be3e56563..489184bb18 100644
--- a/system/sensord/sensors/bmx055_gyro.h
+++ b/sunnypilot/system/sensord/sensors/bmx055_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_GYRO_I2C_ADDR        0x68
diff --git a/system/sensord/sensors/bmx055_magn.cc b/sunnypilot/system/sensord/sensors/bmx055_magn.cc
similarity index 99%
rename from system/sensord/sensors/bmx055_magn.cc
rename to sunnypilot/system/sensord/sensors/bmx055_magn.cc
index b498c5fe3d..00b35aa136 100644
--- a/system/sensord/sensors/bmx055_magn.cc
+++ b/sunnypilot/system/sensord/sensors/bmx055_magn.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/bmx055_magn.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_magn.h"
 
 #include <unistd.h>
 
diff --git a/system/sensord/sensors/bmx055_magn.h b/sunnypilot/system/sensord/sensors/bmx055_magn.h
similarity index 96%
rename from system/sensord/sensors/bmx055_magn.h
rename to sunnypilot/system/sensord/sensors/bmx055_magn.h
index 15c4e734b9..7b1f7853d0 100644
--- a/system/sensord/sensors/bmx055_magn.h
+++ b/sunnypilot/system/sensord/sensors/bmx055_magn.h
@@ -1,7 +1,7 @@
 #pragma once
 #include <tuple>
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_MAGN_I2C_ADDR        0x10
diff --git a/system/sensord/sensors/bmx055_temp.cc b/sunnypilot/system/sensord/sensors/bmx055_temp.cc
similarity index 87%
rename from system/sensord/sensors/bmx055_temp.cc
rename to sunnypilot/system/sensord/sensors/bmx055_temp.cc
index da7b86476c..3932c66fa6 100644
--- a/system/sensord/sensors/bmx055_temp.cc
+++ b/sunnypilot/system/sensord/sensors/bmx055_temp.cc
@@ -1,8 +1,8 @@
-#include "system/sensord/sensors/bmx055_temp.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_temp.h"
 
 #include <cassert>
 
-#include "system/sensord/sensors/bmx055_accel.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 
diff --git a/system/sensord/sensors/bmx055_temp.h b/sunnypilot/system/sensord/sensors/bmx055_temp.h
similarity index 68%
rename from system/sensord/sensors/bmx055_temp.h
rename to sunnypilot/system/sensord/sensors/bmx055_temp.h
index a2eabae395..02c48dc92c 100644
--- a/system/sensord/sensors/bmx055_temp.h
+++ b/sunnypilot/system/sensord/sensors/bmx055_temp.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 class BMX055_Temp : public I2CSensor {
   uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
diff --git a/system/sensord/sensors/constants.h b/sunnypilot/system/sensord/sensors/constants.h
similarity index 100%
rename from system/sensord/sensors/constants.h
rename to sunnypilot/system/sensord/sensors/constants.h
diff --git a/system/sensord/sensors/i2c_sensor.cc b/sunnypilot/system/sensord/sensors/i2c_sensor.cc
similarity index 95%
rename from system/sensord/sensors/i2c_sensor.cc
rename to sunnypilot/system/sensord/sensors/i2c_sensor.cc
index 90220f551d..e29f98c721 100644
--- a/system/sensord/sensors/i2c_sensor.cc
+++ b/sunnypilot/system/sensord/sensors/i2c_sensor.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
   uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
diff --git a/system/sensord/sensors/i2c_sensor.h b/sunnypilot/system/sensord/sensors/i2c_sensor.h
similarity index 92%
rename from system/sensord/sensors/i2c_sensor.h
rename to sunnypilot/system/sensord/sensors/i2c_sensor.h
index e6d328ce72..6513db7934 100644
--- a/system/sensord/sensors/i2c_sensor.h
+++ b/sunnypilot/system/sensord/sensors/i2c_sensor.h
@@ -9,8 +9,8 @@
 #include "common/gpio.h"
 
 #include "common/swaglog.h"
-#include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/sensor.h"
+#include "sunnypilot/system/sensord/sensors/constants.h"
+#include "sunnypilot/system/sensord/sensors/sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb);
 int16_t read_16_bit(uint8_t lsb, uint8_t msb);
diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
similarity index 99%
rename from system/sensord/sensors/lsm6ds3_accel.cc
rename to sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
index 03533e0657..2857106944 100644
--- a/system/sensord/sensors/lsm6ds3_accel.cc
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/lsm6ds3_accel.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_accel.h"
 
 #include <cassert>
 #include <cmath>
diff --git a/system/sensord/sensors/lsm6ds3_accel.h b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
similarity index 96%
rename from system/sensord/sensors/lsm6ds3_accel.h
rename to sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
index 69667cb759..2ac61c5a0f 100644
--- a/system/sensord/sensors/lsm6ds3_accel.h
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_ACCEL_I2C_ADDR       0x6A
diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
similarity index 98%
rename from system/sensord/sensors/lsm6ds3_gyro.cc
rename to sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
index bb560edeab..e881f3942a 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.cc
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/lsm6ds3_gyro.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h"
 
 #include <cassert>
 #include <cmath>
diff --git a/system/sensord/sensors/lsm6ds3_gyro.h b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
similarity index 96%
rename from system/sensord/sensors/lsm6ds3_gyro.h
rename to sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
index adaae62dd2..686a6a7169 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.h
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_GYRO_I2C_ADDR       0x6A
diff --git a/system/sensord/sensors/lsm6ds3_temp.cc b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
similarity index 94%
rename from system/sensord/sensors/lsm6ds3_temp.cc
rename to sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
index f481614154..390f192a2d 100644
--- a/system/sensord/sensors/lsm6ds3_temp.cc
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/lsm6ds3_temp.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_temp.h"
 
 #include <cassert>
 
diff --git a/system/sensord/sensors/lsm6ds3_temp.h b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
similarity index 91%
rename from system/sensord/sensors/lsm6ds3_temp.h
rename to sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
index 1b5b621814..c314d456e8 100644
--- a/system/sensord/sensors/lsm6ds3_temp.h
+++ b/sunnypilot/system/sensord/sensors/lsm6ds3_temp.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_TEMP_I2C_ADDR       0x6A
diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
similarity index 97%
rename from system/sensord/sensors/mmc5603nj_magn.cc
rename to sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
index 0e8ba967e3..12d438ebd1 100644
--- a/system/sensord/sensors/mmc5603nj_magn.cc
+++ b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.cc
@@ -1,4 +1,4 @@
-#include "system/sensord/sensors/mmc5603nj_magn.h"
+#include "sunnypilot/system/sensord/sensors/mmc5603nj_magn.h"
 
 #include <algorithm>
 #include <cassert>
diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
similarity index 94%
rename from system/sensord/sensors/mmc5603nj_magn.h
rename to sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
index 9c0fbd2521..9311631c06 100644
--- a/system/sensord/sensors/mmc5603nj_magn.h
+++ b/sunnypilot/system/sensord/sensors/mmc5603nj_magn.h
@@ -2,7 +2,7 @@
 
 #include <vector>
 
-#include "system/sensord/sensors/i2c_sensor.h"
+#include "sunnypilot/system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define MMC5603NJ_I2C_ADDR       0x30
diff --git a/system/sensord/sensors/sensor.h b/sunnypilot/system/sensord/sensors/sensor.h
similarity index 100%
rename from system/sensord/sensors/sensor.h
rename to sunnypilot/system/sensord/sensors/sensor.h
diff --git a/system/sensord/sensors_qcom2.cc b/sunnypilot/system/sensord/sensors_qcom2.cc
similarity index 89%
rename from system/sensord/sensors_qcom2.cc
rename to sunnypilot/system/sensord/sensors_qcom2.cc
index f9f51539c9..f4ecc7fc21 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/sunnypilot/system/sensord/sensors_qcom2.cc
@@ -14,15 +14,15 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/bmx055_gyro.h"
-#include "system/sensord/sensors/bmx055_magn.h"
-#include "system/sensord/sensors/bmx055_temp.h"
-#include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/lsm6ds3_accel.h"
-#include "system/sensord/sensors/lsm6ds3_gyro.h"
-#include "system/sensord/sensors/lsm6ds3_temp.h"
-#include "system/sensord/sensors/mmc5603nj_magn.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_accel.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_gyro.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_magn.h"
+#include "sunnypilot/system/sensord/sensors/bmx055_temp.h"
+#include "sunnypilot/system/sensord/sensors/constants.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_accel.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_gyro.h"
+#include "sunnypilot/system/sensord/sensors/lsm6ds3_temp.h"
+#include "sunnypilot/system/sensord/sensors/mmc5603nj_magn.h"
 
 #define I2C_BUS_IMU 1
 
diff --git a/sunnypilot/system/sensord/tests/test_sensord.py b/sunnypilot/system/sensord/tests/test_sensord.py
new file mode 100644
index 0000000000..dc5f93d97b
--- /dev/null
+++ b/sunnypilot/system/sensord/tests/test_sensord.py
@@ -0,0 +1,251 @@
+import os
+import pytest
+import time
+import numpy as np
+from collections import namedtuple, defaultdict
+
+import cereal.messaging as messaging
+from cereal import log
+from cereal.services import SERVICE_LIST
+from openpilot.common.gpio import get_irqs_for_action
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.manager.process_config import managed_processes
+
+BMX = {
+  ('bmx055', 'acceleration'),
+  ('bmx055', 'gyroUncalibrated'),
+  ('bmx055', 'magneticUncalibrated'),
+  ('bmx055', 'temperature'),
+}
+
+LSM = {
+  ('lsm6ds3', 'acceleration'),
+  ('lsm6ds3', 'gyroUncalibrated'),
+  ('lsm6ds3', 'temperature'),
+}
+LSM_C = {(x[0]+'trc', x[1]) for x in LSM}
+
+MMC = {
+  ('mmc5603nj', 'magneticUncalibrated'),
+}
+
+SENSOR_CONFIGURATIONS: list[set] = [
+  BMX | LSM,
+  MMC | LSM,
+  BMX | LSM_C,
+  MMC| LSM_C,
+]
+if HARDWARE.get_device_type() == "mici":
+  SENSOR_CONFIGURATIONS = [
+    LSM,
+    LSM_C,
+  ]
+
+Sensor = log.SensorEventData.SensorSource
+SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
+ALL_SENSORS = {
+  Sensor.lsm6ds3: {
+    SensorConfig("acceleration", 5, 15),
+    SensorConfig("gyroUncalibrated", 0, .2),
+    SensorConfig("temperature", 0, 60),
+  },
+
+  Sensor.lsm6ds3trc: {
+    SensorConfig("acceleration", 5, 15),
+    SensorConfig("gyroUncalibrated", 0, .2),
+    SensorConfig("temperature", 0, 60),
+  },
+
+  Sensor.bmx055: {
+    SensorConfig("acceleration", 5, 15),
+    SensorConfig("gyroUncalibrated", 0, .2),
+    SensorConfig("magneticUncalibrated", 0, 300),
+    SensorConfig("temperature", 0, 60),
+  },
+
+  Sensor.mmc5603nj: {
+    SensorConfig("magneticUncalibrated", 0, 300),
+  }
+}
+
+
+def get_irq_count(irq: int):
+  with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
+    per_cpu = map(int, f.read().split(","))
+    return sum(per_cpu)
+
+def read_sensor_events(duration_sec):
+  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
+                  'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
+  socks = {}
+  poller = messaging.Poller()
+  events = defaultdict(list)
+  for stype in sensor_types:
+    socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100)
+
+  # wait for sensors to come up
+  with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"):
+    while len(poller.poll(250)) == 0:
+      pass
+  time.sleep(1)
+  for s in socks.values():
+    messaging.drain_sock_raw(s)
+
+  st = time.monotonic()
+  while time.monotonic() - st < duration_sec:
+    for s in socks:
+      events[s] += messaging.drain_sock(socks[s])
+    time.sleep(0.1)
+
+  assert sum(map(len, events.values())) != 0, "No sensor events collected!"
+
+  return {k: v for k, v in events.items() if len(v) > 0}
+
+@pytest.mark.tici
+class TestSensord:
+  @classmethod
+  def setup_class(cls):
+    # enable LSM self test
+    os.environ["LSM_SELF_TEST"] = "1"
+
+    # read initial sensor values every test case can use
+    os.system("pkill -f \\\\./sensord")
+    try:
+      managed_processes["sensord"].start()
+      cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10"))
+      cls.events = read_sensor_events(cls.sample_secs)
+
+      # determine sensord's irq
+      cls.sensord_irq = get_irqs_for_action("sensord")[0]
+    finally:
+      # teardown won't run if this doesn't succeed
+      managed_processes["sensord"].stop()
+
+  @classmethod
+  def teardown_class(cls):
+    managed_processes["sensord"].stop()
+
+  def teardown_method(self):
+    managed_processes["sensord"].stop()
+
+  def test_sensors_present(self):
+    # verify correct sensors configuration
+    seen = set()
+    for etype in self.events:
+      for measurement in self.events[etype]:
+        m = getattr(measurement, measurement.which())
+        seen.add((str(m.source), m.which()))
+
+    assert seen in SENSOR_CONFIGURATIONS
+
+  def test_lsm6ds3_timing(self, subtests):
+    # verify measurements are sampled and published at 104Hz
+
+    sensor_t = {
+      1: [], # accel
+      5: [], # gyro
+    }
+
+    for measurement in self.events['accelerometer']:
+      m = getattr(measurement, measurement.which())
+      sensor_t[m.sensor].append(m.timestamp)
+
+    for measurement in self.events['gyroscope']:
+      m = getattr(measurement, measurement.which())
+      sensor_t[m.sensor].append(m.timestamp)
+
+    for s, vals in sensor_t.items():
+      with subtests.test(sensor=s):
+        assert len(vals) > 0
+        tdiffs = np.diff(vals) / 1e6 # millis
+
+        high_delay_diffs = list(filter(lambda d: d >= 20., tdiffs))
+        assert len(high_delay_diffs) < 15, f"Too many large diffs: {high_delay_diffs}"
+
+        avg_diff = sum(tdiffs)/len(tdiffs)
+        avg_freq = 1. / (avg_diff * 1e-3)
+        assert 92. < avg_freq < 114., f"avg freq {avg_freq}Hz wrong, expected 104Hz"
+
+        stddev = np.std(tdiffs)
+        assert stddev < 2.0, f"Standard-dev to big {stddev}"
+
+  def test_sensor_frequency(self, subtests):
+    for s, msgs in self.events.items():
+      with subtests.test(sensor=s):
+        freq = len(msgs) / self.sample_secs
+        ef = SERVICE_LIST[s].frequency
+        assert ef*0.85 <= freq <= ef*1.15
+
+  def test_logmonottime_timestamp_diff(self):
+    # ensure diff between the message logMonotime and sample timestamp is small
+
+    tdiffs = list()
+    for etype in self.events:
+      for measurement in self.events[etype]:
+        m = getattr(measurement, measurement.which())
+
+        # check if gyro and accel timestamps are before logMonoTime
+        if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature':
+          err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}"
+          assert m.timestamp < measurement.logMonoTime, err_msg
+
+        # negative values might occur, as non interrupt packages created
+        # before the sensor is read
+        tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
+
+    # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
+    high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
+    assert len(high_delay_diffs) < 20, f"Too many measurements published: {high_delay_diffs}"
+
+    avg_diff = round(sum(tdiffs)/len(tdiffs), 4)
+    assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
+
+  def test_sensor_values(self):
+    sensor_values = dict()
+    for etype in self.events:
+      for measurement in self.events[etype]:
+        m = getattr(measurement, measurement.which())
+        key = (m.source.raw, m.which())
+        values = getattr(m, m.which())
+
+        if hasattr(values, 'v'):
+          values = values.v
+        values = np.atleast_1d(values)
+
+        if key in sensor_values:
+          sensor_values[key].append(values)
+        else:
+          sensor_values[key] = [values]
+
+    # Sanity check sensor values
+    for sensor, stype in sensor_values:
+      for s in ALL_SENSORS[sensor]:
+        if s.type != stype:
+          continue
+
+        key = (sensor, s.type)
+        mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
+        err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
+        assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
+
+  def test_sensor_verify_no_interrupts_after_stop(self):
+    managed_processes["sensord"].start()
+    time.sleep(3)
+
+    # read /proc/interrupts to verify interrupts are received
+    state_one = get_irq_count(self.sensord_irq)
+    time.sleep(1)
+    state_two = get_irq_count(self.sensord_irq)
+
+    error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}"
+    assert state_one != state_two, error_msg
+
+    managed_processes["sensord"].stop()
+    time.sleep(1)
+
+    # read /proc/interrupts to verify no more interrupts are received
+    state_one = get_irq_count(self.sensord_irq)
+    time.sleep(1)
+    state_two = get_irq_count(self.sensord_irq)
+    assert state_one == state_two, "Interrupts received after sensord stop!"
diff --git a/system/sensord/tests/ttff_test.py b/sunnypilot/system/sensord/tests/ttff_test.py
similarity index 100%
rename from system/sensord/tests/ttff_test.py
rename to sunnypilot/system/sensord/tests/ttff_test.py
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 4292c23509..9773eec090 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -23,6 +23,7 @@ from typing import cast
 from collections.abc import Callable
 
 import requests
+from requests.adapters import HTTPAdapter, DEFAULT_POOLBLOCK
 from jsonrpc import JSONRPCResponseManager, dispatcher
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
@@ -30,8 +31,8 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.api import Api
-from openpilot.common.file_helpers import CallbackReader, get_upload_stream
+from openpilot.common.api import Api, get_key_pair
+from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
@@ -56,6 +57,11 @@ WS_FRAME_SIZE = 4096
 DEVICE_STATE_UPDATE_INTERVAL = 1.0  # in seconds
 DEFAULT_UPLOAD_PRIORITY = 99  # higher number = lower priority
 
+# https://bytesolutions.com/dscp-tos-cos-precedence-conversion-chart,
+# https://en.wikipedia.org/wiki/Differentiated_services
+UPLOAD_TOS = 0x20  # CS1, low priority background traffic
+SSH_TOS = 0x90  # AF42, DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
+
 NetworkType = log.DeviceState.NetworkType
 
 UploadFileDict = dict[str, str | int | float | bool]
@@ -64,6 +70,17 @@ UploadItemDict = dict[str, str | bool | int | float | dict[str, str]]
 UploadFilesToUrlResponse = dict[str, int | list[UploadItemDict] | list[str]]
 
 
+class UploadTOSAdapter(HTTPAdapter):
+  def init_poolmanager(self, connections, maxsize, block=DEFAULT_POOLBLOCK, **pool_kwargs):
+    pool_kwargs["socket_options"] = [(socket.IPPROTO_IP, socket.IP_TOS, UPLOAD_TOS)]
+    super().init_poolmanager(connections, maxsize, block, **pool_kwargs)
+
+
+UPLOAD_SESS = requests.Session()
+UPLOAD_SESS.mount("http://", UploadTOSAdapter())
+UPLOAD_SESS.mount("https://", UploadTOSAdapter())
+
+
 @dataclass
 class UploadFile:
   fn: str
@@ -136,7 +153,7 @@ class UploadQueueCache:
     try:
       upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
-        for item in json.loads(upload_queue_json):
+        for item in upload_queue_json:
           upload_queue.put(UploadItem.from_dict(item))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.initialize.exception")
@@ -146,7 +163,7 @@ class UploadQueueCache:
     try:
       queue: list[UploadItem | None] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      Params().put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", items)
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -299,7 +316,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
+def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -311,10 +328,10 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
   stream = None
   try:
     stream, content_length = get_upload_stream(path, compress)
-    response = requests.put(upload_item.url,
-                            data=CallbackReader(stream, callback, content_length) if callback else stream,
-                            headers={**upload_item.headers, 'Content-Length': str(content_length)},
-                            timeout=30)
+    response = UPLOAD_SESS.put(upload_item.url,
+                               data=CallbackReader(stream, callback, content_length) if callback else stream,
+                               headers={**upload_item.headers, 'Content-Length': str(content_length)},
+                               timeout=30)
     return response
   finally:
     if stream:
@@ -352,7 +369,7 @@ def getVersion() -> dict[str, str]:
 
 
 @dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]:
   destination = {
     "latitude": latitude,
     "longitude": longitude,
@@ -364,20 +381,22 @@ def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = N
   return {"success": 1}
 
 
-def scan_dir(path: str, prefix: str) -> list[str]:
+def scan_dir(path: str, prefix: str, base: str | None = None) -> list[str]:
+  if base is None:
+    base = path
   files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, Paths.log_root())
+      rel_path = os.path.relpath(e.path, base)
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
         # if prefix is a partial dir name, current dir will start with prefix
         # if prefix is a partial file name, prefix with start with dir name
         if rel_path.startswith(prefix) or prefix.startswith(rel_path):
-          files.extend(scan_dir(e.path, prefix))
+          files.extend(scan_dir(e.path, prefix, base))
       else:
         if rel_path.startswith(prefix):
           files.append(rel_path)
@@ -385,7 +404,12 @@ def scan_dir(path: str, prefix: str) -> list[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> list[str]:
-  return scan_dir(Paths.log_root(), prefix)
+  internal_files = scan_dir(Paths.log_root(), prefix, Paths.log_root())
+  try:
+    external_files = scan_dir(Paths.log_root_external(), prefix, Paths.log_root_external())
+  except FileNotFoundError:
+    external_files = []
+  return sorted(set(internal_files + external_files))
 
 
 @dispatcher.add_method
@@ -410,8 +434,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
+    path_internal = os.path.join(Paths.log_root(), file.fn)
+    path_external = os.path.join(Paths.log_root_external(), file.fn)
+    if os.path.exists(path_internal) or os.path.exists(strip_zst_extension(path_internal)):
+      path = path_internal
+    elif os.path.exists(path_external) or os.path.exists(strip_zst_extension(path_external)):
+      path = path_external
+    else:
       failed.append(file.fn)
       continue
 
@@ -424,7 +453,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       path=path,
       url=file.url,
       headers=file.headers,
-      created_at=int(time.time() * 1000),
+      created_at=int(time.time() * 1000),  # noqa: TID251
       id=None,
       allow_cellular=file.allow_cellular,
       priority=file.priority,
@@ -468,7 +497,7 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
   # maintain a list of the last 10 routes viewed in connect
   params = Params()
 
-  r = params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+  r = params.get("AthenadRecentlyViewedRoutes")
   routes = [] if r is None else r.split(",")
   routes.append(route)
 
@@ -481,7 +510,7 @@ 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')
+  dongle_id = Params().get("DongleId")
   identity_token = Api(dongle_id).get_token()
   ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, enable_multithread=True)
 
@@ -501,8 +530,7 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
       raise Exception("Requested local port not whitelisted")
 
     # 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)
+    ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, SSH_TOS)
 
     ssock, csock = socket.socketpair()
     local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -526,21 +554,18 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
 
 @dispatcher.add_method
 def getPublicKey() -> str | None:
-  if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
-    return None
-
-  with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
-    return f.read()
+  _, _, public_key = get_key_pair()
+  return public_key
 
 
 @dispatcher.add_method
 def getSshAuthorizedKeys() -> str:
-  return Params().get("GithubSshKeys", encoding='utf8') or ''
+  return cast(str, Params().get("GithubSshKeys") or "")
 
 
 @dispatcher.add_method
 def getGithubUsername() -> str:
-  return Params().get("GithubUsername", encoding='utf8') or ''
+  return cast(str, Params().get("GithubUsername") or "")
 
 @dispatcher.add_method
 def getSimInfo():
@@ -565,7 +590,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
-  from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from openpilot.system.camerad.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
@@ -583,7 +608,7 @@ def takeSnapshot() -> str | dict[str, str] | None:
 
 def get_logs_to_send_sorted(log_attr_name=LOG_ATTR_NAME) -> list[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
-  curr_time = int(time.time())
+  curr_time = int(time.time())  # noqa: TID251
   logs = []
   for log_entry in os.listdir(Paths.swaglog_root()):
     log_path = os.path.join(Paths.swaglog_root(), log_entry)
@@ -681,7 +706,7 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
         log_entry = log_files.pop() # newest log file
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
-          curr_time = int(time.time())
+          curr_time = int(time.time())  # noqa: TID251
           log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, log_attr_name, int.to_bytes(curr_time, 4, sys.byteorder))
 
@@ -716,26 +741,40 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
       cloudlog.exception("athena.log_handler.exception")
 
 
-def stat_handler(end_event: threading.Event) -> None:
-  STATS_DIR = Paths.stats_root()
+def stat_handler(end_event: threading.Event, stats_dir=None, is_sunnylink=False) -> None:
+  stats_dir = stats_dir or Paths.stats_root()
   last_scan = 0.0
 
   while not end_event.is_set():
     curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
-        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
+        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(stats_dir)))
         if len(stat_filenames) > 0:
-          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
+          stat_path = os.path.join(stats_dir, stat_filenames[0])
           with open(stat_path) as f:
+            payload = f.read()
+            is_compressed = False
+
+            # Log the current size of the file
+            if is_sunnylink:
+              # Compress and encode the data if it exceeds the maximum size
+              compressed_data = gzip.compress(payload.encode())
+              payload = base64.b64encode(compressed_data).decode()
+              is_compressed = True
+
             jsonrpc = {
               "method": "storeStats",
               "params": {
-                "stats": f.read()
+                "stats": payload
               },
               "jsonrpc": "2.0",
               "id": stat_filenames[0]
             }
+
+            if is_sunnylink and is_compressed:
+              jsonrpc["params"]["compressed"] = is_compressed
+
             low_priority_send_queue.put_nowait(json.dumps(jsonrpc))
           os.remove(stat_path)
         last_scan = curr_scan
@@ -804,7 +843,7 @@ def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
         last_ping = int(time.monotonic() * 1e9)
-        Params().put("LastAthenaPingTime", str(last_ping))
+        Params().put("LastAthenaPingTime", last_ping)
     except WebSocketTimeoutException:
       ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
@@ -862,14 +901,14 @@ def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main(exit_event: threading.Event = None):
+def main(exit_event: threading.Event | None = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
     cloudlog.exception("failed to set core affinity")
 
   params = Params()
-  dongle_id = params.get("DongleId", encoding='utf-8')
+  dongle_id = params.get("DongleId")
   UploadQueueCache.initialize(upload_queue)
 
   ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
diff --git a/system/athena/manage_athenad.py b/system/athena/manage_athenad.py
index 7158cd9220..98557db06a 100755
--- a/system/athena/manage_athenad.py
+++ b/system/athena/manage_athenad.py
@@ -18,7 +18,7 @@ def main():
 
 def manage_athenad(dongle_id_param, pid_param, process_name, target):
   params = Params()
-  dongle_id = params.get(dongle_id_param, encoding='utf-8')
+  dongle_id = params.get(dongle_id_param)
   build_metadata = get_build_metadata()
 
   cloudlog.bind_global(dongle_id=dongle_id,
diff --git a/system/athena/registration.py b/system/athena/registration.py
index d1e54181b8..26a2adb1af 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -2,11 +2,13 @@
 import time
 import json
 import jwt
+from typing import cast
 from pathlib import Path
 
 from datetime import datetime, timedelta, UTC
-from openpilot.common.api import api_get
+from openpilot.common.api import api_get, get_key_pair
 from openpilot.common.params import Params
+from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
@@ -16,7 +18,7 @@ from openpilot.common.swaglog import cloudlog
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
 
 def is_registered_device() -> bool:
-  dongle = Params().get("DongleId", encoding='utf-8')
+  dongle = Params().get("DongleId")
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
@@ -32,27 +34,23 @@ def register(show_spinner=False) -> str | None:
   """
   params = Params()
 
-  dongle_id: str | None = params.get("DongleId", encoding='utf8')
+  dongle_id: str | None = params.get("DongleId")
   if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
     # not all devices will have this; added early in comma 3X production (2/28/24)
     with open(Paths.persist_root()+"/comma/dongle_id") as f:
       dongle_id = f.read().strip()
 
-  pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
-  if not pubkey.is_file():
+  # Create registration token, in the future, this key will make JWTs directly
+  jwt_algo, private_key, public_key = get_key_pair()
+
+  if not public_key:
     dongle_id = UNREGISTERED_DONGLE_ID
-    cloudlog.warning(f"missing public key: {pubkey}")
+    cloudlog.warning("missing public key")
   elif dongle_id is None:
     if show_spinner:
-      from openpilot.system.ui.spinner import Spinner
       spinner = Spinner()
       spinner.update("registering device")
 
-    # Create registration token, in the future, this key will make JWTs directly
-    with open(Paths.persist_root()+"/comma/id_rsa.pub") as f1, open(Paths.persist_root()+"/comma/id_rsa") as f2:
-      public_key = f1.read()
-      private_key = f2.read()
-
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
@@ -72,7 +70,9 @@ def register(show_spinner=False) -> str | None:
     start_time = time.monotonic()
     while True:
       try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256')
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
+        cloudlog.info("getting pilotauth")
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                        imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
@@ -98,7 +98,7 @@ def register(show_spinner=False) -> str | None:
 
   if dongle_id:
     params.put("DongleId", dongle_id)
-    set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
+    set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
 
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index dd82325815..5b3e0b41f4 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -19,7 +19,7 @@ from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
-from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
 from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
   with Timeout(2, 'HTTP Server seeding failed'):
     while True:
       try:
-        requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
+        UPLOAD_SESS.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
         break
       except requests.exceptions.ConnectionError:
         time.sleep(0.1)
@@ -66,9 +66,9 @@ class TestAthenadMethods:
   def setup_method(self):
     self.default_params = {
       "DongleId": "0000000000000000",
-      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
-      "GithubUsername": b"commaci",
-      "AthenadUploadQueue": '[]',
+      "GithubSshKeys": "ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
+      "GithubUsername": "commaci",
+      "AthenadUploadQueue": [],
     }
 
     self.params = Params()
@@ -91,13 +91,13 @@ class TestAthenadMethods:
 
   @staticmethod
   def _wait_for_upload():
-    now = time.time()
-    while time.time() - now < 5:
+    now = time.monotonic()
+    while time.monotonic() - now < 5:
       if athenad.upload_queue.qsize() == 0:
         break
 
   @staticmethod
-  def _create_file(file: str, parent: str = None, data: bytes = b'') -> str:
+  def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     with open(fn, 'wb') as f:
@@ -190,11 +190,11 @@ class TestAthenadMethods:
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
     upload_fn = fn + ('.zst' if compress else '')
-    item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
     with pytest.raises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')  # noqa: TID251
     resp = athenad._do_upload(item)
     assert resp.status_code == 201
 
@@ -226,7 +226,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_upload_handler(self, host):
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -239,10 +239,10 @@ class TestAthenadMethods:
   @pytest.mark.parametrize("status,retry", [(500,True), (412,False)])
   @with_upload_handler
   def test_upload_handler_retry(self, mocker, host, status, retry):
-    mock_put = mocker.patch('requests.put')
+    mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
     mock_put.return_value.__enter__.return_value.status_code = status
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -257,7 +257,7 @@ class TestAthenadMethods:
   def test_upload_handler_timeout(self):
     """When an upload times out or fails to connect it should be placed back in the queue"""
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
     item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
 
     athenad.upload_queue.put_nowait(item_no_retry)
@@ -278,7 +278,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_cancel_upload(self):
     item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
-                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)  # noqa: TID251
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
@@ -312,7 +312,7 @@ class TestAthenadMethods:
   @with_upload_handler
   def test_list_upload_queue_current(self, host: str):
     fn = self._create_file('qlog.zst')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -331,7 +331,7 @@ class TestAthenadMethods:
         path=fp,
         url=f"http://localhost:44444/{fn}",
         headers={},
-        created_at=int(time.time()*1000),
+        created_at=int(time.time()*1000),  # noqa: TID251
         id='',
         allow_cellular=True,
         priority=i
@@ -343,7 +343,7 @@ class TestAthenadMethods:
 
   def test_list_upload_queue(self):
     item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
-                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)  # noqa: TID251
     athenad.upload_queue.put_nowait(item)
 
     items = dispatcher["listUploadQueue"]()
@@ -356,8 +356,8 @@ class TestAthenadMethods:
     assert len(items) == 0
 
   def test_upload_queue_persistence(self):
-    item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1')
-    item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2')
+    item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1')  # noqa: TID251
+    item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2')  # noqa: TID251
 
     athenad.upload_queue.put_nowait(item1)
     athenad.upload_queue.put_nowait(item2)
@@ -400,11 +400,11 @@ class TestAthenadMethods:
 
   def test_get_ssh_authorized_keys(self):
     keys = dispatcher["getSshAuthorizedKeys"]()
-    assert keys == self.default_params["GithubSshKeys"].decode('utf-8')
+    assert keys == self.default_params["GithubSshKeys"]
 
   def test_get_github_username(self):
     keys = dispatcher["getGithubUsername"]()
-    assert keys == self.default_params["GithubUsername"].decode('utf-8')
+    assert keys == self.default_params["GithubUsername"]
 
   def test_get_version(self):
     resp = dispatcher["getVersion"]()
diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py
index 025df7d614..8ff1e37a5d 100644
--- a/system/athena/tests/test_athenad_ping.py
+++ b/system/athena/tests/test_athenad_ping.py
@@ -28,7 +28,7 @@ class TestAthenadPing:
   exit_event: threading.Event
 
   def _get_ping_time(self) -> str | None:
-    return cast(str | None, self.params.get("LastAthenaPingTime", encoding="utf-8"))
+    return cast(str | None, self.params.get("LastAthenaPingTime"))
 
   def _clear_ping_time(self) -> None:
     self.params.remove("LastAthenaPingTime")
@@ -42,7 +42,7 @@ class TestAthenadPing:
 
   def setup_method(self) -> None:
     self.params = Params()
-    self.dongle_id = self.params.get("DongleId", encoding="utf-8")
+    self.dongle_id = self.params.get("DongleId")
 
     wifi_radio(True)
     self._clear_ping_time()
diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py
index c1dabb78ec..c20722659a 100644
--- a/system/athena/tests/test_registration.py
+++ b/system/athena/tests/test_registration.py
@@ -49,7 +49,7 @@ class TestRegistration:
     dongle = register()
     assert m.call_count == 0
     assert dongle == UNREGISTERED_DONGLE_ID
-    assert self.params.get("DongleId", encoding='utf-8') == dongle
+    assert self.params.get("DongleId") == dongle
 
   def test_missing_cache(self, mocker):
     # keys exist but no dongle id
@@ -63,7 +63,7 @@ class TestRegistration:
     # call again, shouldn't hit the API this time
     assert register() == dongle
     assert m.call_count == 1
-    assert self.params.get("DongleId", encoding='utf-8') == dongle
+    assert self.params.get("DongleId") == dongle
 
   def test_unregistered(self, mocker):
     # keys exist, but unregistered
@@ -73,4 +73,4 @@ class TestRegistration:
     dongle = register()
     assert m.call_count == 1
     assert dongle == UNREGISTERED_DONGLE_ID
-    assert self.params.get("DongleId", encoding='utf-8') == dongle
+    assert self.params.get("DongleId") == dongle
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index fe5cf87b78..c28330b32c 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,10 +1,10 @@
-Import('env', 'arch', 'messaging', 'common', 'gpucommon', 'visionipc')
+Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
-libs = [common, 'OpenCL', messaging, visionipc, gpucommon]
+libs = [common, messaging, visionipc]
 
 if arch != "Darwin":
   camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
-                           'cameras/cdm.cc', 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
+                           'cameras/cdm.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc'])
   env.Program('camerad', ['main.cc', camera_obj], LIBS=libs)
 
 if GetOption("extras") and arch == "x86_64":
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 1f6ad9b4be..329192b63a 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,7 @@
 #include "system/camerad/cameras/spectra.h"
 
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
   vipc_server = v;
   stream_type = type;
   frame_buf_count = frame_cnt;
@@ -21,16 +21,11 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
     for (int i = 0; i < frame_buf_count; i++) {
       camera_bufs_raw[i].allocate(raw_frame_size);
-      camera_bufs_raw[i].init_cl(device_id, context);
     }
-    LOGD("allocated %d CL buffers", frame_buf_count);
+    LOGD("allocated %d buffers", frame_buf_count);
   }
 
-  // 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;
-
-  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
 }
 
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c26859cbc4..7f35e06a83 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -36,7 +36,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+  void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
   void sendFrameToVipc();
 };
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 8c4602bb31..6a7f599ab6 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,16 +12,8 @@
 #include <string>
 #include <vector>
 
-#ifdef QCOM2
-#include "CL/cl_ext_qcom.h"
-#else
-#define CL_PRIORITY_HINT_HIGH_QCOM NULL
-#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
-#endif
-
 #include "media/cam_sensor_cmn_header.h"
 
-#include "common/clutil.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 
@@ -50,14 +42,14 @@ public:
 
   Rect ae_xywh = {};
   float measured_grey_fraction = 0;
-  float target_grey_fraction = 0.3;
+  float target_grey_fraction = 0.125;
 
   float fl_pix = 0;
   std::unique_ptr<PubMaster> pm;
 
   CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
   ~CameraState();
-  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void init(VisionIpcServer *v);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
   void set_exposure_rect();
@@ -68,8 +60,8 @@ public:
   }
 };
 
-void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
-  camera.camera_open(v, device_id, ctx);
+void CameraState::init(VisionIpcServer *v) {
+  camera.camera_open(v);
 
   if (!camera.enabled) return;
 
@@ -89,7 +81,7 @@ void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
   std::vector<std::pair<Rect, float>> ae_targets = {
     // (Rect, F)
-    std::make_pair((Rect){96, 250, 1734, 524}, 567.0),  // wide
+    std::make_pair((Rect){96, 400, 1734, 524}, 567.0),  // wide
     std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road
     std::make_pair((Rect){96, 242, 1736, 906}, 567.0)   // driver
   };
@@ -257,11 +249,7 @@ void CameraState::sendState() {
 void camerad_thread() {
   // TODO: centralize enabled handling
 
-  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
-  cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
-
-  VisionIpcServer v("camerad", device_id, ctx);
+  VisionIpcServer v("camerad");
 
   // *** initial ISP init ***
   SpectraMaster m;
@@ -271,7 +259,7 @@ void camerad_thread() {
   std::vector<std::unique_ptr<CameraState>> cams;
   for (const auto &config : ALL_CAMERA_CONFIGS) {
     auto cam = std::make_unique<CameraState>(&m, config);
-    cam->init(&v, device_id, ctx);
+    cam->init(&v);
     cams.emplace_back(std::move(cam));
   }
 
diff --git a/system/camerad/cameras/hw.h b/system/camerad/cameras/hw.h
index d299627ce9..f20a1b3ade 100644
--- a/system/camerad/cameras/hw.h
+++ b/system/camerad/cameras/hw.h
@@ -13,7 +13,7 @@ typedef enum {
   ISP_BPS_PROCESSED,  // fully processed image through the BPS
 } SpectraOutputType;
 
-// For the comma 3/3X three camera platform
+// For the comma 3X three camera platform
 
 struct CameraConfig {
   int camera_num;
diff --git a/system/camerad/cameras/nv12_info.h b/system/camerad/cameras/nv12_info.h
new file mode 100644
index 0000000000..e8eb117406
--- /dev/null
+++ b/system/camerad/cameras/nv12_info.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <tuple>
+
+#include "third_party/linux/include/msm_media_info.h"
+
+// Returns NV12 aligned (stride, y_height, uv_height, buffer_size) for the given frame dimensions.
+inline std::tuple<uint32_t, uint32_t, uint32_t, uint32_t> get_nv12_info(int width, int height) {
+  const uint32_t stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  const uint32_t y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, height);
+  const uint32_t size = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+
+  // Sanity checks for NV12 format assumptions
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
+  assert(y_height / 2 == uv_height);
+  assert((stride * y_height) % 0x1000 == 0);  // uv_offset must be page-aligned
+
+  return {stride, y_height, uv_height, size};
+}
diff --git a/system/camerad/cameras/nv12_info.py b/system/camerad/cameras/nv12_info.py
new file mode 100644
index 0000000000..bcb6312d2b
--- /dev/null
+++ b/system/camerad/cameras/nv12_info.py
@@ -0,0 +1,21 @@
+# Python version of system/camerad/cameras/nv12_info.h
+# Calculations from third_party/linux/include/msm_media_info.h (VENUS_BUFFER_SIZE)
+
+def align(val: int, alignment: int) -> int:
+  return ((val + alignment - 1) // alignment) * alignment
+
+def get_nv12_info(width: int, height: int) -> tuple[int, int, int, int]:
+  """Returns (stride, y_height, uv_height, buffer_size) for NV12 frame dimensions."""
+  stride = align(width, 128)
+  y_height = align(height, 32)
+  uv_height = align(height // 2, 16)
+
+  # VENUS_BUFFER_SIZE for NV12
+  y_plane = stride * y_height
+  uv_plane = stride * uv_height + 4096
+  size = y_plane + uv_plane + max(16 * 1024, 8 * stride)
+  size = align(size, 4096)
+  size += align(width, 512) * 512  # kernel padding for non-aligned frames
+  size = align(size, 4096)
+
+  return stride, y_height, uv_height, size
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 47ae9061f4..73e0a78da3 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -12,11 +12,11 @@
 #include "media/cam_isp_ife.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-#include "third_party/linux/include/msm_media_info.h"
 
 #include "common/util.h"
 #include "common/swaglog.h"
 #include "system/camerad/cameras/ife.h"
+#include "system/camerad/cameras/nv12_info.h"
 #include "system/camerad/cameras/spectra.h"
 #include "system/camerad/cameras/bps_blobs.h"
 
@@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() {
   return ret;
 }
 
-void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+void SpectraCamera::camera_open(VisionIpcServer *v) {
   if (!openSensor()) {
     return;
   }
@@ -286,17 +286,8 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   // 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);
-  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(y_height/2 == uv_height);
+  std::tie(stride, y_height, uv_height, yuv_size) = get_nv12_info(buf.out_img_width, buf.out_img_height);
+  uv_offset = stride * y_height;
 
   open = true;
   configISP();
@@ -305,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
   linkDevices();
 
   LOGD("camera init %d", cc.camera_num);
-  buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
+  buf.init(this, v, ife_buf_depth, cc.stream_type);
   camera_map_bufs();
   clearAndRequeue(1);
 }
@@ -1004,9 +995,8 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new AR0231) &&
-      !init_sensor_lambda(new OX03C10) &&
-      !init_sensor_lambda(new OS04C10)) {
+  if (!init_sensor_lambda(new OS04C10) &&
+      !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
     return false;
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 13cb13f98f..a02b8a6cac 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -113,7 +113,7 @@ public:
   SpectraCamera(SpectraMaster *master, const CameraConfig &config);
   ~SpectraCamera();
 
-  void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+  void camera_open(VisionIpcServer *v);
   bool handle_camera_event(const cam_req_mgr_message *event_data);
   void camera_close();
   void camera_map_bufs();
diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc
deleted file mode 100644
index e4ae29f079..0000000000
--- a/system/camerad/sensors/ar0231.cc
+++ /dev/null
@@ -1,136 +0,0 @@
-#include <cassert>
-#include <cmath>
-
-#include "system/camerad/sensors/sensor.h"
-
-namespace {
-
-const size_t AR0231_REGISTERS_HEIGHT = 2;
-// TODO: this extra height is universal and doesn't apply per camera
-const size_t AR0231_STATS_HEIGHT = 2 + 8;
-
-const float sensor_analog_gains_AR0231[] = {
-    1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0,  // 0, 1, 2, 3
-    3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0,  // 4, 5, 6, 7
-    5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
-    7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
-
-}  // namespace
-
-AR0231::AR0231() {
-  image_sensor = cereal::FrameData::ImageSensor::AR0231;
-  bayer_pattern = CAM_ISP_PATTERN_BAYER_GRGRGR;
-  pixel_size_mm = 0.003;
-  data_word = true;
-  frame_width = 1928;
-  frame_height = 1208;
-  frame_stride = (frame_width * 12 / 8) + 4;
-  extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT;
-
-  registers_offset = 0;
-  frame_offset = AR0231_REGISTERS_HEIGHT;
-  stats_offset = AR0231_REGISTERS_HEIGHT + frame_height;
-
-  start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231));
-  init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231));
-  probe_reg_addr = 0x3000;
-  probe_expected_data = 0x354;
-  bits_per_pixel = 12;
-  mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x12;  // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
-  mclk_frequency = 19200000; //Hz
-
-  readout_time_ns = 22850000;
-
-  dc_gain_factor = 2.5;
-  dc_gain_min_weight = 0;
-  dc_gain_max_weight = 1;
-  dc_gain_on_grey = 0.2;
-  dc_gain_off_grey = 0.3;
-  exposure_time_min = 2;       // with HDR, fastest ss
-  exposure_time_max = 0x0855;  // with HDR, slowest ss, 40ms
-  analog_gain_min_idx = 0x1;   // 0.25x
-  analog_gain_rec_idx = 0x6;   // 0.8x
-  analog_gain_max_idx = 0xD;   // 4.0x
-  analog_gain_cost_delta = 0;
-  analog_gain_cost_low = 0.1;
-  analog_gain_cost_high = 5.0;
-  for (int i = 0; i <= analog_gain_max_idx; i++) {
-    sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
-  }
-  min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
-  max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
-  target_grey_factor = 1.0;
-
-  black_level = 168;
-  color_correct_matrix = {
-    0x000000af, 0x00000ff9, 0x00000fd8,
-    0x00000fbc, 0x000000bb, 0x00000009,
-    0x00000fb6, 0x00000fe0, 0x000000ea,
-  };
-  for (int i = 0; i < 65; i++) {
-    float fx = i / 64.0;
-    const float gamma_k = 0.75;
-    const float gamma_b = 0.125;
-    const float mp = 0.01; // ideally midpoint should be adaptive
-    const float rk = 9 - 100*mp;
-    // poly approximation for s curve
-    fx = (fx > mp) ?
-      ((rk * (fx-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(fx-mp))) + gamma_k*mp + gamma_b) :
-      ((rk * (fx-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(fx-mp))) + gamma_k*mp + gamma_b);
-    gamma_lut_rgb.push_back((uint32_t)(fx*1023.0 + 0.5));
-  }
-  prepare_gamma_lut();
-  linearization_lut = {
-    0x02000000, 0x02000000, 0x02000000, 0x02000000,
-    0x020007ff, 0x020007ff, 0x020007ff, 0x020007ff,
-    0x02000bff, 0x02000bff, 0x02000bff, 0x02000bff,
-    0x020017ff, 0x020017ff, 0x020017ff, 0x020017ff,
-    0x02001bff, 0x02001bff, 0x02001bff, 0x02001bff,
-    0x020023ff, 0x020023ff, 0x020023ff, 0x020023ff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-    0x00003fff, 0x00003fff, 0x00003fff, 0x00003fff,
-  };
-  linearization_pts = {0x07ff0bff, 0x17ff1bff, 0x23ff3fff, 0x3fff3fff};
-  vignetting_lut = {
-    0x00eaa755, 0x00cf2679, 0x00bc05e0, 0x00acc566, 0x00a1450a, 0x009984cc, 0x0095a4ad, 0x009584ac, 0x009944ca, 0x00a0c506, 0x00ac0560, 0x00bb25d9, 0x00ce2671, 0x00e90748, 0x01112889, 0x014a2a51, 0x01984cc2,
-    0x00db06d8, 0x00c30618, 0x00afe57f, 0x00a0a505, 0x009524a9, 0x008d646b, 0x0089844c, 0x0089644b, 0x008d2469, 0x0094a4a5, 0x009fe4ff, 0x00af0578, 0x00c20610, 0x00d986cc, 0x00fda7ed, 0x01320990, 0x017aebd7,
-    0x00d1868c, 0x00baa5d5, 0x00a7853c, 0x009844c2, 0x008cc466, 0x0085a42d, 0x0083641b, 0x0083641b, 0x0085842c, 0x008c4462, 0x0097a4bd, 0x00a6c536, 0x00b9a5cd, 0x00d06683, 0x00f1678b, 0x01226913, 0x0167ab3d,
-    0x00cd0668, 0x00b625b1, 0x00a30518, 0x0093c49e, 0x00884442, 0x00830418, 0x0080e407, 0x0080c406, 0x0082e417, 0x0087c43e, 0x00932499, 0x00a22511, 0x00b525a9, 0x00cbe65f, 0x00eb0758, 0x011a68d3, 0x015daaed,
-    0x00cc4662, 0x00b565ab, 0x00a24512, 0x00930498, 0x0087843c, 0x0082a415, 0x00806403, 0x00806403, 0x00828414, 0x00870438, 0x00926493, 0x00a1850c, 0x00b465a3, 0x00cb2659, 0x00ea2751, 0x011928c9, 0x015c2ae1,
-    0x00cf667b, 0x00b885c4, 0x00a5652b, 0x009624b1, 0x008aa455, 0x00846423, 0x00822411, 0x00822411, 0x00844422, 0x008a2451, 0x009564ab, 0x00a48524, 0x00b785bc, 0x00ce4672, 0x00ee6773, 0x011e88f4, 0x0162eb17,
-    0x00d6c6b6, 0x00bf65fb, 0x00ac4562, 0x009d04e8, 0x0091848c, 0x0089c44e, 0x00862431, 0x00860430, 0x0089844c, 0x00910488, 0x009c64e3, 0x00ab655b, 0x00be65f3, 0x00d566ab, 0x00f847c2, 0x012b2959, 0x01726b93,
-    0x00e3e71f, 0x00ca0650, 0x00b705b8, 0x00a7a53d, 0x009c24e1, 0x009484a4, 0x00908484, 0x00908484, 0x009424a1, 0x009bc4de, 0x00a70538, 0x00b625b1, 0x00c90648, 0x00e26713, 0x0108e847, 0x013fe9ff, 0x018bcc5e,
-    0x00f807c0, 0x00d966cb, 0x00c5862c, 0x00b625b1, 0x00aaa555, 0x00a30518, 0x009f04f8, 0x009f04f8, 0x00a2a515, 0x00aa2551, 0x00b585ac, 0x00c4a625, 0x00d846c2, 0x00f647b2, 0x0121a90d, 0x015e4af2, 0x01b8cdc6,
-    0x011548aa, 0x00f1678b, 0x00d886c4, 0x00c86643, 0x00bce5e7, 0x00b545aa, 0x00b1658b, 0x00b1458a, 0x00b505a8, 0x00bc85e4, 0x00c7c63e, 0x00d786bc, 0x00efe77f, 0x0113489a, 0x0144ea27, 0x01888c44, 0x01fdcfee,
-    0x013e49f2, 0x0113e89f, 0x00f5a7ad, 0x00e0c706, 0x00d30698, 0x00cb665b, 0x00c7663b, 0x00c7663b, 0x00cb0658, 0x00d2a695, 0x00dfe6ff, 0x00f467a3, 0x01122891, 0x013be9df, 0x01750ba8, 0x01cfae7d, 0x025912c8,
-    0x01766bb3, 0x01446a23, 0x011fc8fe, 0x0105e82f, 0x00f467a3, 0x00e9874c, 0x00e46723, 0x00e44722, 0x00e92749, 0x00f3a79d, 0x0104c826, 0x011e48f2, 0x01424a12, 0x01738b9c, 0x01bf6dfb, 0x023611b0, 0x02ced676,
-    0x01cf8e7c, 0x01866c33, 0x015aaad5, 0x013ae9d7, 0x01250928, 0x011768bb, 0x0110a885, 0x01108884, 0x0116e8b7, 0x01242921, 0x0139a9cd, 0x0158eac7, 0x01840c20, 0x01cb0e58, 0x0233719b, 0x02b9d5ce, 0x03645b22,
-  };
-}
-
-std::vector<i2c_random_wr_payload> AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {
-  uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
-  return {
-    {0x3366, analog_gain_reg},
-    {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
-    {0x3012, (uint16_t)exposure_time},
-  };
-}
-
-int AR0231::getSlaveAddress(int port) const {
-  assert(port >= 0 && port <= 2);
-  return (int[]){0x20, 0x30, 0x20}[port];
-}
-
-float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const {
-  // Cost of ev diff
-  float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
-  // Cost of absolute gain
-  float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
-  score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
-  // Cost of changing gain
-  score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
-  return score;
-}
diff --git a/system/camerad/sensors/ar0231_cl.h b/system/camerad/sensors/ar0231_cl.h
deleted file mode 100644
index c79242543b..0000000000
--- a/system/camerad/sensors/ar0231_cl.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#if SENSOR_ID == 1
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define PV_MAX 4096
-#define BLACK_LVL 168
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
-  corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
-  corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  // tone mapping params
-  const float gamma_k = 0.75;
-  const float gamma_b = 0.125;
-  const float mp = 0.01; // ideally midpoint should be adaptive
-  const float rk = 9 - 100*mp;
-
-  // poly approximation for s curve
-  return (rgb > mp) ?
-    ((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
-    ((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
-}
-
-#endif
diff --git a/system/camerad/sensors/ar0231_registers.h b/system/camerad/sensors/ar0231_registers.h
deleted file mode 100644
index e0872a673a..0000000000
--- a/system/camerad/sensors/ar0231_registers.h
+++ /dev/null
@@ -1,121 +0,0 @@
-#pragma once
-
-const struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}};
-const struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}};
-
-const struct i2c_random_wr_payload init_array_ar0231[] = {
-  {0x301A, 0x0018}, // RESET_REGISTER
-
-  // **NOTE**: if this is changed, readout_time_ns must be updated in the Sensor config
-
-  // CLOCK Settings
-  // input clock is 19.2 / 2 * 0x37 = 528 MHz
-  // pixclk is 528 / 6 = 88 MHz
-  // full roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*FRAME_LENGTH_LINES)) = 39.99 ms
-  // img  roll time is 1000/(PIXCLK/(LINE_LENGTH_PCK*Y_OUTPUT_CONTROL))   = 22.85 ms
-  {0x302A, 0x0006}, // VT_PIX_CLK_DIV
-  {0x302C, 0x0001}, // VT_SYS_CLK_DIV
-  {0x302E, 0x0002}, // PRE_PLL_CLK_DIV
-  {0x3030, 0x0037}, // PLL_MULTIPLIER
-  {0x3036, 0x000C}, // OP_PIX_CLK_DIV
-  {0x3038, 0x0001}, // OP_SYS_CLK_DIV
-
-  // FORMAT
-  {0x3040, 0xC000}, // READ_MODE
-  {0x3004, 0x0000}, // X_ADDR_START_
-  {0x3008, 0x0787}, // X_ADDR_END_
-  {0x3002, 0x0000}, // Y_ADDR_START_
-  {0x3006, 0x04B7}, // Y_ADDR_END_
-  {0x3032, 0x0000}, // SCALING_MODE
-  {0x30A2, 0x0001}, // X_ODD_INC_
-  {0x30A6, 0x0001}, // Y_ODD_INC_
-  {0x3402, 0x0788}, // X_OUTPUT_CONTROL
-  {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
-  {0x3064, 0x1982}, // SMIA_TEST
-  {0x30BA, 0x11F2}, // DIGITAL_CTRL
-
-  // Enable external trigger and disable GPIO outputs
-  {0x30CE, 0x0120}, // SLAVE_SH_SYNC_MODE | FRAME_START_MODE
-  {0x340A, 0xE0},   // GPIO3_INPUT_DISABLE | GPIO2_INPUT_DISABLE | GPIO1_INPUT_DISABLE
-  {0x340C, 0x802},  // GPIO_HIDRV_EN | GPIO0_ISEL=2
-
-  // Readout timing
-  {0x300C, 0x0672}, // LINE_LENGTH_PCK (valid for 3-exposure HDR)
-  {0x300A, 0x0855}, // FRAME_LENGTH_LINES
-  {0x3042, 0x0000}, // EXTRA_DELAY
-
-  // Readout Settings
-  {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
-  {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
-  {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
-  {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
-  {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
-  {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
-  {0x3344, 0x0011}, // MIPI_F1_VDT_VC
-  {0x3348, 0x0111}, // MIPI_F2_VDT_VC
-  {0x334C, 0x0211}, // MIPI_F3_VDT_VC
-  {0x3350, 0x0311}, // MIPI_F4_VDT_VC
-  {0x31B0, 0x0053}, // FRAME_PREAMBLE
-  {0x31B2, 0x003B}, // LINE_PREAMBLE
-  {0x301A, 0x001C}, // RESET_REGISTER
-
-  // Noise Corrections
-  {0x3092, 0x0C24}, // ROW_NOISE_CONTROL
-  {0x337A, 0x0C80}, // DBLC_SCALE0
-  {0x3370, 0x03B1}, // DBLC
-  {0x3044, 0x0400}, // DARK_CONTROL
-
-  // Enable temperature sensor
-  {0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
-  {0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
-
-  // Enable dead pixel correction using
-  // the 1D line correction scheme
-  {0x31E0, 0x0003},
-
-  // HDR Settings
-  {0x3082, 0x0004}, // OPERATION_MODE_CTRL
-  {0x3238, 0x0444}, // EXPOSURE_RATIO
-
-  {0x1008, 0x0361}, // FINE_INTEGRATION_TIME_MIN
-  {0x100C, 0x0589}, // FINE_INTEGRATION_TIME2_MIN
-  {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
-  {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
-
-  // TODO: do these have to be lower than LINE_LENGTH_PCK?
-  {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
-  {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
-
-  {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
-  {0x33DA, 0x0000}, // COMPANDING
-  {0x318E, 0x0200}, // PRE_HDR_GAIN_EN
-
-  // DLO Settings
-  {0x3100, 0x4000}, // DLO_CONTROL0
-  {0x3280, 0x0CCC}, // T1 G1
-  {0x3282, 0x0CCC}, // T1 R
-  {0x3284, 0x0CCC}, // T1 B
-  {0x3286, 0x0CCC}, // T1 G2
-  {0x3288, 0x0FA0}, // T2 G1
-  {0x328A, 0x0FA0}, // T2 R
-  {0x328C, 0x0FA0}, // T2 B
-  {0x328E, 0x0FA0}, // T2 G2
-
-   // Initial Gains
-  {0x3022, 0x0001}, // GROUPED_PARAMETER_HOLD_
-  {0x3366, 0xFF77}, // ANALOG_GAIN (1x)
-
-  {0x3060, 0x3333}, // ANALOG_COLOR_GAIN
-
-  {0x3362, 0x0000}, // DC GAIN
-
-  {0x305A, 0x00F8}, // red gain
-  {0x3058, 0x0122}, // blue gain
-  {0x3056, 0x009A}, // g1 gain
-  {0x305C, 0x009A}, // g2 gain
-
-  {0x3022, 0x0000}, // GROUPED_PARAMETER_HOLD_
-
-  // Initial Integration Time
-  {0x3012, 0x0005},
-};
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 38be4ecca4..62c26ca809 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -51,7 +52,7 @@ OS04C10::OS04C10() {
   probe_expected_data = 0x5304;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c;
+  frame_data_type = CSI_RAW12;
   mclk_frequency = 24000000; // Hz
 
   // TODO: this was set from logs. actually calculate it out
diff --git a/system/camerad/sensors/os04c10_cl.h b/system/camerad/sensors/os04c10_cl.h
deleted file mode 100644
index 3b5cf88839..0000000000
--- a/system/camerad/sensors/os04c10_cl.h
+++ /dev/null
@@ -1,58 +0,0 @@
-#if SENSOR_ID == 3
-
-#define BGGR
-#define VIGNETTE_PROFILE_4DT6MM
-
-#define BIT_DEPTH 12
-#define PV_MAX10 1023
-#define PV_MAX12 4095
-#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
-#define BLACK_LVL 48
-
-float combine_dual_pvs(float lv, float sv, int expo_time) {
-  float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));
-  float svd = sv * fmin(expo_time, 8.0) / 8;
-
-  if (expo_time > 64) {
-    if (lv < PV_MAX10 - BLACK_LVL) {
-      return lv / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return (svc / 64) / (PV_MAX16 - BLACK_LVL);
-    }
-  } else {
-    if (lv > 32) {
-      return (lv * 64 / fmax(expo_time, 8.0)) / (PV_MAX16 - BLACK_LVL);
-    } else {
-      return svd / (PV_MAX16 - BLACK_LVL);
-    }
-  }
-}
-
-float4 normalize_pv_hdr(int4 parsed, int4 short_parsed, float vignette_factor, int expo_time) {
-  float4 pl = convert_float4(parsed - BLACK_LVL);
-  float4 ps = convert_float4(short_parsed - BLACK_LVL);
-  float4 pv;
-  pv.s0 = combine_dual_pvs(pl.s0, ps.s0, expo_time);
-  pv.s1 = combine_dual_pvs(pl.s1, ps.s1, expo_time);
-  pv.s2 = combine_dual_pvs(pl.s2, ps.s2, expo_time);
-  pv.s3 = combine_dual_pvs(pl.s3, ps.s3, expo_time);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX12 - BLACK_LVL);
-  return clamp(pv*vignette_factor, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
-  corrected += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
-  corrected += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return (10 * rgb) / (1 + 9 * rgb);
-}
-
-#endif
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 7cd9e97be5..28d6b3310c 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,10 +4,10 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
-  {0x0103, 0x01},
+  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  {0x0103, 0x01}, // software reset
 
-  // PLL
+  // PLL + clocks
   {0x0301, 0xe4},
   {0x0303, 0x01},
   {0x0305, 0xb6},
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3106, 0x21},
   {0x3107, 0xa1},
 
-  // ?
+  // Analog/timing fine-tuning block
   {0x3624, 0x00},
   {0x3625, 0x4c},
   {0x3660, 0x04},
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3f00, 0x0b},
   {0x3f06, 0x04},
 
-  // BLC
+  // BLC - black level correction
   {0x400a, 0x01},
   {0x400b, 0x50},
   {0x400e, 0x08},
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5180, 0x70},
   {0x5181, 0x10},
 
-  // DPC
+  // DPC - defective pixel correction
   {0x520a, 0x03},
   {0x520b, 0x06},
   {0x520c, 0x0c},
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4008, 0x01},
   {0x4009, 0x06},
 
-  // FSIN
+  // FSIN - frame sync
   {0x3002, 0x22},
   {0x3663, 0x22},
   {0x368a, 0x04},
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // initialize exposure
   {0x3503, 0x88},
 
-  // long
+  // long exposure
   {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
   {0x3508, 0x00}, {0x3509, 0x80},
   {0x350a, 0x04}, {0x350b, 0x00},
 
-  // short
+  // short exposure
   {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
   {0x350c, 0x00}, {0x350d, 0x80},
   {0x350e, 0x04}, {0x350f, 0x00},
 
-  // wb
+  // white balance
   // b
   {0x5100, 0x06}, {0x5101, 0x7e},
   {0x5140, 0x06}, {0x5141, 0x7e},
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
 };
 
 const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x3c8c, 0x40},
   {0x3714, 0x24},
   {0x37c2, 0x04},
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 6f7e658f48..05d58f03c6 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -40,8 +41,8 @@ OX03C10::OX03C10() {
   probe_expected_data = 0x5803;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
-  mclk_frequency = 24000000; //Hz
+  frame_data_type = CSI_RAW12;
+  mclk_frequency = 24000000; // Hz
 
   readout_time_ns = 14697000;
 
diff --git a/system/camerad/sensors/ox03c10_cl.h b/system/camerad/sensors/ox03c10_cl.h
deleted file mode 100644
index c8cec7cf8a..0000000000
--- a/system/camerad/sensors/ox03c10_cl.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#if SENSOR_ID == 2
-
-#define VIGNETTE_PROFILE_8DT0MM
-
-#define BIT_DEPTH 12
-#define BLACK_LVL 64
-
-float ox_lut_func(int x) {
-  if (x < 512) {
-    return x * 5.94873e-8;
-  } else if (512 <= x && x < 768) {
-    return 3.0458e-05 + (x-512) * 1.19913e-7;
-  } else if (768 <= x && x < 1536) {
-    return 6.1154e-05 + (x-768) * 2.38493e-7;
-  } else if (1536 <= x && x < 1792) {
-    return 0.0002448 + (x-1536) * 9.56930e-7;
-  } else if (1792 <= x && x < 2048) {
-    return 0.00048977 + (x-1792) * 1.91441e-6;
-  } else if (2048 <= x && x < 2304) {
-    return 0.00097984 + (x-2048) * 3.82937e-6;
-  } else if (2304 <= x && x < 2560) {
-    return 0.0019601 + (x-2304) * 7.659055e-6;
-  } else if (2560 <= x && x < 2816) {
-    return 0.0039207 + (x-2560) * 1.525e-5;
-  } else {
-    return 0.0078421 + (exp((x-2816)/273.0) - 1) * 0.0092421;
-  }
-}
-
-float4 normalize_pv(int4 parsed, float vignette_factor) {
-  // PWL
-  float4 pv = {ox_lut_func(parsed.s0), ox_lut_func(parsed.s1), ox_lut_func(parsed.s2), ox_lut_func(parsed.s3)};
-  return clamp(pv*vignette_factor*256.0, 0.0, 1.0);
-}
-
-float3 color_correct(float3 rgb) {
-  float3 corrected = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
-  corrected += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
-  corrected += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
-  return corrected;
-}
-
-float3 apply_gamma(float3 rgb, int expo_time) {
-  return -0.507089*exp(-12.54124638*rgb) + 0.9655*powr(rgb, 0.5) - 0.472597*rgb + 0.507089;
-}
-
-#endif
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index d4be3cf036..96aa8b604f 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -10,7 +10,6 @@
 #include "media/cam_sensor.h"
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "system/camerad/sensors/ar0231_registers.h"
 #include "system/camerad/sensors/ox03c10_registers.h"
 #include "system/camerad/sensors/os04c10_registers.h"
 
@@ -88,17 +87,6 @@ public:
   };
 };
 
-class AR0231 : public SensorInfo {
-public:
-  AR0231();
-  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;
-
-private:
-  mutable std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
-};
-
 class OX03C10 : public SensorInfo {
 public:
   OX03C10();
diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot.py
similarity index 87%
rename from system/camerad/snapshot/snapshot.py
rename to system/camerad/snapshot.py
index b3369891d7..035a4acdcf 100755
--- a/system/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot.py
@@ -43,9 +43,15 @@ def yuv_to_rgb(y, u, v):
 
 
 def extract_image(buf):
+  # NV12 format: Y plane followed by interleaved UV plane
+  # UV plane size is stride * uv_height, where uv_height = align(height/2, 16)
+  uv_height = ((buf.height // 2) + 15) // 16 * 16
+  uv_plane_size = buf.stride * uv_height
+
   y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
-  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
-  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  uv_data = buf.data[buf.uv_offset:buf.uv_offset + uv_plane_size]
+  u = np.array(uv_data[::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(uv_data[1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
 
   return yuv_to_rgb(y, u, v)
 
diff --git a/system/camerad/test/check_skips.py b/system/camerad/test/check_skips.py
deleted file mode 100755
index 0814ce44ff..0000000000
--- a/system/camerad/test/check_skips.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-# type: ignore
-import cereal.messaging as messaging
-
-all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
-prev_id = [None,None,None]
-this_id = [None,None,None]
-dt = [None,None,None]
-num_skipped = [0,0,0]
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(all_sockets)
-  while True:
-    sm.update()
-
-    for i in range(len(all_sockets)):
-      if not sm.updated[all_sockets[i]]:
-        continue
-      this_id[i] = sm[all_sockets[i]].frameId
-      if prev_id[i] is None:
-        prev_id[i] = this_id[i]
-        continue
-      dt[i] = this_id[i] - prev_id[i]
-      if dt[i] != 1:
-        num_skipped[i] += dt[i] - 1
-        print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
-      prev_id[i] = this_id[i]
diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
deleted file mode 100755
index 21409f398d..0000000000
--- a/system/camerad/test/get_thumbnails_for_segment.py
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-from tqdm import tqdm
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("route", help="The route name")
-  args = parser.parse_args()
-
-  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
-  os.makedirs(out_path, exist_ok=True)
-
-  lr = LogReader(args.route)
-
-  for msg in tqdm(lr):
-    if msg.which() == 'thumbnail':
-      with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f:
-        f.write(msg.thumbnail.thumbnail)
-    elif msg.which() == 'navThumbnail':
-      with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f:
-        f.write(msg.navThumbnail.thumbnail)
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index ab76985972..5f8de86899 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -3,51 +3,103 @@ import time
 import pytest
 import numpy as np
 
-import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
+from openpilot.system.camerad.snapshot import get_snapshots
+from openpilot.selfdrive.test.helpers import collect_logs, log_collector, processes_context
 
 TEST_TIMESPAN = 10
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
+EXPOSURE_STABLE_COUNT = 3
+EXPOSURE_RANGE = (0.15, 0.35)
+MAX_TEST_TIME = 25
+
+
+def _numpy_rgb2gray(im):
+  return np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
+
+def _exposure_stats(im):
+  h, w = im.shape[:2]
+  gray = _numpy_rgb2gray(im[h//10:9*h//10, w//10:9*w//10])
+  return float(np.median(gray) / 255.), float(np.mean(gray) / 255.)
+
+def _in_range(median, mean):
+  lo, hi = EXPOSURE_RANGE
+  return lo < median < hi and lo < mean < hi
+
+def _exposure_stable(results):
+  return all(
+    len(v) >= EXPOSURE_STABLE_COUNT and all(_in_range(*s) for s in v[-EXPOSURE_STABLE_COUNT:])
+    for v in results.values()
+  )
 
 
 def run_and_log(procs, services, duration):
-  logs = []
-
-  try:
-    for p in procs:
-      managed_processes[p].start()
-    socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in services]
-
-    start_time = time.monotonic()
-    while time.monotonic() - start_time < duration:
-      for s in socks:
-        logs.extend(messaging.drain_sock(s))
-    for p in procs:
-      assert managed_processes[p].proc.is_alive()
-  finally:
-    for p in procs:
-      managed_processes[p].stop()
-
-  return logs
+  with processes_context(procs):
+    return collect_logs(services, duration)
 
 @pytest.fixture(scope="module")
-def logs():
-  logs = run_and_log(["camerad", ], CAMERAS, TEST_TIMESPAN)
-  ts = msgs_to_time_series(logs)
+def _camera_session():
+  """Single camerad session that collects logs and exposure data.
+     Runs until exposure stabilizes (min TEST_TIMESPAN seconds for enough log data)."""
+  with processes_context(["camerad"]), log_collector(CAMERAS) as (raw_logs, lock):
+    exposure = {cam: [] for cam in CAMERAS}
+    start = time.monotonic()
+    while time.monotonic() - start < MAX_TEST_TIME:
+      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
+      wpic, _ = get_snapshots(frame="wideRoadCameraState")
+      for cam, img in zip(CAMERAS, [rpic, dpic, wpic], strict=True):
+        exposure[cam].append(_exposure_stats(img))
+
+      if time.monotonic() - start >= TEST_TIMESPAN and _exposure_stable(exposure):
+        break
+
+    elapsed = time.monotonic() - start
+
+  with lock:
+    ts = msgs_to_time_series(raw_logs)
 
   for cam in CAMERAS:
-    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    expected_frames = SERVICE_LIST[cam].frequency * elapsed
     cnt = len(ts[cam]['t'])
     assert expected_frames*0.8 < cnt < expected_frames*1.2, f"unexpected frame count {cam}: {expected_frames=}, got {cnt}"
 
     dts = np.abs(np.diff([ts[cam]['timestampSof']/1e6]) - 1000/SERVICE_LIST[cam].frequency)
     assert (dts < 1.0).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
-  return ts
+
+  return ts, exposure
+
+@pytest.fixture(scope="module")
+def logs(_camera_session):
+  return _camera_session[0]
+
+@pytest.fixture(scope="module")
+def exposure_data(_camera_session):
+  return _camera_session[1]
 
 @pytest.mark.tici
 class TestCamerad:
+  @pytest.mark.parametrize("cam", CAMERAS)
+  def test_camera_exposure(self, exposure_data, cam):
+    lo, hi = EXPOSURE_RANGE
+    checks = exposure_data[cam]
+    assert len(checks) >= EXPOSURE_STABLE_COUNT, f"{cam}: only got {len(checks)} samples"
+
+    # check that exposure converges into the valid range
+    passed = sum(_in_range(med, mean) for med, mean in checks)
+    assert passed >= EXPOSURE_STABLE_COUNT, \
+      f"{cam}: only {passed}/{len(checks)} checks in range. " + \
+      " | ".join(f"#{i+1}: med={m:.4f} mean={u:.4f}" for i, (m, u) in enumerate(checks))
+
+    # check that exposure is stable once converged (no regressions)
+    in_range = False
+    for i, (median, mean) in enumerate(checks):
+      ok = _in_range(median, mean)
+      if in_range and not ok:
+        pytest.fail(f"{cam}: exposure regressed on sample {i+1} " +
+                    f"(median={median:.4f}, mean={mean:.4f}, expected: ({lo}, {hi}))")
+      in_range = ok
+
   def test_frame_skips(self, logs):
     for c in CAMERAS:
       assert set(np.diff(logs[c]['frameId'])) == {1, }, f"{c} has frame skips"
@@ -84,11 +136,17 @@ class TestCamerad:
 
       # logMonoTime > SOF
       assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
-      assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7)
+
+      # logMonoTime > EOF, needs some tolerance since EOF is (SOF + readout time) but there is noise in the SOF timestamping (done via IRQ)
+      assert np.mean((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) > 0.7  # should be mostly logMonoTime > EOF
+      assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > -0.10)        # when EOF > logMonoTime, it should never be more than two frames
 
   def test_stress_test(self):
     os.environ['SPECTRA_ERROR_PROB'] = '0.008'
-    logs = run_and_log(["camerad", ], CAMERAS, 10)
+    try:
+      logs = run_and_log(["camerad", ], CAMERAS, 10)
+    finally:
+      del os.environ['SPECTRA_ERROR_PROB']
     ts = msgs_to_time_series(logs)
 
     # we should see some jumps from introduced errors
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
deleted file mode 100644
index 97f03ed182..0000000000
--- a/system/camerad/test/test_exposure.py
+++ /dev/null
@@ -1,51 +0,0 @@
-import time
-import numpy as np
-import pytest
-
-from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.system.camerad.snapshot.snapshot import get_snapshots
-
-TEST_TIME = 45
-REPEAT = 5
-
-@pytest.mark.tici
-class TestCamerad:
-  @classmethod
-  def setup_class(cls):
-    pass
-
-  def _numpy_rgb2gray(self, im):
-    ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
-    return ret
-
-  def _is_exposure_okay(self, i, med_mean=None):
-    if med_mean is None:
-      med_mean = np.array([[0.2,0.4],[0.2,0.6]])
-    h, w = i.shape[:2]
-    i = i[h//10:9*h//10,w//10:9*w//10]
-    med_ex, mean_ex = med_mean
-    i = self._numpy_rgb2gray(i)
-    i_median = np.median(i) / 255.
-    i_mean = np.mean(i) / 255.
-    print([i_median, i_mean])
-    return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
-
-  @with_processes(['camerad'])
-  def test_camera_operation(self):
-    passed = 0
-    start = time.time()
-    while time.time() - start < TEST_TIME and passed < REPEAT:
-      rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
-      wpic, _ = get_snapshots(frame="wideRoadCameraState")
-
-      res = self._is_exposure_okay(rpic)
-      res = res and self._is_exposure_okay(dpic)
-      res = res and self._is_exposure_okay(wpic)
-
-      if passed > 0 and not res:
-        passed = -passed # fails test if any failure after first sus
-        break
-
-      passed += int(res)
-      time.sleep(2)
-    assert passed >= REPEAT
diff --git a/system/hardware/.gitignore b/system/hardware/.gitignore
deleted file mode 100644
index 980f09abfa..0000000000
--- a/system/hardware/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-eon/rat
diff --git a/system/hardware/base.h b/system/hardware/base.h
index baf0f3c3da..3eded659ac 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -10,10 +10,6 @@
 // no-op base hw class
 class HardwareNone {
 public:
-  static constexpr float MAX_VOLUME = 0.7;
-  static constexpr float MIN_VOLUME = 0.2;
-
-  static std::string get_os_version() { return ""; }
   static std::string get_name() { return ""; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
   static int get_voltage() { return 0; }
@@ -25,14 +21,7 @@ public:
     return {};
   }
 
-  static void reboot() {}
-  static void poweroff() {}
-  static void set_brightness(int percent) {}
   static void set_ir_power(int percentage) {}
-  static void set_display_power(bool on) {}
-
-  static bool get_ssh_enabled() { return false; }
-  static void set_ssh_enabled(bool enabled) {}
 
   static bool PC() { return false; }
   static bool TICI() { return false; }
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 1e3b94e44e..1a19f908c6 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -5,6 +5,20 @@ from dataclasses import dataclass, fields
 from cereal import log
 
 NetworkType = log.DeviceState.NetworkType
+NetworkStrength = log.DeviceState.NetworkStrength
+
+class LPAError(RuntimeError):
+  pass
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
 
 @dataclass
 class ThermalZone:
@@ -33,11 +47,13 @@ class ThermalZone:
 class ThermalConfig:
   cpu: list[ThermalZone] | None = None
   gpu: list[ThermalZone] | None = None
+  dsp: ThermalZone | None = None
   pmic: list[ThermalZone] | None = None
   memory: ThermalZone | None = None
   intake: ThermalZone | None = None
   exhaust: ThermalZone | None = None
-  case: ThermalZone | None = None
+  gnss: ThermalZone | None = None
+  bottomSoc: ThermalZone | None = None
 
   def get_msg(self):
     ret = {}
@@ -50,6 +66,34 @@ class ThermalConfig:
           ret[f.name + "TempC"] = v.read()
     return ret
 
+class LPABase(ABC):
+  @abstractmethod
+  def list_profiles(self) -> list[Profile]:
+    pass
+
+  @abstractmethod
+  def get_active_profile(self) -> Profile | None:
+    pass
+
+  @abstractmethod
+  def delete_profile(self, iccid: str) -> None:
+    pass
+
+  @abstractmethod
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    pass
+
+  @abstractmethod
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    pass
+
+  @abstractmethod
+  def switch_profile(self, iccid: str) -> None:
+    pass
+
+  def is_comma_profile(self, iccid: str) -> bool:
+    return any(iccid.startswith(prefix) for prefix in ('8985235',))
+
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:
@@ -68,64 +112,57 @@ class HardwareBase(ABC):
   def booted(self) -> bool:
     return True
 
-  @abstractmethod
   def reboot(self, reason=None):
-    pass
+    print("REBOOT!")
 
-  @abstractmethod
   def uninstall(self):
-    pass
+    print("uninstall")
 
-  @abstractmethod
   def get_os_version(self):
-    pass
+    return None
 
   @abstractmethod
   def get_device_type(self):
     pass
 
-  @abstractmethod
   def get_imei(self, slot) -> str:
-    pass
+    return ""
 
-  @abstractmethod
   def get_serial(self):
-    pass
+    return ""
 
-  @abstractmethod
   def get_network_info(self):
-    pass
+    return None
 
-  @abstractmethod
   def get_network_type(self):
-    pass
+    return NetworkType.none
 
-  @abstractmethod
   def get_sim_info(self):
-    pass
+    return {
+      'sim_id': '',
+      'mcc_mnc': None,
+      'network_type': ["Unknown"],
+      'sim_state': ["ABSENT"],
+      'data_connected': False
+    }
+
+  def get_sim_lpa(self) -> LPABase:
+    raise NotImplementedError("SIM LPA not available")
 
-  @abstractmethod
   def get_network_strength(self, network_type):
-    pass
+    return NetworkStrength.unknown
 
   def get_network_metered(self, network_type) -> bool:
     return network_type not in (NetworkType.none, NetworkType.wifi, NetworkType.ethernet)
 
-  @staticmethod
-  def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None:
-    pass
-
-  @abstractmethod
   def get_current_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def get_som_power_draw(self):
-    pass
+    return 0
 
-  @abstractmethod
   def shutdown(self):
-    pass
+    print("SHUTDOWN!")
 
   def get_thermal_config(self):
     return ThermalConfig()
@@ -133,44 +170,36 @@ class HardwareBase(ABC):
   def set_display_power(self, on: bool):
     pass
 
-  @abstractmethod
   def set_screen_brightness(self, percentage):
     pass
 
-  @abstractmethod
   def get_screen_brightness(self):
-    pass
+    return 0
 
-  @abstractmethod
   def set_power_save(self, powersave_enabled):
     pass
 
-  @abstractmethod
   def get_gpu_usage_percent(self):
-    pass
+    return 0
 
   def get_modem_version(self):
     return None
 
-  @abstractmethod
   def get_modem_temperatures(self):
-    pass
+    return []
 
-  @abstractmethod
-  def get_nvme_temperatures(self):
-    pass
-
-  @abstractmethod
   def initialize_hardware(self):
     pass
 
   def configure_modem(self):
     pass
 
-  @abstractmethod
-  def get_networks(self):
+  def reboot_modem(self):
     pass
 
+  def get_networks(self):
+    return None
+
   def has_internal_panda(self) -> bool:
     return False
 
@@ -182,3 +211,12 @@ class HardwareBase(ABC):
 
   def get_modem_data_usage(self):
     return -1, -1
+
+  def get_voltage(self) -> float:
+    return 0.
+
+  def get_current(self) -> float:
+    return 0.
+
+  def set_ir_power(self, percent: int):
+    pass
diff --git a/system/hardware/esim.py b/system/hardware/esim.py
new file mode 100755
index 0000000000..9b7d4f9ec0
--- /dev/null
+++ b/system/hardware/esim.py
@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+
+import argparse
+import time
+from openpilot.system.hardware import HARDWARE
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
+  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
+  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
+  parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
+  args = parser.parse_args()
+
+  mutated = False
+  lpa = HARDWARE.get_sim_lpa()
+  if args.switch:
+    lpa.switch_profile(args.switch)
+    mutated = True
+  elif args.delete:
+    confirm = input('are you sure you want to delete this profile? (y/N) ')
+    if confirm == 'y':
+      lpa.delete_profile(args.delete)
+      mutated = True
+    else:
+      print('cancelled')
+      exit(0)
+  elif args.download:
+    lpa.download_profile(args.download[0], args.download[1])
+  elif args.nickname:
+    lpa.nickname_profile(args.nickname[0], args.nickname[1])
+  else:
+    parser.print_help()
+
+  if mutated:
+    HARDWARE.reboot_modem()
+    # eUICC needs a small delay post-reboot before querying profiles
+    time.sleep(.5)
+
+  profiles = lpa.list_profiles()
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
+  for p in profiles:
+    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index 7d5bec0509..b2140d33d4 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -1,38 +1,23 @@
 #!/usr/bin/env python3
 import numpy as np
-from abc import ABC, abstractmethod
 
-from openpilot.common.realtime import DT_HW
-from openpilot.common.swaglog import cloudlog
 from openpilot.common.pid import PIDController
 
-class BaseFanController(ABC):
-  @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
-    pass
-
-
-class TiciFanController(BaseFanController):
-  def __init__(self) -> None:
-    super().__init__()
-    cloudlog.info("Setting up TICI fan handler")
 
+class FanController:
+  def __init__(self, rate: int) -> None:
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
+    self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
 
   def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
-    self.controller.pos_limit = -(30 if ignition else 0)
+    self.controller.pos_limit = 100 if ignition else 30
+    self.controller.neg_limit = 30 if ignition else 0
 
     if ignition != self.last_ignition:
       self.controller.reset()
-
-    error = 75 - cur_temp
-    fan_pwr_out = -int(self.controller.update(
-                      error=error,
-                      feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
-                    ))
-
     self.last_ignition = ignition
-    return fan_pwr_out
 
+    return int(self.controller.update(
+                 error=(cur_temp - 75),  # temperature setpoint in C
+                 feedforward=np.interp(cur_temp, [60.0, 100.0], [0, 100])
+              ))
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index bb90c12ba2..60721b6144 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -1,20 +1,18 @@
 #!/usr/bin/env python3
 import fcntl
 import os
-import json
 import queue
 import struct
 import threading
 import time
 from collections import OrderedDict, namedtuple
-from pathlib import Path
 
 import psutil
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.dict_helpers import strip_deprecated_keys
+from openpilot.common.utils import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
@@ -24,8 +22,8 @@ from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
-from openpilot.system.hardware.fan_controller import TiciFanController
-from openpilot.system.version import terms_version, training_version
+from openpilot.system.hardware.fan_controller import FanController
+from openpilot.system.version import terms_version, training_version, get_build_metadata, terms_version_sp
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -34,10 +32,11 @@ CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
 PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
+ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
-                                             'network_metered', 'nvme_temps', 'modem_temps'])
+                                             'network_metered', 'modem_temps'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
@@ -103,8 +102,8 @@ def hw_state_thread(end_event, hw_queue):
 
   modem_version = None
   modem_configured = False
-  modem_restarted = False
   modem_missing_count = 0
+  modem_restart_count = 0
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -121,16 +120,18 @@ def hw_state_thread(end_event, hw_queue):
 
           if modem_version is not None:
             cloudlog.event("modem version", version=modem_version)
-          else:
-            if not modem_restarted:
-              # TODO: we may be able to remove this with a MM update
-              # ModemManager's probing on startup can fail
-              # rarely, restart the service to probe again.
-              modem_missing_count += 1
-              if modem_missing_count > 3:
-                modem_restarted = True
-                cloudlog.event("restarting ModemManager")
-                os.system("sudo systemctl restart --no-block ModemManager")
+
+        if AGNOS and modem_restart_count < 3 and HARDWARE.get_modem_version() is None:
+          # TODO: we may be able to remove this with a MM update
+          # ModemManager's probing on startup can fail
+          # rarely, restart the service to probe again.
+          # Also, AT commands sometimes timeout resulting in ModemManager not
+          # trying to use this modem anymore.
+          modem_missing_count += 1
+          if (modem_missing_count % 4) == 0:
+            modem_restart_count += 1
+            cloudlog.event("restarting ModemManager")
+            os.system("sudo systemctl restart --no-block ModemManager")
 
         tx, rx = HARDWARE.get_modem_data_usage()
 
@@ -140,7 +141,6 @@ def hw_state_thread(end_event, hw_queue):
           network_strength=HARDWARE.get_network_strength(network_type),
           network_stats={'wwanTx': tx, 'wwanRx': rx},
           network_metered=HARDWARE.get_network_metered(network_type),
-          nvme_temps=HARDWARE.get_nvme_temperatures(),
           modem_temps=modem_temps,
         )
 
@@ -170,6 +170,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   onroad_conditions: dict[str, bool] = {
     "ignition": False,
+    "not_onroad_cycle": True,
+    "device_temp_good": True,
   }
   startup_conditions: dict[str, bool] = {}
   startup_conditions_prev: dict[str, bool] = {}
@@ -186,7 +188,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     network_metered=False,
     network_strength=NetworkStrength.unknown,
     network_stats={'wwanTx': -1, 'wwanRx': -1},
-    nvme_temps=[],
     modem_temps=[],
   )
 
@@ -195,21 +196,32 @@ def hardware_thread(end_event, hw_queue) -> None:
   should_start_prev = False
   in_car = False
   engaged_prev = False
+  pwrsave = False
+  offroad_cycle_count = 0
 
   params = Params()
   power_monitor = PowerMonitoring()
 
+  uptime_offroad: float = params.get("UptimeOffroad", return_default=True)
+  uptime_onroad: float = params.get("UptimeOnroad", return_default=True)
+  last_uptime_ts: float = time.monotonic()
+
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
 
-  fan_controller = None
+  fan_controller = FanController(int(1./DT_HW))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
-    peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
+
+    # handle requests to cycle system started state
+    if params.get_bool("OnroadCycleRequested"):
+      params.put_bool("OnroadCycleRequested", False)
+      offroad_cycle_count = sm.frame
+    onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
 
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
@@ -220,18 +232,13 @@ def hardware_thread(end_event, hw_queue) -> None:
 
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
 
-      # Setup fan handler on first connect to panda
-      if fan_controller is None and peripheral_panda_present:
-        if TICI:
-          fan_controller = TiciFanController()
-
     elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
     # Run at 2Hz, plus either edge of ignition
-    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
+    ign_edge = (started_ts is not None) != all(onroad_conditions.values())
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
@@ -258,7 +265,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     if last_hw_state.network_info is not None:
       msg.deviceState.networkInfo = last_hw_state.network_info
 
-    msg.deviceState.nvmeTempC = last_hw_state.nvme_temps
     msg.deviceState.modemTempC = last_hw_state.modem_temps
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
@@ -276,8 +282,7 @@ def hardware_thread(end_event, hw_queue) -> None:
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
-    if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
@@ -295,8 +300,10 @@ def hardware_thread(end_event, hw_queue) -> None:
     # **** starting logic ****
 
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
+    startup_conditions["no_excessive_actuation"] = params.get("Offroad_ExcessiveActuation") is None
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
+    startup_conditions["accepted_terms_sp"] = params.get("HasAcceptedTermsSP") == terms_version_sp
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
@@ -314,7 +321,16 @@ def hardware_thread(end_event, hw_queue) -> None:
     offroad_mode = params.get_bool("OffroadMode")
     startup_conditions["not_always_offroad"] = not offroad_mode
     onroad_conditions["not_always_offroad"] = not offroad_mode
-    set_offroad_alert("OffroadMode_Status", offroad_mode)
+
+    # if an unsupported device and branch is detected, going onroad is blocked
+    # only allow going onroad when:
+    # - TIZI, or
+    # - TICI and channel_type is "tici"
+    build_metadata = get_build_metadata()
+    is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
+    startup_conditions["not_tici"] = not is_unsupported_combo
+    onroad_conditions["not_tici"] = not is_unsupported_combo
+    set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
@@ -322,22 +338,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
-    # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
-    if TICI and HARDWARE.get_device_type() == "tici":
-      if not os.path.isfile("/persist/comma/living-in-the-moment"):
-        if not Path("/data/media").is_mount():
-          set_offroad_alert_if_changed("Offroad_StorageMissing", True)
-        else:
-          # check for bad NVMe
-          try:
-            with open("/sys/block/nvme0n1/device/model") as f:
-              model = f.read().strip()
-            if not model.startswith("Samsung SSD 980") and params.get("Offroad_BadNvme") is None:
-              set_offroad_alert_if_changed("Offroad_BadNvme", True)
-              cloudlog.event("Unsupported NVMe", model=model, error=True)
-          except Exception:
-            pass
-
     # Handle offroad/onroad transition
     should_start = all(onroad_conditions.values())
     if started_ts is None:
@@ -346,7 +346,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsEngaged", False)
       engaged_prev = False
-      HARDWARE.set_power_save(not should_start)
 
     if sm.updated['selfdriveState']:
       engaged = sm['selfdriveState'].enabled
@@ -360,6 +359,11 @@ def hardware_thread(end_event, hw_queue) -> None:
       except Exception:
         pass
 
+    should_pwrsave = not onroad_conditions["ignition"] and msg.deviceState.screenBrightnessPercent < 1e-3
+    if should_pwrsave != pwrsave or (count == 0):
+      HARDWARE.set_power_save(should_pwrsave)
+    pwrsave = should_pwrsave
+
     if should_start:
       off_ts = None
       if started_ts is None:
@@ -382,6 +386,11 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # Offroad power monitoring
     voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
+
+    # GitHub runner auto off: 9V is used as the threshold because most desktop runners
+    # will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
+    params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
+
     power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
@@ -403,7 +412,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     last_ping = params.get("LastAthenaPingTime")
     if last_ping is not None:
-      msg.deviceState.lastAthenaPingTime = int(last_ping)
+      msg.deviceState.lastAthenaPingTime = last_ping
 
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
@@ -421,8 +430,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
     for i, temp in enumerate(msg.deviceState.pmicTempC):
       statlog.gauge(f"pmic{i}_temperature", temp)
-    for i, temp in enumerate(last_hw_state.nvme_temps):
-      statlog.gauge(f"nvme_temperature{i}", temp)
     for i, temp in enumerate(last_hw_state.modem_temps):
       statlog.gauge(f"modem_temperature{i}", temp)
     statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)
@@ -443,12 +450,23 @@ def hardware_thread(end_event, hw_queue) -> None:
       # save last one before going onroad
       if rising_edge_started:
         try:
-          params.put("LastOffroadStatusPacket", json.dumps(dat))
+          params.put("LastOffroadStatusPacket", dat)
         except Exception:
           cloudlog.exception("failed to save offroad status")
 
     params.put_bool_nonblocking("NetworkMetered", msg.deviceState.networkMetered)
 
+    now_ts = time.monotonic()
+    if off_ts:
+      uptime_offroad += now_ts - max(last_uptime_ts, off_ts)
+    elif started_ts:
+      uptime_onroad += now_ts - max(last_uptime_ts, started_ts)
+    last_uptime_ts = now_ts
+
+    if (count % int(60. / DT_HW)) == 0:
+      params.put("UptimeOffroad", uptime_offroad)
+      params.put("UptimeOnroad", uptime_onroad)
+
     count += 1
     should_start_prev = should_start
 
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index d2083a5985..c9af7e8a33 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -5,7 +5,7 @@
 #include "system/hardware/base.h"
 #include "common/util.h"
 
-#if QCOM2
+#if __TICI__
 #include "system/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
@@ -55,4 +55,8 @@ namespace Path {
      return "/dev/shm";
     #endif
  }
+
+  inline std::string model_root() {
+    return Hardware::PC() ? Path::comma_home() + "/media/0/models" : "/data/media/0/models";
+  }
 }  // namespace Path
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 9722e35e30..3527aac872 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -20,6 +20,10 @@ class Paths:
     else:
       return '/data/media/0/realdata/'
 
+  @staticmethod
+  def log_root_external() -> str:
+    return '/mnt/external_realdata/'
+
   @staticmethod
   def swaglog_root() -> str:
     if PC:
@@ -51,6 +55,13 @@ class Paths:
     else:
       return "/data/stats/"
 
+  @staticmethod
+  def stats_sp_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats_sp/"
+
   @staticmethod
   def config_root() -> str:
     if PC:
@@ -77,3 +88,10 @@ class Paths:
       return str(Path(Paths.comma_home()) / "community" / "crashes")
     else:
       return "/data/community/crashes"
+
+  @staticmethod
+  def mapd_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
+    else:
+      return "/data/media/0/osm"
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 978dd771c8..71f58b188b 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -6,7 +6,6 @@
 
 class HardwarePC : public HardwareNone {
 public:
-  static std::string get_os_version() { return "openpilot for PC"; }
   static std::string get_name() { return "pc"; }
   static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 017a449c90..f3d527429c 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,78 +1,12 @@
-import random
-
 from cereal import log
 from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
-NetworkStrength = log.DeviceState.NetworkStrength
 
 
 class Pc(HardwareBase):
-  def get_os_version(self):
-    return None
-
   def get_device_type(self):
     return "pc"
 
-  def reboot(self, reason=None):
-    print("REBOOT!")
-
-  def uninstall(self):
-    print("uninstall")
-
-  def get_imei(self, slot):
-    return f"{random.randint(0, 1 << 32):015d}"
-
-  def get_serial(self):
-    return "cccccccc"
-
-  def get_network_info(self):
-    return None
-
   def get_network_type(self):
     return NetworkType.wifi
-
-  def get_sim_info(self):
-    return {
-      'sim_id': '',
-      'mcc_mnc': None,
-      'network_type': ["Unknown"],
-      'sim_state': ["ABSENT"],
-      'data_connected': False
-    }
-
-  def get_network_strength(self, network_type):
-    return NetworkStrength.unknown
-
-  def get_current_power_draw(self):
-    return 0
-
-  def get_som_power_draw(self):
-    return 0
-
-  def shutdown(self):
-    print("SHUTDOWN!")
-
-  def set_screen_brightness(self, percentage):
-    pass
-
-  def get_screen_brightness(self):
-    return 0
-
-  def set_power_save(self, powersave_enabled):
-    pass
-
-  def get_gpu_usage_percent(self):
-    return 0
-
-  def get_modem_temperatures(self):
-    return []
-
-  def get_nvme_temperatures(self):
-    return []
-
-  def initialize_hardware(self):
-    pass
-
-  def get_networks(self):
-    return None
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index 952aebd9d7..d0a1e623a7 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -29,12 +29,10 @@ class PowerMonitoring:
     self.car_voltage_instant_mV = 12e3          # Last value of peripheralState voltage
     self.integration_lock = threading.Lock()
 
-    car_battery_capacity_uWh = self.params.get("CarBatteryCapacity")
-    if car_battery_capacity_uWh is None:
-      car_battery_capacity_uWh = 0
+    car_battery_capacity_uWh = self.params.get("CarBatteryCapacity") or 0
 
     # Reset capacity if it's low
-    self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
+    self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), car_battery_capacity_uWh)
 
   # Calculation tick
   def calculate(self, voltage: int | None, ignition: bool):
@@ -58,7 +56,7 @@ class PowerMonitoring:
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh)))
+        self.params.put_nonblocking("CarBatteryCapacity", int(self.car_battery_capacity_uWh))
         self.last_save_time = now
 
       # First measurement, set integration time
@@ -114,15 +112,14 @@ class PowerMonitoring:
     :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
+      param = self.params.get("MaxTimeOffroad")
+      sp_max_time_val_s = param * 60 if param is not None and 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
+    return 0 < sp_max_time_val_s <= offroad_time
 
-
-# See if we need to shutdown
+  # 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
diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py
index 002c1edfda..ee39a24f87 100644
--- a/system/hardware/tests/test_fan_controller.py
+++ b/system/hardware/tests/test_fan_controller.py
@@ -1,12 +1,12 @@
 import pytest
 
-from openpilot.system.hardware.fan_controller import TiciFanController
+from openpilot.system.hardware.fan_controller import FanController
 
-ALL_CONTROLLERS = [TiciFanController]
+ALL_CONTROLLERS = [FanController]
 
 def patched_controller(mocker, controller_class):
   mocker.patch("os.system", new=mocker.Mock())
-  return controller_class()
+  return controller_class(2)
 
 class TestFanController:
   def wind_up(self, controller, ignition=True):
diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py
index 3eec13dc4c..451efcd735 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/system/hardware/tests/test_power_monitoring.py
@@ -206,18 +206,18 @@ class TestPowerMonitoring:
       (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
+      (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),
+      (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
+      (-100, 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):
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index a415851a10..e33a26bb2e 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,84 +1,84 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
-    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
-    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247"
+    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
-    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
-    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419"
+    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
-    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
-    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d"
+    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
-    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
-    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "70f682b59ca0fe2f197d1486bd8be7b9b7e560798ad40ddef83b9f0a2f497938"
+    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz",
-    "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
-    "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
-    "size": 18479104,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
+    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
+    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
+    "size": 17496064,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf"
+    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz",
-    "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939",
-    "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
-    "size": 5368709120,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
+    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
+    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+    "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc",
+    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
     "alt": {
-      "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img",
-      "size": 5368709120
+      "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
+      "size": 4718592000
     }
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index be303b7f90..b6718fe97d 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -97,14 +97,14 @@
   },
   {
     "name": "persist",
-    "url": "https://commadist.azureedge.net/agnosupdate/persist-9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d.img.xz",
-    "hash": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d",
-    "hash_raw": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d",
-    "size": 33554432,
+    "url": "https://commadist.azureedge.net/agnosupdate/persist-d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786.img.xz",
+    "hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786",
+    "hash_raw": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786",
+    "size": 4096,
     "sparse": false,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "9814b07851292f510f3794b767489f38ab379a99f0ea75dc620ad2d3a496d54d"
+    "ondevice_hash": "d6af4ec18df180c7417353b52a9e05e43a6480b29425f087874136436cefe786"
   },
   {
     "name": "systemrw",
@@ -130,47 +130,47 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
-    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
-    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
+    "hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
+    "hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247"
+    "ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
-    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
-    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
+    "hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
+    "hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419"
+    "ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
-    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
-    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
+    "hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
+    "hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
     "size": 274432,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
+    "ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
-    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
-    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
+    "hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
+    "hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d"
+    "ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
   },
   {
     "name": "bluetooth",
@@ -207,14 +207,14 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
-    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
-    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
+    "hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
+    "hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "70f682b59ca0fe2f197d1486bd8be7b9b7e560798ad40ddef83b9f0a2f497938"
+    "ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
   },
   {
     "name": "devinfo",
@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425.img.xz",
-    "hash": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
-    "hash_raw": "3d8e848796924081f5a6b3d745808b1117ae2ec41c03f2d41ee2e75633bd6425",
-    "size": 18479104,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756.img.xz",
+    "hash": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
+    "hash_raw": "a0185fa5ffc860de2179e4d0fec703fef6d560eacd730f79f60891ca79c72756",
+    "size": 17496064,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "2075104847d1c96a06f07e85efb9f48d0e792d75a059047eae7ba4b463ffeadf"
+    "ondevice_hash": "0ee1ab104bb46d0f72e7d0b7d3e94629a7644a368896c6d4c558554fb955a08a"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img.xz",
-    "hash": "cb9bfde1e995b97f728f5d5ad8d7a0f7a01544db5d138ead9b2350f222640939",
-    "hash_raw": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
-    "size": 5368709120,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img.xz",
+    "hash": "7c58308be461126677ba02e9c9739556520ee02958934733867d86ecfe2e58e9",
+    "hash_raw": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+    "size": 4718592000,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "e92a1f34158c60364c8d47b8ebbb6e59edf8d4865cd5edfeb2355d6f54f617fc",
+    "ondevice_hash": "826790516410c325aa30265846946d06a556f0a7b23c957f65fd11c055a663da",
     "alt": {
-      "hash": "b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-b22bd239c6f9527596fd49b98b7d521a563f99b90953ce021ee36567498e99c7.img",
-      "size": 5368709120
+      "hash": "0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-0cf8cb01e40d05d6d325afe68b934a6c0dda3a56703b2ef3e3de637d754ae5dd.img",
+      "size": 4718592000
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-4bb7239f7e82c846e4d2584c0c433f03c582a80950de4094e6c190563d6d84ac.img.xz",
-    "hash": "b18001a2a87caa070fabf6321f8215ac353d6444564e3f86329b4dccc039ce54",
-    "hash_raw": "4bb7239f7e82c846e4d2584c0c433f03c582a80950de4094e6c190563d6d84ac",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-ec31b8116125a95755adb32853c401c462a14a74f538535532bf2c34d72c60eb.img.xz",
+    "hash": "aa0f0fe32187493e6135aee9e984d3f9705fc58560d537b34687bb6b51a38428",
+    "hash_raw": "ec31b8116125a95755adb32853c401c462a14a74f538535532bf2c34d72c60eb",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "15ce16f2349d5b4d5fec6ad1e36222b1ae744ed10b8930bc9af75bd244dccb3c"
+    "ondevice_hash": "9c916b7d05543d4608b0401bc867639f44ce9671639a1a6da83b6d58b4eaa1b4"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-e36b59bf9ff755b6ca488df2ba1e20da8f7dab6b8843129f3fdcccd7ff2ff7d8.img.xz",
-    "hash": "12682cf54596ab1bd1c2464c4ca85888e4e06b47af5ff7d0432399e9907e2f64",
-    "hash_raw": "e36b59bf9ff755b6ca488df2ba1e20da8f7dab6b8843129f3fdcccd7ff2ff7d8",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-7f092cc841124c10300e43574e90e3367e983bfbe4faa0969024e79e5ce90b11.img.xz",
+    "hash": "fa83d4b7096857136820b0b0a8785c90677256b054c5c14039cd7b9b1065a90b",
+    "hash_raw": "7f092cc841124c10300e43574e90e3367e983bfbe4faa0969024e79e5ce90b11",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "e4df9dea47ff04967d971263d50c17460ef240457e8d814e7c4f409f7493eb8a"
+    "ondevice_hash": "1699e38de769eb32c21dfa6a5ac21eb3ad620a362c7b8abf1a2c0afe0f717530"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282.img.xz",
-    "hash": "fa471703be0f0647617d183312d5209d23407f1628e4ab0934e6ec54b1a6b263",
-    "hash_raw": "fe1d86f5322c675c58b3ae9753a4670abf44a25746bf6ac822aed108bb577282",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-3df2dcd5e1f426c90b090fdbcd1a95b035d96a4bdaf88d5517245db5ee84f5ed.img.xz",
+    "hash": "890910f20b1ad88a728ee822a47b1234eb3d70cab28ca8a935679c8c2d33cbe9",
+    "hash_raw": "3df2dcd5e1f426c90b090fdbcd1a95b035d96a4bdaf88d5517245db5ee84f5ed",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "0b5b2402c9caa1ed7b832818e66580c974251e735bda91f2f226c41499d5616e"
+    "ondevice_hash": "8e7cb392dd6e49c7d59fa850be7d1f44901314c86ba9c88be5bb27a0cd1123c9"
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index f6b29ec0ce..09436e6ff4 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -1,28 +1,14 @@
 #!/usr/bin/env python3
 import time
-from smbus2 import SMBus
 from collections import namedtuple
 
+from openpilot.common.i2c import SMBus
+
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
 AmpConfig = namedtuple('AmpConfig', ['name', 'value', 'register', 'offset', 'mask'])
-EQParams = namedtuple('EQParams', ['K', 'k1', 'k2', 'c1', 'c2'])
 
-def configs_from_eq_params(base, eq_params):
-  return [
-    AmpConfig("K (high)", (eq_params.K >> 8), base, 0, 0xFF),
-    AmpConfig("K (low)", (eq_params.K & 0xFF), base + 1, 0, 0xFF),
-    AmpConfig("k1 (high)", (eq_params.k1 >> 8), base + 2, 0, 0xFF),
-    AmpConfig("k1 (low)", (eq_params.k1 & 0xFF), base + 3, 0, 0xFF),
-    AmpConfig("k2 (high)", (eq_params.k2 >> 8), base + 4, 0, 0xFF),
-    AmpConfig("k2 (low)", (eq_params.k2 & 0xFF), base + 5, 0, 0xFF),
-    AmpConfig("c1 (high)", (eq_params.c1 >> 8), base + 6, 0, 0xFF),
-    AmpConfig("c1 (low)", (eq_params.c1 & 0xFF), base + 7, 0, 0xFF),
-    AmpConfig("c2 (high)", (eq_params.c2 >> 8), base + 8, 0, 0xFF),
-    AmpConfig("c2 (low)", (eq_params.c2 & 0xFF), base + 9, 0, 0xFF),
-  ]
-
-BASE_CONFIG = [
+CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
@@ -58,47 +44,31 @@ BASE_CONFIG = [
   AmpConfig("Enhanced volume smoothing disabled", 0b0, 0x49, 7, 0b10000000),
   AmpConfig("Volume adjustment smoothing disabled", 0b0, 0x49, 6, 0b01000000),
   AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
+
+  AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+  AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+  AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+  AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+  AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+  AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+  AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+  AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+  AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+  AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+  AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+  AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+  AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+  AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+  AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+  AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+  AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+  AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+  AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
 ]
 
-CONFIGS = {
-  "tici": [
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
-
-    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
-    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
-    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
-    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
-    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
-  ],
-  "tizi": [
-    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
-    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
-    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
-    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
-
-    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
-    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
-    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
-    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
-    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
-    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
-    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
-    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
-    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
-    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
-    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
-    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
-    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
-    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
-    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
-  ],
-}
-
 class Amplifier:
   AMP_I2C_BUS = 0
   AMP_ADDRESS = 0x10
@@ -139,20 +109,15 @@ class Amplifier:
   def set_global_shutdown(self, amp_disabled: bool) -> bool:
     return self.set_configs([self._get_shutdown_config(amp_disabled), ])
 
-  def initialize_configuration(self, model: str) -> bool:
+  def initialize_configuration(self) -> bool:
     cfgs = [
       self._get_shutdown_config(True),
-      *BASE_CONFIG,
-      *CONFIGS[model],
+      *CONFIG,
       self._get_shutdown_config(False),
     ]
     return self.set_configs(cfgs)
 
 
 if __name__ == "__main__":
-  with open("/sys/firmware/devicetree/base/model") as f:
-    model = f.read().strip('\x00')
-  model = model.split('comma ')[-1]
-
   amp = Amplifier()
-  amp.initialize_configuration(model)
+  amp.initialize_configuration()
diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py
deleted file mode 100755
index df76c1a5fd..0000000000
--- a/system/hardware/tici/esim.py
+++ /dev/null
@@ -1,115 +0,0 @@
-#!/usr/bin/env python3
-import os
-import math
-import time
-import binascii
-import requests
-import serial
-import subprocess
-
-
-def post(url, payload):
-  print()
-  print("POST to", url)
-  r = requests.post(
-    url,
-    data=payload,
-    verify=False,
-    headers={
-      "Content-Type": "application/json",
-      "X-Admin-Protocol": "gsma/rsp/v2.2.0",
-      "charset": "utf-8",
-      "User-Agent": "gsma-rsp-lpad",
-    },
-  )
-  print("resp", r)
-  print("resp text", repr(r.text))
-  print()
-  r.raise_for_status()
-
-  ret = f"HTTP/1.1 {r.status_code}"
-  ret += ''.join(f"{k}: {v}" for k, v in r.headers.items() if k != 'Connection')
-  return ret.encode() + r.content
-
-
-class LPA:
-  def __init__(self):
-    self.dev = serial.Serial('/dev/ttyUSB2', baudrate=57600, timeout=1, bytesize=8)
-    self.dev.reset_input_buffer()
-    self.dev.reset_output_buffer()
-    assert "OK" in self.at("AT")
-
-  def at(self, cmd):
-    print(f"==> {cmd}")
-    self.dev.write(cmd.encode() + b'\r\n')
-
-    r = b""
-    cnt = 0
-    while b"OK" not in r and b"ERROR" not in r and cnt < 20:
-      r += self.dev.read(8192).strip()
-      cnt += 1
-    r = r.decode()
-    print(f"<== {repr(r)}")
-    return r
-
-  def download_ota(self, qr):
-    return self.at(f'AT+QESIM="ota","{qr}"')
-
-  def download(self, qr):
-    smdp = qr.split('$')[1]
-    out = self.at(f'AT+QESIM="download","{qr}"')
-    for _ in range(5):
-      line = out.split("+QESIM: ")[1].split("\r\n\r\nOK")[0]
-
-      parts = [x.strip().strip('"') for x in line.split(',', maxsplit=4)]
-      print(repr(parts))
-      trans, ret, url, payloadlen, payload = parts
-      assert trans == "trans" and ret == "0"
-      assert len(payload) == int(payloadlen)
-
-      r = post(f"https://{smdp}/{url}", payload)
-      to_send = binascii.hexlify(r).decode()
-
-      chunk_len = 1400
-      for i in range(math.ceil(len(to_send) / chunk_len)):
-        state = 1 if (i+1)*chunk_len < len(to_send) else 0
-        data = to_send[i * chunk_len : (i+1)*chunk_len]
-        out = self.at(f'AT+QESIM="trans",{len(to_send)},{state},{i},{len(data)},"{data}"')
-        assert "OK" in out
-
-      if '+QESIM:"download",1' in out:
-        raise Exception("profile install failed")
-      elif '+QESIM:"download",0' in out:
-        print("done, successfully loaded")
-        break
-
-  def enable(self, iccid):
-    self.at(f'AT+QESIM="enable","{iccid}"')
-
-  def disable(self, iccid):
-    self.at(f'AT+QESIM="disable","{iccid}"')
-
-  def delete(self, iccid):
-    self.at(f'AT+QESIM="delete","{iccid}"')
-
-  def list_profiles(self):
-    out = self.at('AT+QESIM="list"')
-    return out.strip().splitlines()[1:]
-
-
-if __name__ == "__main__":
-  import sys
-
-  if "RESTART" in os.environ:
-    subprocess.check_call("sudo systemctl stop ModemManager", shell=True)
-    subprocess.check_call("/usr/comma/lte/lte.sh stop_blocking", shell=True)
-    subprocess.check_call("/usr/comma/lte/lte.sh start", shell=True)
-    while not os.path.exists('/dev/ttyUSB2'):
-      time.sleep(1)
-    time.sleep(3)
-
-  lpa = LPA()
-  print(lpa.list_profiles())
-  if len(sys.argv) > 1:
-    lpa.download(sys.argv[1])
-    print(lpa.list_profiles())
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 179ef54a9b..d59b45efcb 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -7,20 +7,11 @@
 #include <string>
 #include <algorithm>  // for std::clamp
 
-#include "common/params.h"
 #include "common/util.h"
 #include "system/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
 public:
-  static constexpr float MAX_VOLUME = 0.9;
-  static constexpr float MIN_VOLUME = 0.1;
-  static bool TICI() { return true; }
-  static bool AGNOS() { return true; }
-  static std::string get_os_version() {
-    return "AGNOS " + util::read_file("/VERSION");
-  }
-
   static std::string get_name() {
     std::string model = util::read_file("/sys/firmware/devicetree/base/model");
     return util::strip(model.substr(std::string("comma ").size()));
@@ -58,16 +49,6 @@ public:
     return serial;
   }
 
-  static void reboot() { std::system("sudo reboot"); }
-  static void poweroff() { std::system("sudo poweroff"); }
-  static void set_brightness(int percent) {
-    float max = std::stof(util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"));
-    std::ofstream("/sys/class/backlight/panel0-backlight/brightness") << int(percent * (max / 100.0f)) << "\n";
-  }
-  static void set_display_power(bool on) {
-    std::ofstream("/sys/class/backlight/panel0-backlight/bl_power") << (on ? "0" : "4") << "\n";
-  }
-
   static void set_ir_power(int percent) {
     auto device = get_device_type();
     if (device == cereal::InitData::DeviceType::TICI ||
@@ -75,7 +56,7 @@ public:
       return;
     }
 
-    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 300);
     std::ofstream("/sys/class/leds/led:switch_2/brightness") << 0 << "\n";
     std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
     std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
@@ -106,7 +87,4 @@ public:
 
     return ret;
   }
-
-  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
-  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
 };
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index ffa852403f..15c6e41695 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -1,4 +1,3 @@
-import json
 import math
 import os
 import subprocess
@@ -9,9 +8,11 @@ from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
+from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
+from openpilot.system.hardware.tici.lpa import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
@@ -61,25 +62,6 @@ MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
 MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
 
-def sudo_write(val, path):
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
   if len(irqs) == 0:
@@ -134,6 +116,26 @@ class Tici(HardwareBase):
   def get_serial(self):
     return self.get_cmdline()['androidboot.serialno']
 
+  def get_voltage(self):
+    with open("/sys/class/hwmon/hwmon1/in1_input") as f:
+      return int(f.read())
+
+  def get_current(self):
+    with open("/sys/class/hwmon/hwmon1/curr1_input") as f:
+      return int(f.read())
+
+  def set_ir_power(self, percent: int):
+    if self.get_device_type() == "tizi":
+      return
+
+    value = int((percent / 100) * 300)
+    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
+      f.write("0\n")
+    with open("/sys/class/leds/led:torch_2/brightness", "w") as f:
+      f.write(f"{value}\n")
+    with open("/sys/class/leds/led:switch_2/brightness", "w") as f:
+      f.write(f"{value}\n")
+
   def get_network_type(self):
     try:
       primary_connection = self.nm.Get(NM, 'PrimaryConnection', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
@@ -198,6 +200,9 @@ class Tici(HardwareBase):
         'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
       }
 
+  def get_sim_lpa(self) -> LPABase:
+    return TiciLPA()
+
   def get_imei(self, slot):
     if slot != 0:
       return ""
@@ -297,25 +302,14 @@ class Tici(HardwareBase):
       return None
 
   def get_modem_temperatures(self):
-    if self.get_device_type() == "mici":
-      return []
     timeout = 0.2  # Default timeout is too short
     try:
       modem = self.get_modem()
       temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
-      return list(map(int, temps.split(' ')[1].split(',')))
+      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
     except Exception:
       return []
 
-  def get_nvme_temperatures(self):
-    ret = []
-    try:
-      out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True)
-      dat = json.loads(out)
-      ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"]))
-    except Exception:
-      pass
-    return ret
 
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
@@ -327,19 +321,22 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    intake, exhaust, case = None, None, None
+    intake, exhaust, gnss, bottomSoc = None, None, None, None
     if self.get_device_type() == "mici":
-      case = ThermalZone("case")
+      gnss = ThermalZone("gnss")
       intake = ThermalZone("intake")
       exhaust = ThermalZone("exhaust")
+      bottomSoc = ThermalZone("bottom_soc")
     return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
                              [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
                          gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         dsp=ThermalZone("compute-hvx-usr"),
                          memory=ThermalZone("ddr-usr"),
                          pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                          intake=intake,
                          exhaust=exhaust,
-                         case=case)
+                         gnss=gnss,
+                         bottomSoc=bottomSoc)
 
   def set_display_power(self, on):
     try:
@@ -374,7 +371,7 @@ class Tici(HardwareBase):
     if self.amplifier is not None:
       self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
       if not powersave_enabled:
-        self.amplifier.initialize_configuration(self.get_device_type())
+        self.amplifier.initialize_configuration()
 
     # *** CPU config ***
 
@@ -409,7 +406,7 @@ class Tici(HardwareBase):
 
   def initialize_hardware(self):
     if self.amplifier is not None:
-      self.amplifier.initialize_configuration(self.get_device_type())
+      self.amplifier.initialize_configuration()
 
     # Allow hardwared to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
@@ -424,14 +421,15 @@ class Tici(HardwareBase):
     sudo_write("f", "/proc/irq/default_smp_affinity")
 
     # move these off the default core
-    affine_irq(1, "msm_drm")   # display
     affine_irq(1, "msm_vidc")  # encoders
     affine_irq(1, "i2c_geni")  # sensors
 
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
-    sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
+    affine_irq(5, "fts_ts")    # touch
+    affine_irq(5, "msm_drm")   # display
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
+    sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
@@ -450,9 +448,6 @@ class Tici(HardwareBase):
 
     # pandad core
     affine_irq(3, "spi_geni")         # SPI
-    if "tici" in self.get_device_type():
-      affine_irq(3, "xhci-hcd:usb3")  # aux panda USB (or potentially anything else on USB)
-      affine_irq(3, "xhci-hcd:usb1")  # internal panda USB (also modem)
     try:
       pid = subprocess.check_output(["pgrep", "-f", "spi0"], encoding='utf8').strip()
       subprocess.call(["sudo", "chrt", "-f", "-p", "1", pid])
@@ -463,40 +458,26 @@ class Tici(HardwareBase):
   def configure_modem(self):
     sim_id = self.get_sim_info().get('sim_id', '')
 
-    modem = self.get_modem()
-    try:
-      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
-    except Exception:
-      manufacturer = None
-
     cmds = []
+    modem = self.get_modem()
 
-    if self.get_device_type() in ("tici", "tizi"):
+    # Quectel EG25
+    if self.get_device_type() in ("tizi", ):
       # clear out old blue prime initial APN
       os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
 
       cmds += [
+        # SIM hot swap
+        'AT+QSIMDET=1,0',
+        'AT+QSIMSTAT=1',
+
         # configure modem as data-centric
         'AT+QNVW=5280,0,"0102000000000000"',
         'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
         'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
       ]
-      if self.get_device_type() == "tizi":
-        # SIM hot swap, not routed on tici
-        cmds += [
-          'AT+QSIMDET=1,0',
-          'AT+QSIMSTAT=1',
-        ]
-    elif manufacturer == 'Cavli Inc.':
-      cmds += [
-        'AT^SIMSWAP=1',     # use SIM slot, instead of internal eSIM
-        'AT$QCSIMSLEEP=0',  # disable SIM sleep
-        'AT$QCSIMCFG=SimPowerSave,0',  # more sleep disable
 
-        # ethernet config
-        'AT$QCPCFG=usbNet,0',
-        'AT$QCNETDEVCTL=3,1',
-      ]
+    # Quectel EG916
     else:
       # this modem gets upset with too many AT commands
       if sim_id is None or len(sim_id) == 0:
@@ -517,7 +498,7 @@ class Tici(HardwareBase):
 
     # eSIM prime
     dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if sim_id.startswith('8985235') and not os.path.exists(dest):
+    if self.get_sim_lpa().is_comma_profile(sim_id) and not os.path.exists(dest):
       with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
         dat = f.read()
         dat = dat.replace("sim-id=", f"sim-id={sim_id}")
@@ -528,6 +509,14 @@ class Tici(HardwareBase):
         os.system(f"sudo cp {tf.name} {dest}")
       os.system(f"sudo nmcli con load {dest}")
 
+  def reboot_modem(self):
+    modem = self.get_modem()
+    for state in (0, 1):
+      try:
+        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      except Exception:
+        pass
+
   def get_networks(self):
     r = {}
 
diff --git a/system/hardware/tici/lpa.py b/system/hardware/tici/lpa.py
new file mode 100644
index 0000000000..2e7e6a0ba9
--- /dev/null
+++ b/system/hardware/tici/lpa.py
@@ -0,0 +1,281 @@
+# SGP.22 v2.3: https://www.gsma.com/solutions-and-impact/technologies/esim/wp-content/uploads/2021/07/SGP.22-v2.3.pdf
+
+import atexit
+import base64
+import math
+import os
+import serial
+import sys
+
+from collections.abc import Generator
+
+from openpilot.system.hardware.base import LPABase, Profile
+
+
+DEFAULT_DEVICE = "/dev/ttyUSB2"
+DEFAULT_BAUD = 9600
+DEFAULT_TIMEOUT = 5.0
+# https://euicc-manual.osmocom.org/docs/lpa/applet-id/
+ISDR_AID = "A0000005591010FFFFFFFF8900000100"
+MM = "org.freedesktop.ModemManager1"
+MM_MODEM = MM + ".Modem"
+ES10X_MSS = 120
+DEBUG = os.environ.get("DEBUG") == "1"
+
+# TLV Tags
+TAG_ICCID = 0x5A
+TAG_PROFILE_INFO_LIST = 0xBF2D
+
+STATE_LABELS = {0: "disabled", 1: "enabled", 255: "unknown"}
+ICON_LABELS = {0: "jpeg", 1: "png", 255: "unknown"}
+CLASS_LABELS = {0: "test", 1: "provisioning", 2: "operational", 255: "unknown"}
+
+
+def b64e(data: bytes) -> str:
+  return base64.b64encode(data).decode("ascii")
+
+
+class AtClient:
+  def __init__(self, device: str, baud: int, timeout: float, debug: bool) -> None:
+    self.debug = debug
+    self.channel: str | None = None
+    self._timeout = timeout
+    self._serial: serial.Serial | None = None
+    try:
+      self._serial = serial.Serial(device, baudrate=baud, timeout=timeout)
+      self._serial.reset_input_buffer()
+    except (serial.SerialException, PermissionError, OSError):
+      pass
+
+  def close(self) -> None:
+    try:
+      if self.channel:
+        self.query(f"AT+CCHC={self.channel}")
+        self.channel = None
+    finally:
+      if self._serial:
+        self._serial.close()
+
+  def _send(self, cmd: str) -> None:
+    if self.debug:
+      print(f"SER >> {cmd}", file=sys.stderr)
+    self._serial.write((cmd + "\r").encode("ascii"))
+
+  def _expect(self) -> list[str]:
+    lines: list[str] = []
+    while True:
+      raw = self._serial.readline()
+      if not raw:
+        raise TimeoutError("AT command timed out")
+      line = raw.decode(errors="ignore").strip()
+      if not line:
+        continue
+      if self.debug:
+        print(f"SER << {line}", file=sys.stderr)
+      if line == "OK":
+        return lines
+      if line == "ERROR" or line.startswith("+CME ERROR"):
+        raise RuntimeError(f"AT command failed: {line}")
+      lines.append(line)
+
+  def _get_modem(self):
+    import dbus
+    bus = dbus.SystemBus()
+    mm = bus.get_object(MM, '/org/freedesktop/ModemManager1')
+    objects = mm.GetManagedObjects(dbus_interface="org.freedesktop.DBus.ObjectManager", timeout=self._timeout)
+    modem_path = list(objects.keys())[0]
+    return bus.get_object(MM, modem_path)
+
+  def _dbus_query(self, cmd: str) -> list[str]:
+    if self.debug:
+      print(f"DBUS >> {cmd}", file=sys.stderr)
+    try:
+      result = str(self._get_modem().Command(cmd, math.ceil(self._timeout), dbus_interface=MM_MODEM, timeout=self._timeout))
+    except Exception as e:
+      raise RuntimeError(f"AT command failed: {e}") from e
+    lines = [line.strip() for line in result.splitlines() if line.strip()]
+    if self.debug:
+      for line in lines:
+        print(f"DBUS << {line}", file=sys.stderr)
+    return lines
+
+  def query(self, cmd: str) -> list[str]:
+    if self._serial:
+      self._send(cmd)
+      return self._expect()
+    return self._dbus_query(cmd)
+
+  def open_isdr(self) -> None:
+    # close any stale logical channel from a previous crashed session
+    try:
+      self.query("AT+CCHC=1")
+    except RuntimeError:
+      pass
+    for line in self.query(f'AT+CCHO="{ISDR_AID}"'):
+      if line.startswith("+CCHO:") and (ch := line.split(":", 1)[1].strip()):
+        self.channel = ch
+        return
+    raise RuntimeError("Failed to open ISD-R application")
+
+  def send_apdu(self, apdu: bytes) -> tuple[bytes, int, int]:
+    if not self.channel:
+      raise RuntimeError("Logical channel is not open")
+    hex_payload = apdu.hex().upper()
+    for line in self.query(f'AT+CGLA={self.channel},{len(hex_payload)},"{hex_payload}"'):
+      if line.startswith("+CGLA:"):
+        parts = line.split(":", 1)[1].split(",", 1)
+        if len(parts) == 2:
+          data = bytes.fromhex(parts[1].strip().strip('"'))
+          if len(data) >= 2:
+            return data[:-2], data[-2], data[-1]
+    raise RuntimeError("Missing +CGLA response")
+
+
+# --- TLV utilities ---
+
+def iter_tlv(data: bytes, with_positions: bool = False) -> Generator:
+  idx, length = 0, len(data)
+  while idx < length:
+    start_pos = idx
+    tag = data[idx]
+    idx += 1
+    if tag & 0x1F == 0x1F:  # Multi-byte tag
+      tag_value = tag
+      while idx < length:
+        next_byte = data[idx]
+        idx += 1
+        tag_value = (tag_value << 8) | next_byte
+        if not (next_byte & 0x80):
+          break
+    else:
+      tag_value = tag
+    if idx >= length:
+      break
+    size = data[idx]
+    idx += 1
+    if size & 0x80:  # Multi-byte length
+      num_bytes = size & 0x7F
+      if idx + num_bytes > length:
+        break
+      size = int.from_bytes(data[idx : idx + num_bytes], "big")
+      idx += num_bytes
+    if idx + size > length:
+      break
+    value = data[idx : idx + size]
+    idx += size
+    yield (tag_value, value, start_pos, idx) if with_positions else (tag_value, value)
+
+
+def find_tag(data: bytes, target: int) -> bytes | None:
+  return next((v for t, v in iter_tlv(data) if t == target), None)
+
+
+def tbcd_to_string(raw: bytes) -> str:
+  return "".join(str(n) for b in raw for n in (b & 0x0F, b >> 4) if n <= 9)
+
+
+# Profile field decoders: TLV tag -> (field_name, decoder)
+_PROFILE_FIELDS = {
+  TAG_ICCID: ("iccid", tbcd_to_string),
+  0x4F: ("isdpAid", lambda v: v.hex().upper()),
+  0x9F70: ("profileState", lambda v: STATE_LABELS.get(v[0], "unknown")),
+  0x90: ("profileNickname", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x91: ("serviceProviderName", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x92: ("profileName", lambda v: v.decode("utf-8", errors="ignore") or None),
+  0x93: ("iconType", lambda v: ICON_LABELS.get(v[0], "unknown")),
+  0x94: ("icon", b64e),
+  0x95: ("profileClass", lambda v: CLASS_LABELS.get(v[0], "unknown")),
+}
+
+
+def _decode_profile_fields(data: bytes) -> dict:
+  """Parse known profile metadata TLV fields into a dict."""
+  result = {}
+  for tag, value in iter_tlv(data):
+    if (field := _PROFILE_FIELDS.get(tag)):
+      result[field[0]] = field[1](value)
+  return result
+
+
+# --- ES10x command transport ---
+
+def es10x_command(client: AtClient, data: bytes) -> bytes:
+  response = bytearray()
+  sequence = 0
+  offset = 0
+  while offset < len(data):
+    chunk = data[offset : offset + ES10X_MSS]
+    offset += len(chunk)
+    is_last = offset == len(data)
+    apdu = bytes([0x80, 0xE2, 0x91 if is_last else 0x11, sequence & 0xFF, len(chunk)]) + chunk
+    segment, sw1, sw2 = client.send_apdu(apdu)
+    response.extend(segment)
+    while True:
+      if sw1 == 0x61:  # More data available
+        segment, sw1, sw2 = client.send_apdu(bytes([0x80, 0xC0, 0x00, 0x00, sw2 or 0]))
+        response.extend(segment)
+        continue
+      if (sw1 & 0xF0) == 0x90:
+        break
+      raise RuntimeError(f"APDU failed with SW={sw1:02X}{sw2:02X}")
+    sequence += 1
+  return bytes(response)
+
+
+# --- Profile operations ---
+
+def decode_profiles(blob: bytes) -> list[dict]:
+  root = find_tag(blob, TAG_PROFILE_INFO_LIST)
+  if root is None:
+    raise RuntimeError("Missing ProfileInfoList")
+  list_ok = find_tag(root, 0xA0)
+  if list_ok is None:
+    return []
+  defaults = {name: None for name, _ in _PROFILE_FIELDS.values()}
+  return [{**defaults, **_decode_profile_fields(value)} for tag, value in iter_tlv(list_ok) if tag == 0xE3]
+
+
+def list_profiles(client: AtClient) -> list[dict]:
+  return decode_profiles(es10x_command(client, TAG_PROFILE_INFO_LIST.to_bytes(2, "big") + b"\x00"))
+
+
+class TiciLPA(LPABase):
+  _instance = None
+
+  def __new__(cls):
+    if cls._instance is None:
+      cls._instance = super().__new__(cls)
+    return cls._instance
+
+  def __init__(self):
+    if hasattr(self, '_client'):
+      return
+    self._client = AtClient(DEFAULT_DEVICE, DEFAULT_BAUD, DEFAULT_TIMEOUT, debug=DEBUG)
+    self._client.open_isdr()
+    atexit.register(self._client.close)
+
+  def list_profiles(self) -> list[Profile]:
+    return [
+      Profile(
+        iccid=p.get("iccid", ""),
+        nickname=p.get("profileNickname") or "",
+        enabled=p.get("profileState") == "enabled",
+        provider=p.get("serviceProviderName") or "",
+      )
+      for p in list_profiles(self._client)
+    ]
+
+  def get_active_profile(self) -> Profile | None:
+    return None
+
+  def delete_profile(self, iccid: str) -> None:
+    return None
+
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    return None
+
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    return None
+
+  def switch_profile(self, iccid: str) -> None:
+    return None
diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py
index 747278d1ec..bdbea591fb 100644
--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@@ -1,5 +1,3 @@
-# TODO: these are also defined in a header
-
 # GPIO pin definitions
 class GPIO:
   # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@@ -26,7 +24,4 @@ class GPIO:
   CAM2_RSTN = 12
 
   # Sensor interrupts
-  BMX055_ACCEL_INT = 21
-  BMX055_GYRO_INT = 23
-  BMX055_MAGN_INT = 87
   LSM_INT = 84
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
index 3f75436db1..9ce00c3ff2 100644
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -5,7 +5,6 @@ import subprocess
 
 from panda import Panda
 from openpilot.system.hardware import TICI, HARDWARE
-from openpilot.system.hardware.tici.hardware import Tici
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
 
@@ -39,7 +38,7 @@ class TestAmplifier:
 
   def test_init(self):
     amp = Amplifier(debug=True)
-    r = amp.initialize_configuration(Tici().get_device_type())
+    r = amp.initialize_configuration()
     assert r
     assert self._check_for_i2c_errors(False)
 
@@ -61,7 +60,7 @@ class TestAmplifier:
       time.sleep(random.randint(0, 5))
 
       amp = Amplifier(debug=True)
-      r = amp.initialize_configuration(Tici().get_device_type())
+      r = amp.initialize_configuration()
       assert r
 
       if self._check_for_i2c_errors(True):
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index fd65ecd5cd..c4401c9583 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -3,7 +3,7 @@ import pytest
 import time
 import numpy as np
 from dataclasses import dataclass
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
@@ -31,9 +31,9 @@ class Proc:
 
 
 PROCS = [
-  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 1.4, msgs=['driverStateV2']),
+  Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
+  Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
diff --git a/system/hardware/tici/updater b/system/hardware/tici/updater
index 23cdc140f4..69ce323a10 100755
--- a/system/hardware/tici/updater
+++ b/system/hardware/tici/updater
@@ -1,3 +1,17 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
-size 10448792
+#!/usr/bin/env bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+AGNOS_PY=$1
+MANIFEST=$2
+
+if [[ ! -f "$AGNOS_PY" || ! -f "$MANIFEST" ]]; then
+  echo "invalid args"
+  exit 1
+fi
+
+if systemctl is-active --quiet weston-ready; then
+  $DIR/updater_weston $AGNOS_PY $MANIFEST
+else
+  $DIR/updater_magic $AGNOS_PY $MANIFEST
+fi
diff --git a/system/hardware/tici/updater_magic b/system/hardware/tici/updater_magic
new file mode 100755
index 0000000000..9674d85f00
--- /dev/null
+++ b/system/hardware/tici/updater_magic
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d815a9140e69242d85e57f74a14c6372809eebefe8958be9152efa7874928ccc
+size 71215510
diff --git a/system/hardware/tici/updater_weston b/system/hardware/tici/updater_weston
new file mode 100755
index 0000000000..23cdc140f4
--- /dev/null
+++ b/system/hardware/tici/updater_weston
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba5f44e6a763e1f74d1c718993218adcc72cba4caafe99b595fa701151a4c54
+size 10448792
diff --git a/system/journald.py b/system/journald.py
new file mode 100755
index 0000000000..37158b9251
--- /dev/null
+++ b/system/journald.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import json
+import subprocess
+
+import cereal.messaging as messaging
+from openpilot.common.swaglog import cloudlog
+
+
+def main():
+  pm = messaging.PubMaster(['androidLog'])
+  cmd = ['journalctl', '-f', '-o', 'json']
+  proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, text=True)
+  assert proc.stdout is not None
+  try:
+    for line in proc.stdout:
+      line = line.strip()
+      if not line:
+        continue
+      try:
+        kv = json.loads(line)
+      except json.JSONDecodeError:
+        cloudlog.exception("failed to parse journalctl output")
+        continue
+
+      msg = messaging.new_message('androidLog')
+      entry = msg.androidLog
+      entry.ts = int(kv.get('__REALTIME_TIMESTAMP', 0))
+      entry.message = json.dumps(kv)
+      if '_PID' in kv:
+        entry.pid = int(kv['_PID'])
+      if 'PRIORITY' in kv:
+        entry.priority = int(kv['PRIORITY'])
+      if 'SYSLOG_IDENTIFIER' in kv:
+        entry.tag = kv['SYSLOG_IDENTIFIER']
+
+      pm.send('androidLog', msg)
+  finally:
+    proc.terminate()
+    proc.wait()
+
+
+if __name__ == '__main__':
+  main()
diff --git a/system/logcatd/.gitignore b/system/logcatd/.gitignore
deleted file mode 100644
index c66f7622d9..0000000000
--- a/system/logcatd/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-logcatd
diff --git a/system/logcatd/SConscript b/system/logcatd/SConscript
deleted file mode 100644
index 39c45d1093..0000000000
--- a/system/logcatd/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-Import('env', 'messaging', 'common')
-
-env.Program('logcatd', 'logcatd_systemd.cc', LIBS=[messaging, common, 'systemd'])
diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc
deleted file mode 100644
index 54b3782132..0000000000
--- a/system/logcatd/logcatd_systemd.cc
+++ /dev/null
@@ -1,75 +0,0 @@
-#include <systemd/sd-journal.h>
-
-#include <cassert>
-#include <csignal>
-#include <map>
-#include <string>
-
-#include "third_party/json11/json11.hpp"
-
-#include "cereal/messaging/messaging.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-ExitHandler do_exit;
-int main(int argc, char *argv[]) {
-
-  PubMaster pm({"androidLog"});
-
-  sd_journal *journal;
-  int err = sd_journal_open(&journal, 0);
-  assert(err >= 0);
-  err = sd_journal_get_fd(journal); // needed so sd_journal_wait() works properly if files rotate
-  assert(err >= 0);
-  err = sd_journal_seek_tail(journal);
-  assert(err >= 0);
-
-  // workaround for bug https://github.com/systemd/systemd/issues/9934
-  // call sd_journal_previous_skip after sd_journal_seek_tail (like journalctl -f does) to makes things work.
-  sd_journal_previous_skip(journal, 1);
-
-  while (!do_exit) {
-    err = sd_journal_next(journal);
-    assert(err >= 0);
-
-    // Wait for new message if we didn't receive anything
-    if (err == 0) {
-      err = sd_journal_wait(journal, 1000 * 1000);
-      assert(err >= 0);
-      continue; // Try again
-    }
-
-    uint64_t timestamp = 0;
-    err = sd_journal_get_realtime_usec(journal, &timestamp);
-    assert(err >= 0);
-
-    const void *data;
-    size_t length;
-    std::map<std::string, std::string> kv;
-
-    SD_JOURNAL_FOREACH_DATA(journal, data, length) {
-      std::string str((char*)data, length);
-
-      // Split "KEY=VALUE"" on "=" and put in map
-      std::size_t found = str.find("=");
-      if (found != std::string::npos) {
-        kv[str.substr(0, found)] = str.substr(found + 1, std::string::npos);
-      }
-    }
-
-    MessageBuilder msg;
-
-    // Build message
-    auto androidEntry = msg.initEvent().initAndroidLog();
-    androidEntry.setTs(timestamp);
-    androidEntry.setMessage(json11::Json(kv).dump());
-    if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str()));
-    if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str()));
-    if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]);
-
-    pm.send("androidLog", msg);
-  }
-
-  sd_journal_close(journal);
-  return 0;
-}
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index cf169f4dc6..b02c409240 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -1,17 +1,15 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
 libs = [common, messaging, visionipc,
-        'avformat', 'avcodec', 'avutil',
-        'yuv', 'OpenCL', 'pthread', 'zstd']
+        'avformat', 'avcodec', 'swresample', 'avutil', 'x264',
+        'pthread', 'z', 'm', 'zstd']
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":
   src += ['encoder/ffmpeg_encoder.cc']
+  libs += ['yuv']
 
 if arch == "Darwin":
-  # fix OpenCL
-  del libs[libs.index('OpenCL')]
-  env['FRAMEWORKS'] = ['OpenCL']
   # exclude v4l
   del src[src.index('encoder/v4l_encoder.cc')]
 
@@ -23,4 +21,4 @@ env.Program('encoderd', ['encoderd.cc'], LIBS=libs + ["jpeg"])
 env.Program('bootlog.cc', LIBS=libs)
 
 if GetOption('extras'):
-  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs + ['curl', 'crypto'])
+  env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc', 'tests/test_zstd_writer.cc'], LIBS=libs)
diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
index a7b1ae8244..1b87ce394f 100644
--- a/system/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -31,9 +31,6 @@ static kj::Array<capnp::word> build_boot_log() {
     "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic",
   };
 
-  if (Hardware::TICI()) {
-    bootlog_commands.push_back("[ -e /dev/nvme0 ] && sudo nvme smart-log --output-format=json /dev/nvme0");
-  }
 
   auto commands = boot.initCommands().initEntries(bootlog_commands.size());
   for (int j = 0; j < bootlog_commands.size(); j++) {
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index e1c47c768d..d9befb5613 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -9,21 +9,26 @@ STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 STATS_FLUSH_TIME_S = 60
 
-def get_available_percent(default: float) -> float:
+PATH_DICT = {
+  "internal": Paths.log_root(),
+  "external": Paths.log_root_external()
+}
+
+def get_available_percent(default: float, path_type="internal") -> float:
   try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
     available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks
-  except OSError:
+  except (OSError, KeyError):
     available_percent = default
 
   return available_percent
 
 
-def get_available_bytes(default: int) -> int:
+def get_available_bytes(default: int, path_type="internal") -> int:
   try:
-    statvfs = os.statvfs(Paths.log_root())
+    statvfs = os.statvfs(PATH_DICT[path_type])
     available_bytes = statvfs.f_bavail * statvfs.f_frsize
-  except OSError:
+  except (OSError, KeyError):
     available_bytes = default
 
   return available_bytes
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index eb8fd35f21..058f5c301d 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -1,7 +1,9 @@
 #!/usr/bin/env python3
 import os
+import time
 import shutil
 import threading
+from pathlib import Path
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
@@ -61,6 +63,41 @@ def deleter_thread(exit_event: threading.Event):
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
           continue
 
+        if Path(Paths.log_root_external()).is_mount():
+          out_of_bytes_external = get_available_bytes(default=MIN_BYTES + 1, path_type="external") < MIN_BYTES
+          out_of_percent_external = get_available_percent(default=MIN_PERCENT + 1, path_type="external") < MIN_PERCENT
+
+          if out_of_percent_external or out_of_bytes_external:
+            dirs_external = listdir_by_creation(Paths.log_root_external())
+
+            # remove the earliest external directory we can
+            for delete_dir_external in sorted(dirs_external):
+              delete_path_external = os.path.join(Paths.log_root_external(), delete_dir_external)
+              try:
+                cloudlog.warning(f"deleting {delete_path_external}")
+                shutil.rmtree(delete_path_external)
+                break
+              except OSError:
+                cloudlog.exception(f"issue deleting {delete_path_external}")
+
+          # move directory from internal to external
+          path_external = os.path.join(Paths.log_root_external(), delete_dir)
+          try:
+            cloudlog.warning(f"moving {delete_path} to {path_external}")
+            start = time.monotonic()
+            shutil.move(delete_path, path_external)
+            cloudlog.warning(f"moved {delete_path} to {path_external} in {time.monotonic() - start:.2f}s")
+            break
+          except Exception:
+            cloudlog.error(f"issue moving {delete_path} to {path_external}")
+            try:
+              cloudlog.warning(f"deleting {delete_path}")
+              shutil.rmtree(delete_path)
+              break
+            except OSError:
+              cloudlog.exception(f"issue deleting {delete_path}")
+          continue
+
         try:
           cloudlog.info(f"deleting {delete_path}")
           shutil.rmtree(delete_path)
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index b8f2f274d2..06922b0cd0 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -21,7 +21,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
   edata.setFrameId(extra.frame_id);
   edata.setTimestampSof(extra.timestamp_sof);
   edata.setTimestampEof(extra.timestamp_eof);
-  edata.setType(encoder_info.encode_type);
+  edata.setType(encoder_info.get_settings(in_width).encode_type);
   edata.setEncodeId(cnt++);
   edata.setSegmentNum(segment_num);
   edata.setSegmentId(idx);
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 4e6946363f..275a2e481e 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -1,5 +1,3 @@
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
-
 #include "system/loggerd/encoder/ffmpeg_encoder.h"
 
 #include <fcntl.h>
@@ -11,7 +9,7 @@
 
 #define __STDC_CONSTANT_MACROS
 
-#include "third_party/libyuv/include/libyuv.h"
+#include "libyuv.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
@@ -48,7 +46,7 @@ FfmpegEncoder::~FfmpegEncoder() {
 }
 
 void FfmpegEncoder::encoder_open() {
-  auto codec_id = encoder_info.encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
+  auto codec_id = encoder_info.get_settings(in_width).encode_type == cereal::EncodeIndex::Type::QCAMERA_H264
                       ? AV_CODEC_ID_H264
                       : AV_CODEC_ID_FFVHUFF;
   const AVCodec *codec = avcodec_find_encoder(codec_id);
@@ -119,8 +117,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     ret = -1;
   }
 
-  AVPacket pkt;
-  av_init_packet(&pkt);
+  AVPacket pkt = {};
   pkt.data = NULL;
   pkt.size = 0;
   while (ret >= 0) {
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index ac1da09693..cabd9fd997 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -7,7 +7,6 @@
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "third_party/libyuv/include/libyuv.h"
 #include "third_party/linux/include/msm_media_info.h"
 
 // has to be in this order
@@ -24,14 +23,6 @@
 */
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
-static void checked_ioctl(int fd, unsigned long request, void *argp) {
-  int ret = util::safe_ioctl(fd, request, argp);
-  if (ret != 0) {
-    LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp);
-    assert(0);
-  }
-}
-
 static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
   v4l2_plane plane = {0};
   v4l2_buffer v4l_buf = {
@@ -40,7 +31,7 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
     .m = { .planes = &plane, },
     .length = 1,
   };
-  checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf);
+  util::safe_ioctl(fd, VIDIOC_DQBUF, &v4l_buf, "VIDIOC_DQBUF failed");
 
   if (index) *index = v4l_buf.index;
   if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused;
@@ -51,32 +42,31 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N
 
 static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={}) {
   v4l2_plane plane = {
+    .bytesused = (uint32_t)buf->len,
     .length = (unsigned int)buf->len,
     .m = { .userptr = (unsigned long)buf->addr, },
-    .bytesused = (uint32_t)buf->len,
     .reserved = {(unsigned int)buf->fd}
   };
 
   v4l2_buffer v4l_buf = {
-    .type = buf_type,
     .index = index,
+    .type = buf_type,
+    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
+    .timestamp = timestamp,
     .memory = V4L2_MEMORY_USERPTR,
     .m = { .planes = &plane, },
     .length = 1,
-    .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY,
-    .timestamp = timestamp
   };
-
-  checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf);
+  util::safe_ioctl(fd, VIDIOC_QBUF, &v4l_buf, "VIDIOC_QBUF failed");
 }
 
 static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
   struct v4l2_requestbuffers reqbuf = {
+    .count = count,
     .type = buf_type,
     .memory = V4L2_MEMORY_USERPTR,
-    .count = count
   };
-  checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf);
+  util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
@@ -159,11 +149,14 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(fd >= 0);
 
   struct v4l2_capability cap;
-  checked_ioctl(fd, VIDIOC_QUERYCAP, &cap);
+  util::safe_ioctl(fd, VIDIOC_QUERYCAP, &cap, "VIDIOC_QUERYCAP failed");
   LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd);
   assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0);
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
+  EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
+  bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
+
   struct v4l2_format fmt_out = {
     .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE,
     .fmt = {
@@ -171,13 +164,13 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
         // downscales are free with v4l
         .width = (unsigned int)(out_width),
         .height = (unsigned int)(out_height),
-        .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
+        .pixelformat = is_h265 ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,
       }
     }
   };
-  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out);
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_out, "VIDIOC_S_FMT failed");
 
   v4l2_streamparm streamparm = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@@ -191,7 +184,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       }
     }
   };
-  checked_ioctl(fd, VIDIOC_S_PARM, &streamparm);
+  util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparm, "VIDIOC_S_PARM failed");
 
   struct v4l2_format fmt_in = {
     .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
@@ -205,7 +198,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       }
     }
   };
-  checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in);
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt_in, "VIDIOC_S_FMT failed");
 
   LOGD("in buffer size %d, out buffer size %d",
     fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage,
@@ -214,34 +207,32 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   // shared ctrls
   {
     struct v4l2_control ctrls[] = {
+      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_settings.bitrate},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = encoder_settings.gop_size - encoder_settings.b_frames - 1},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = encoder_settings.b_frames},
       { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
-      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
     };
     for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   }
 
-  if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+  if (is_h265) {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
     };
     for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   } else {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14},
-      { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0},
       { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0},
@@ -250,7 +241,7 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
       { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0},
     };
     for (auto ctrl : ctrls) {
-      checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl);
+      util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl, "VIDIOC_S_CTRL failed");
     }
   }
 
@@ -260,9 +251,9 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
 
   // start encoder
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
   buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMON, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &buf_type, "VIDIOC_STREAMON failed");
 
   // queue up output buffers
   for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) {
@@ -305,7 +296,7 @@ void V4LEncoder::encoder_close() {
     for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i);
     // no frames, stop the encoder
     struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP };
-    checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd);
+    util::safe_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd, "VIDIOC_ENCODER_CMD failed");
     // join waits for V4L2_QCOM_BUF_FLAG_EOS
     dequeue_handler_thread.join();
     assert(extras.empty());
@@ -316,10 +307,10 @@ void V4LEncoder::encoder_close() {
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
   request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0);
   buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-  checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type);
+  util::safe_ioctl(fd, VIDIOC_STREAMOFF, &buf_type, "VIDIOC_STREAMOFF failed");
   request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0);
   close(fd);
 
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 3237d13074..9d4b81a3f9 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -3,7 +3,7 @@
 #include "system/loggerd/loggerd.h"
 #include "system/loggerd/encoder/jpeg_encoder.h"
 
-#ifdef QCOM2
+#ifdef __TICI__
 #include "system/loggerd/encoder/v4l_encoder.h"
 #define Encoder V4LEncoder
 #else
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index f07aee1596..e8aeb96d02 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -11,6 +11,8 @@
 #include "common/swaglog.h"
 #include "common/version.h"
 
+#include "sunnypilot/common/version.h"
+
 // ***** log metadata *****
 kj::Array<capnp::word> logger_build_init_data() {
   uint64_t wall_time = nanos_since_epoch();
@@ -19,7 +21,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   auto init = msg.initEvent().initInitData();
 
   init.setWallTimeNanos(wall_time);
-  init.setVersion(COMMA_VERSION);
+  init.setVersion(SUNNYPILOT_VERSION);
   init.setDirty(!getenv("CLEAN"));
   init.setDeviceType(Hardware::get_device_type());
 
@@ -59,7 +61,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   for (auto& [key, value] : params_map) {
     auto lentry = lparams[j];
     lentry.setKey(key);
-    if ( !(params.getKeyType(key) & DONT_LOG) ) {
+    if ( !(params.getKeyFlag(key) & DONT_LOG) ) {
       lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size()));
     }
     j++;
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 2d2d4640ed..3755929619 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -62,6 +62,7 @@ struct RemoteEncoder {
   bool recording = false;
   bool marked_ready_to_rotate = false;
   bool seen_first_packet = false;
+  bool audio_initialized = false;
 };
 
 size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
@@ -78,12 +79,7 @@ size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEnc
         LOGW("%s: dropped %d non iframe packets before init", encoder_info.publish_name, re.dropped_frames);
         re.dropped_frames = 0;
       }
-      // if we aren't actually recording, don't create the writer
       if (encoder_info.record) {
-        assert(encoder_info.filename != NULL);
-        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
-                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
         // write the header
         auto header = edata.getHeader();
         re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof() / 1000, true, false);
@@ -138,12 +134,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
 
     // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets
     if (re.current_segment != s->logger.segment()) {
-      if (re.recording) {
-        re.writer.reset();
+      // if we aren't actually recording, don't create the writer
+      if (encoder_info.record) {
+        assert(encoder_info.filename != NULL);
+        re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
+                                        encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+                                        edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
         re.recording = false;
+        re.audio_initialized = false;
       }
       re.current_segment = s->logger.segment();
       re.marked_ready_to_rotate = false;
+    }
+    if (re.audio_initialized || !encoder_info.include_audio) {
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
         for (auto qmsg : re.q) {
@@ -153,9 +156,14 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
         }
         re.q.clear();
       }
+      bytes_count += write_encode_data(s, event, re, encoder_info);
+      delete msg;
+    } else if (re.q.size() > MAIN_FPS*10) {
+      LOGE_100("%s: dropping frame waiting for audio initialization, queue is too large", name.c_str());
+      delete msg;
+    } else {
+      re.q.push_back(msg); // queue up all the new segment messages, they go in after audio is initialized
     }
-    bytes_count += write_encode_data(s, event, re, encoder_info);
-    delete msg;
   } else if (offset_segment_num > s->logger.segment()) {
     // encoderd packet has a newer segment, this means encoderd has rolled over
     if (!re.marked_ready_to_rotate) {
@@ -186,7 +194,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   return bytes_count;
 }
 
-void handle_user_flag(LoggerdState *s) {
+void handle_preserve_segment(LoggerdState *s) {
   static int prev_segment = -1;
   if (s->logger.segment() == prev_segment) return;
 
@@ -211,11 +219,11 @@ void handle_user_flag(LoggerdState *s) {
 
 void loggerd_thread() {
   // setup messaging
-  typedef struct ServiceState {
+  struct ServiceState {
     std::string name;
     int counter, freq;
-    bool encoder, user_flag;
-  } ServiceState;
+    bool encoder, preserve_segment, record_audio;
+  };
   std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
 
@@ -226,19 +234,22 @@ void loggerd_thread() {
   for (const auto& [_, it] : services) {
     const bool encoder = util::ends_with(it.name, "EncodeData");
     const bool livestream_encoder = util::starts_with(it.name, "livestream");
-    if (!it.should_log && (!encoder || livestream_encoder)) continue;
-    LOGD("logging %s", it.name.c_str());
+    const bool record_audio = (it.name == "rawAudioData") && Params().getBool("RecordAudio");
+    if (it.should_log || (encoder && !livestream_encoder) || record_audio) {
+      LOGD("logging %s", it.name.c_str());
 
-    SubSocket * sock = SubSocket::create(ctx.get(), it.name);
-    assert(sock != NULL);
-    poller->registerSocket(sock);
-    service_state[sock] = {
-      .name = it.name,
-      .counter = 0,
-      .freq = it.decimation,
-      .encoder = encoder,
-      .user_flag = it.name == "userFlag",
-    };
+      SubSocket * sock = SubSocket::create(ctx.get(), it.name, "127.0.0.1", false, true, it.queue_size);
+      assert(sock != NULL);
+      poller->registerSocket(sock);
+      service_state[sock] = {
+        .name = it.name,
+        .counter = 0,
+        .freq = it.decimation,
+        .encoder = encoder,
+        .preserve_segment = (it.name == "userBookmark") || (it.name == "audioFeedback"),
+        .record_audio = record_audio,
+      };
+    }
   }
 
   LoggerdState s;
@@ -247,6 +258,7 @@ void loggerd_thread() {
   Params().put("CurrentRoute", s.logger.routeName());
 
   std::map<std::string, EncoderInfo> encoder_infos_dict;
+  std::vector<RemoteEncoder*> encoders_with_audio;
   for (const auto &cam : cameras_logged) {
     for (const auto &encoder_info : cam.encoder_infos) {
       encoder_infos_dict[encoder_info.publish_name] = encoder_info;
@@ -254,6 +266,13 @@ void loggerd_thread() {
     }
   }
 
+  for (auto &[sock, service] : service_state) {
+    auto it = encoder_infos_dict.find(service.name);
+    if (it != encoder_infos_dict.end() && it->second.include_audio) {
+      encoders_with_audio.push_back(&remote_encoders[sock]);
+    }
+  }
+
   uint64_t msg_count = 0, bytes_count = 0;
   double start_ts = millis_since_boot();
   while (!do_exit) {
@@ -262,8 +281,8 @@ void loggerd_thread() {
       if (do_exit) break;
 
       ServiceState &service = service_state[sock];
-      if (service.user_flag) {
-        handle_user_flag(&s);
+      if (service.preserve_segment) {
+        handle_preserve_segment(&s);
       }
 
       // drain socket
@@ -271,6 +290,20 @@ void loggerd_thread() {
       Message *msg = nullptr;
       while (!do_exit && (msg = sock->receive(true))) {
         const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+
+        if (service.record_audio) {
+          capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
+          auto event = cmsg.getRoot<cereal::Event>();
+          auto audio_data = event.getRawAudioData().getData();
+          auto sample_rate = event.getRawAudioData().getSampleRate();
+          for (auto* encoder : encoders_with_audio) {
+            if (encoder && encoder->writer) {
+              encoder->writer->write_audio((uint8_t*)audio_data.begin(), audio_data.size(), event.getLogMonoTime() / 1000, sample_rate);
+              encoder->audio_initialized = true;
+            }
+          }
+        }
+
         if (service.encoder) {
           s.last_camera_seen_tms = millis_since_boot();
           bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 27d2d37fc4..6aa0c8be40 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <cstdlib>
 #include <vector>
 
 #include "cereal/messaging/messaging.h"
@@ -13,10 +14,7 @@
 #include "system/loggerd/logger.h"
 
 constexpr int MAIN_FPS = 20;
-const int MAIN_BITRATE = 1e7;
-const int LIVESTREAM_BITRATE = 1e6;
-const int QCAM_BITRATE = 256000;
-
+const auto MAIN_ENCODE_TYPE = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS : cereal::EncodeIndex::Type::FULL_H_E_V_C;
 #define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
 
 #define INIT_ENCODE_FUNCTIONS(encode_type)                                \
@@ -29,18 +27,43 @@ const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH"))
 
 constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
 constexpr char PRESERVE_ATTR_VALUE = '1';
+
+struct EncoderSettings {
+  cereal::EncodeIndex::Type encode_type;
+  int bitrate;
+  int gop_size;
+  int b_frames = 0; // we don't use b frames
+
+  static EncoderSettings MainEncoderSettings(int in_width) {
+    if (in_width <= 1344) {
+      return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 5'000'000, .gop_size = 20};
+    } else {
+      return EncoderSettings{.encode_type = MAIN_ENCODE_TYPE, .bitrate = 10'000'000, .gop_size = 30};
+    }
+  }
+
+  static EncoderSettings QcamEncoderSettings() {
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 256'000, .gop_size = 15};
+  }
+
+  static EncoderSettings StreamEncoderSettings() {
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
+  }
+};
+
 class EncoderInfo {
 public:
   const char *publish_name;
   const char *thumbnail_name = NULL;
   const char *filename = NULL;
   bool record = true;
+  bool include_audio = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
-  int bitrate = MAIN_BITRATE;
-  cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS
-                                                         : cereal::EncodeIndex::Type::FULL_H_E_V_C;
+  std::function<EncoderSettings(int)> get_settings;
+
   ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
   void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
   cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)();
@@ -58,12 +81,14 @@ const EncoderInfo main_road_encoder_info = {
   .publish_name = "roadEncodeData",
   .thumbnail_name = "thumbnail",
   .filename = "fcamera.hevc",
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
   INIT_ENCODE_FUNCTIONS(RoadEncode),
 };
 
 const EncoderInfo main_wide_road_encoder_info = {
   .publish_name = "wideRoadEncodeData",
   .filename = "ecamera.hevc",
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
   INIT_ENCODE_FUNCTIONS(WideRoadEncode),
 };
 
@@ -71,41 +96,39 @@ const EncoderInfo main_driver_encoder_info = {
   .publish_name = "driverEncodeData",
   .filename = "dcamera.hevc",
   .record = Params().getBool("RecordFront"),
+  .get_settings = [](int in_width){return EncoderSettings::MainEncoderSettings(in_width);},
   INIT_ENCODE_FUNCTIONS(DriverEncode),
 };
 
 const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
-  .bitrate = LIVESTREAM_BITRATE,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
 
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
-  .bitrate = LIVESTREAM_BITRATE,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
 
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .record = false,
-  .bitrate = LIVESTREAM_BITRATE,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
 
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
-  .bitrate = QCAM_BITRATE,
-  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .include_audio = Params().getBool("RecordAudio"),
   .frame_width = 526,
   .frame_height = 330,
+  .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };
 
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 15fd997eb8..8bf609ae8d 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -10,7 +10,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
-def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None:
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None:
   file_path.parent.mkdir(parents=True, exist_ok=True)
 
   if lock:
@@ -76,11 +76,11 @@ class UploaderTestCase:
     self.seg_dir = self.seg_format.format(self.seg_num)
 
     self.params = Params()
-    self.params.put("IsOffroad", "1")
+    self.params.put("IsOffroad", True)
     self.params.put("DongleId", "0000000000000000")
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
-                          upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path:
+                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
     file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 
diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
index b24bfbe168..a9de0690aa 100644
--- a/system/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -7,7 +7,7 @@ import subprocess
 import time
 from pathlib import Path
 
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 from tqdm import trange
 
 from openpilot.common.params import Params
@@ -19,11 +19,12 @@ from openpilot.system.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
+def hevc_size(w): return FULL_SIZE // 2 if w <= 1344 else FULL_SIZE
 CAMERAS = [
-  ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
-  ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
-  ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
-  ("qcamera.ts", 20, 130000, None),
+  ("fcamera.hevc", 20, hevc_size, "roadEncodeIdx"),
+  ("dcamera.hevc", 20, hevc_size, "driverEncodeIdx"),
+  ("ecamera.hevc", 20, hevc_size, "wideRoadEncodeIdx"),
+  ("qcamera.ts", 20, lambda x: 130000, None),
 ]
 
 # we check frame count, so we don't have to be too strict on size
@@ -76,7 +77,7 @@ class TestEncoder:
       # check each camera file size
       counts = []
       first_frames = []
-      for camera, fps, size, encode_idx_name in CAMERAS:
+      for camera, fps, size_lambda, encode_idx_name in CAMERAS:
         if not record_front and "dcamera" in camera:
           continue
 
@@ -86,14 +87,14 @@ class TestEncoder:
         assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing"
 
         # TODO: this ffprobe call is really slow
-        # check frame count
-        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
+        # get width and check frame count
+        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets,width -of csv=p=0 {file_path}"
         if TICI:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 
         expected_frames = fps * SEGMENT_LENGTH
-        probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
-        frame_count = int(probe.split('\n')[0].strip())
+        probe = subprocess.check_output(cmd, shell=True, encoding='utf8').split('\n')[0].strip().split(',')
+        frame_width, frame_count = int(probe[0]), int(probe[1])
         counts.append(frame_count)
 
         assert frame_count == expected_frames, \
@@ -101,8 +102,9 @@ class TestEncoder:
 
         # sanity check file size
         file_size = os.path.getsize(file_path)
-        assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \
-                        f"{file_path} size {file_size} isn't close to target size {size}"
+        target_size = size_lambda(frame_width)
+        assert math.isclose(file_size, target_size, rel_tol=FILE_SIZE_TOLERANCE), \
+                        f"{file_path} size {file_size} isn't close to target size {target_size}"
 
         # Check encodeIdx
         if encode_idx_name is not None:
diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
index 40a45a68d5..61509c256c 100644
--- a/system/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -56,7 +56,7 @@ void write_msg(LoggerState *logger) {
 TEST_CASE("logger") {
   const int segment_cnt = 100;
   const std::string log_root = "/tmp/test_logger";
-  system(("rm " + log_root + " -rf").c_str());
+  REQUIRE(system(("rm " + log_root + " -rf").c_str()) == 0);
   std::string route_name;
   {
     LoggerState logger(log_root);
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 179e237a65..9703ac2f5f 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
@@ -23,7 +24,6 @@ from openpilot.system.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
 from msgq.visionipc import VisionIpcServer, VisionStreamType
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -97,6 +97,56 @@ class TestLoggerd:
 
     return sent_msgs
 
+  def _publish_camera_and_audio_messages(self, num_segs=1, segment_length=5):
+    # Use small frame sizes for testing (width, height, size, stride, uv_offset)
+    # NV12 format: size = stride * height * 1.5, uv_offset = stride * height
+    w, h = 320, 240
+    frame_spec = (w, h, w * h * 3 // 2, w, w * h)
+    streams = [
+      (VisionStreamType.VISION_STREAM_ROAD, frame_spec, "roadCameraState"),
+      (VisionStreamType.VISION_STREAM_DRIVER, frame_spec, "driverCameraState"),
+      (VisionStreamType.VISION_STREAM_WIDE_ROAD, frame_spec, "wideRoadCameraState"),
+    ]
+
+    sm = messaging.SubMaster(["roadEncodeData"])
+    pm = messaging.PubMaster([s for _, _, s in streams] + ["rawAudioData"])
+    vipc_server = VisionIpcServer("camerad")
+    for stream_type, frame_spec, _ in streams:
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
+    vipc_server.start_listener()
+
+    os.environ["LOGGERD_TEST"] = "1"
+    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(segment_length)
+    managed_processes["loggerd"].start()
+    managed_processes["encoderd"].start()
+    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
+
+    fps = 20
+    for n in range(1, int(num_segs * segment_length * fps) + 1):
+      # send video
+      for stream_type, frame_spec, state in streams:
+        dat = np.empty(frame_spec[2], dtype=np.uint8)
+        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n / fps, n / fps)
+
+        camera_state = messaging.new_message(state)
+        frame = getattr(camera_state, state)
+        frame.frameId = n
+        pm.send(state, camera_state)
+
+      # send audio
+      msg = messaging.new_message('rawAudioData')
+      msg.rawAudioData.data = bytes(800 * 2) # 800 samples of int16
+      msg.rawAudioData.sampleRate = 16000
+      pm.send('rawAudioData', msg)
+
+      for _, _, state in streams:
+        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
+
+      sm.update(100)  # wait for encode data publish
+
+    managed_processes["loggerd"].stop()
+    managed_processes["encoderd"].stop()
+
   def test_init_data_values(self):
     os.environ["CLEAN"] = random.choice(["0", "1"])
 
@@ -136,53 +186,23 @@ class TestLoggerd:
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):
-    os.environ["LOGGERD_TEST"] = "1"
-    Params().put("RecordFront", "1")
+    Params().put("RecordFront", True)
 
-    d = DEVICE_CAMERAS[("tici", "ar0231")]
     expected_files = {"rlog.zst", "qlog.zst", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
-    streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
-               (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
-               (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
 
-    pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
-    vipc_server = VisionIpcServer("camerad")
-    for stream_type, frame_spec, _ in streams:
-      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
-    vipc_server.start_listener()
+    num_segs = random.randint(2, 3)
+    length = random.randint(4, 5) # H264 encoder uses 40 lookahead frames and does B-frame reordering, so minimum 3 seconds before qcam output
 
-    num_segs = random.randint(2, 5)
-    length = random.randint(1, 3)
-    os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
-    managed_processes["loggerd"].start()
-    managed_processes["encoderd"].start()
-    assert pm.wait_for_readers_to_update("roadCameraState", timeout=5)
-
-    fps = 20.0
-    for n in range(1, int(num_segs*length*fps)+1):
-      for stream_type, frame_spec, state in streams:
-        dat = np.empty(frame_spec[2], dtype=np.uint8)
-        vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps)
-
-        camera_state = messaging.new_message(state)
-        frame = getattr(camera_state, state)
-        frame.frameId = n
-        pm.send(state, camera_state)
-
-      for _, _, state in streams:
-        assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001)
-
-    managed_processes["loggerd"].stop()
-    managed_processes["encoderd"].stop()
+    self._publish_camera_and_audio_messages(num_segs=num_segs, segment_length=length)
 
     route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
     for n in range(num_segs):
       p = Path(f"{route_path}--{n}")
       logged = {f.name for f in p.iterdir() if f.is_file()}
       diff = logged ^ expected_files
-      assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
+      assert len(diff) == 0, f"didn't get all expected files. seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}"
 
   def test_bootlog(self):
     # generate bootlog with fake launch log
@@ -207,13 +227,16 @@ class TestLoggerd:
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    for fn in ["console-ramoops", "pmsg-ramoops-0"]:
-      path = Path(os.path.join("/sys/fs/pstore/", fn))
-      if path.is_file():
-        with open(path, "rb") as f:
-          expected_val = f.read()
-        bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
-        assert expected_val == bootlog_val
+    if TICI:
+      for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+        path = Path(os.path.join("/sys/fs/pstore/", fn))
+        if path.is_file():
+          with open(path, "rb") as f:
+            expected_val = f.read()
+          bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+          assert expected_val == bootlog_val
+    else:
+      assert len(boot.pstore.entries) == 0
 
     # next one should increment by one
     bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
@@ -268,16 +291,43 @@ class TestLoggerd:
       sent.clear_write_flag()
       assert sent.to_bytes() == m.as_builder().to_bytes()
 
-  def test_preserving_flagged_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"}
+  def test_preserving_bookmarked_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userBookmark"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
 
-  def test_not_preserving_unflagged_segments(self):
-    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"}
+  def test_not_preserving_nonbookmarked_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userBookmark", "audioFeedback"}
     self._publish_random_messages(services)
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_front", [True, False])
+  def test_record_front(self, record_front):
+    params = Params()
+    params.put_bool("RecordFront", record_front)
+
+    self._publish_camera_and_audio_messages()
+
+    dcamera_hevc_exists = os.path.exists(os.path.join(self._get_latest_log_dir(), 'dcamera.hevc'))
+    assert dcamera_hevc_exists == record_front
+
+  @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
+  @pytest.mark.parametrize("record_audio", [True, False])
+  def test_record_audio(self, record_audio):
+    params = Params()
+    params.put_bool("RecordAudio", record_audio)
+
+    self._publish_camera_and_audio_messages()
+
+    qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
+    ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
+    has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
+    assert has_audio_stream == record_audio
+
+    raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))
+    assert raw_audio_in_rlog == record_audio
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 961a8aa36f..562bc068eb 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -50,7 +50,7 @@ class TestUploader(UploaderTestCase):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
+  def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]:
     f_paths = []
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
       f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
diff --git a/system/loggerd/tests/vidc_debug.sh b/system/loggerd/tests/vidc_debug.sh
new file mode 100755
index 0000000000..7471f2ab08
--- /dev/null
+++ b/system/loggerd/tests/vidc_debug.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+set -e
+
+cd /sys/kernel/debug/tracing
+echo "" > trace
+echo 1 > tracing_on
+echo 1 > /sys/kernel/debug/tracing/events/msm_vidc/enable
+
+echo 0xff > /sys/module/videobuf2_core/parameters/debug
+echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
+echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug
+
+cat /sys/kernel/debug/tracing/trace_pipe
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 6e6df6114e..8ac38b6df6 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -12,7 +12,7 @@ from collections.abc import Iterator
 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.api import Api
-from openpilot.common.file_helpers import get_upload_stream
+from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware.hw import Paths
@@ -29,7 +29,7 @@ MAX_UPLOAD_SIZES = {
   "qcam": 5*1e6,
 }
 
-allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
+allow_sleep = bool(int(os.getenv("UPLOADER_SLEEP", "1")))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
@@ -88,7 +88,7 @@ class Uploader:
     self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
-    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
+    r = self.params.get("AthenadRecentlyViewedRoutes")
     requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
@@ -226,7 +226,7 @@ class Uploader:
     return self.upload(name, key, fn, network_type, metered)
 
 
-def main(exit_event: threading.Event = None) -> None:
+def main(exit_event: threading.Event | None = None) -> None:
   if exit_event is None:
     exit_event = threading.Event()
 
@@ -238,7 +238,7 @@ def main(exit_event: threading.Event = None) -> None:
   clear_locks(Paths.log_root())
 
   params = Params()
-  dongle_id = params.get("DongleId", encoding='utf8')
+  dongle_id = params.get("DongleId")
 
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc
index 90b5f1af3d..1b47a8fceb 100644
--- a/system/loggerd/video_writer.cc
+++ b/system/loggerd/video_writer.cc
@@ -1,4 +1,3 @@
-#pragma clang diagnostic ignored "-Wdeprecated-declarations"
 #include <cassert>
 
 #include "system/loggerd/video_writer.h"
@@ -50,6 +49,45 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
   }
 }
 
+void VideoWriter::initialize_audio(int sample_rate) {
+  assert(this->ofmt_ctx->oformat->audio_codec != AV_CODEC_ID_NONE); // check output format supports audio streams
+  const AVCodec *audio_avcodec = avcodec_find_encoder(AV_CODEC_ID_AAC);
+  assert(audio_avcodec);
+  this->audio_codec_ctx = avcodec_alloc_context3(audio_avcodec);
+  assert(this->audio_codec_ctx);
+  this->audio_codec_ctx->sample_fmt = AV_SAMPLE_FMT_FLTP;
+  this->audio_codec_ctx->sample_rate = sample_rate;
+  #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100)  // FFmpeg 5.1+
+  av_channel_layout_default(&this->audio_codec_ctx->ch_layout, 1);
+  #else
+  this->audio_codec_ctx->channel_layout = AV_CH_LAYOUT_MONO;
+  #endif
+  this->audio_codec_ctx->bit_rate = 32000;
+  this->audio_codec_ctx->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+  this->audio_codec_ctx->time_base = (AVRational){1, audio_codec_ctx->sample_rate};
+  int err = avcodec_open2(this->audio_codec_ctx, audio_avcodec, NULL);
+  assert(err >= 0);
+  av_log_set_level(AV_LOG_WARNING); // hide "QAvg" info msgs at the end of every segment
+
+  this->audio_stream = avformat_new_stream(this->ofmt_ctx, NULL);
+  assert(this->audio_stream);
+  err = avcodec_parameters_from_context(this->audio_stream->codecpar, this->audio_codec_ctx);
+  assert(err >= 0);
+
+  this->audio_frame = av_frame_alloc();
+  assert(this->audio_frame);
+  this->audio_frame->format = this->audio_codec_ctx->sample_fmt;
+  #if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(57, 28, 100)  // FFmpeg 5.1+
+  av_channel_layout_copy(&this->audio_frame->ch_layout, &this->audio_codec_ctx->ch_layout);
+  #else
+  this->audio_frame->channel_layout = this->audio_codec_ctx->channel_layout;
+  #endif
+  this->audio_frame->sample_rate = this->audio_codec_ctx->sample_rate;
+  this->audio_frame->nb_samples = this->audio_codec_ctx->frame_size;
+  err = av_frame_get_buffer(this->audio_frame, 0);
+  assert(err >= 0);
+}
+
 void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) {
   if (of && data) {
     size_t written = util::safe_fwrite(data, 1, len, of);
@@ -67,16 +105,18 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
       }
       int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx);
       assert(err >= 0);
+      // if there is an audio stream, it must be initialized before this point
       err = avformat_write_header(ofmt_ctx, NULL);
       assert(err >= 0);
+      header_written = true;
     } else {
       // input timestamps are in microseconds
       AVRational in_timebase = {1, 1000000};
 
-      AVPacket pkt;
-      av_init_packet(&pkt);
+      AVPacket pkt = {};
       pkt.data = data;
       pkt.size = len;
+      pkt.stream_index = this->out_stream->index;
 
       enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
       pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd);
@@ -95,11 +135,93 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
   }
 }
 
+void VideoWriter::write_audio(uint8_t *data, int len, long long timestamp, int sample_rate) {
+  if (!remuxing) return;
+  if (!audio_initialized) {
+    initialize_audio(sample_rate);
+    audio_initialized = true;
+  }
+  if (!audio_codec_ctx) return;
+  // sync logMonoTime of first audio packet with the timestampEof of first video packet
+  if (audio_pts == 0) {
+    audio_pts = (timestamp * audio_codec_ctx->sample_rate) / 1000000ULL;
+  }
+
+  // convert s16le samples to fltp and add to buffer
+  const int16_t *raw_samples = reinterpret_cast<const int16_t*>(data);
+  int sample_count = len / sizeof(int16_t);
+  constexpr float normalizer = 1.0f / 32768.0f;
+
+  const size_t max_buffer_size = sample_rate * 10; // 10 seconds
+  if (audio_buffer.size() + sample_count > max_buffer_size) {
+    size_t samples_to_drop = (audio_buffer.size() + sample_count) - max_buffer_size;
+    LOGE("Audio buffer overflow, dropping %zu oldest samples", samples_to_drop);
+    audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + samples_to_drop);
+    audio_pts += samples_to_drop;
+  }
+
+  // Add new samples to the buffer
+  const size_t original_size = audio_buffer.size();
+  audio_buffer.resize(original_size + sample_count);
+  std::transform(raw_samples, raw_samples + sample_count, audio_buffer.begin() + original_size,
+                [](int16_t sample) { return sample * normalizer; });
+
+  if (!header_written) return; // header not written yet, process audio frame after header is written
+  while (audio_buffer.size() >= audio_codec_ctx->frame_size) {
+    audio_frame->pts = audio_pts;
+    float *f_samples = reinterpret_cast<float*>(audio_frame->data[0]);
+    std::copy(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size, f_samples);
+    audio_buffer.erase(audio_buffer.begin(), audio_buffer.begin() + audio_codec_ctx->frame_size);
+    encode_and_write_audio_frame(audio_frame);
+  }
+}
+
+void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) {
+  if (!remuxing || !audio_codec_ctx) return;
+  int send_result = avcodec_send_frame(audio_codec_ctx, frame); // encode frame
+  if (send_result >= 0) {
+    AVPacket *pkt = av_packet_alloc();
+    while (avcodec_receive_packet(audio_codec_ctx, pkt) == 0) {
+      av_packet_rescale_ts(pkt, audio_codec_ctx->time_base, audio_stream->time_base);
+      pkt->stream_index = audio_stream->index;
+
+      int err = av_interleaved_write_frame(ofmt_ctx, pkt); // write encoded frame
+      if (err < 0) {
+        LOGW("AUDIO: Write frame failed - error: %d", err);
+      }
+      av_packet_unref(pkt);
+    }
+    av_packet_free(&pkt);
+  } else {
+    LOGW("AUDIO: Failed to send audio frame to encoder: %d", send_result);
+  }
+  audio_pts += audio_codec_ctx->frame_size;
+}
+
+void VideoWriter::process_remaining_audio() {
+  // Process remaining audio samples by padding with silence
+  if (audio_buffer.size() > 0 && audio_buffer.size() < audio_codec_ctx->frame_size) {
+    audio_buffer.resize(audio_codec_ctx->frame_size, 0.0f);
+
+    // Encode final frame
+    audio_frame->pts = audio_pts;
+    float *f_samples = reinterpret_cast<float *>(audio_frame->data[0]);
+    std::copy(audio_buffer.begin(), audio_buffer.end(), f_samples);
+    encode_and_write_audio_frame(audio_frame);
+  }
+}
+
 VideoWriter::~VideoWriter() {
   if (this->remuxing) {
+    if (this->audio_codec_ctx) {
+      process_remaining_audio();
+      encode_and_write_audio_frame(NULL); // flush encoder
+      avcodec_free_context(&this->audio_codec_ctx);
+    }
     int err = av_write_trailer(this->ofmt_ctx);
     if (err != 0) LOGE("av_write_trailer failed %d", err);
     avcodec_free_context(&this->codec_ctx);
+    if (this->audio_frame) av_frame_free(&this->audio_frame);
     err = avio_closep(&this->ofmt_ctx->pb);
     if (err != 0) LOGE("avio_closep failed %d", err);
     avformat_free_context(this->ofmt_ctx);
diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h
index 1aa758b42b..e973c5d811 100644
--- a/system/loggerd/video_writer.h
+++ b/system/loggerd/video_writer.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <string>
+#include <deque>
 
 extern "C" {
 #include <libavformat/avformat.h>
@@ -13,13 +14,29 @@ class VideoWriter {
 public:
   VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
   void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
+  void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
+
   ~VideoWriter();
+
 private:
+  void initialize_audio(int sample_rate);
+  void encode_and_write_audio_frame(AVFrame* frame);
+  void process_remaining_audio();
+
   std::string vid_path, lock_path;
   FILE *of = nullptr;
 
   AVCodecContext *codec_ctx;
   AVFormatContext *ofmt_ctx;
   AVStream *out_stream;
+
+  bool audio_initialized = false;
+  bool header_written = false;
+  AVStream *audio_stream = nullptr;
+  AVCodecContext *audio_codec_ctx = nullptr;
+  AVFrame *audio_frame = nullptr;
+  uint64_t audio_pts = 0;
+  std::deque<float> audio_buffer;
+
   bool remuxing;
 };
diff --git a/system/manager/build.py b/system/manager/build.py
index 771024794f..d79e7fd2ad 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -5,16 +5,16 @@ from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
+from openpilot.common.spinner import Spinner
+from openpilot.common.text_window import TextWindow
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.hardware import HARDWARE, AGNOS
-from openpilot.system.ui.spinner import Spinner
-from openpilot.system.ui.text import TextWindow
 from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 3130
+TOTAL_SCONS_NODES = 2705
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
@@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
 
 if __name__ == "__main__":
-  with Spinner() as spinner:
-    spinner.update_progress(0, 100)
-    build_metadata = get_build_metadata()
-    build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
+  build_metadata = get_build_metadata()
+  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 90df415a8c..3ec554f904 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -3,20 +3,26 @@ import datetime
 import os
 import signal
 import sys
+import time
 import traceback
 
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
-from openpilot.common.params import Params, ParamKeyType
+from openpilot.common.utils import atomic_write
+from openpilot.common.params import Params, ParamKeyFlag
+from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
-from openpilot.system.version import get_build_metadata, terms_version, training_version
+from openpilot.system.version import get_build_metadata
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import PC
+
+from openpilot.sunnypilot.system.params_migration import run_migration
 
 
 def manager_init() -> None:
@@ -25,45 +31,34 @@ def manager_init() -> None:
   build_metadata = get_build_metadata()
 
   params = Params()
-  params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
-  params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
-  params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+  params.clear_all(ParamKeyFlag.CLEAR_ON_MANAGER_START)
+  params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+  params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
+  params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
   if build_metadata.release_channel:
-    params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
+    params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
 
-  default_params: list[tuple[str, str | bytes]] = [
-    ("CompletedTrainingVersion", "0"),
-    ("DisengageOnAccelerator", "0"),
-    ("GsmMetered", "1"),
-    ("HasAcceptedTerms", "0"),
-    ("LanguageSetting", "main_en"),
-    ("OpenpilotEnabledToggle", "1"),
-    ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
-  ]
+  # device boot mode
+  if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
+    params.put_bool("OffroadMode", True)
 
-  sunnypilot_default_params: list[tuple[str, str | bytes]] = [
-    ("AutoLaneChangeTimer", "0"),
-    ("AutoLaneChangeBsmDelay", "0"),
-    ("DynamicExperimentalControl", "0"),
-    ("HyundaiLongitudinalTuning", "0"),
-    ("Mads", "1"),
-    ("MadsMainCruiseAllowed", "1"),
-    ("MadsPauseLateralOnBrake", "0"),
-    ("MadsUnifiedEngagementMode", "1"),
-    ("MaxTimeOffroad", "1800"),
-    ("ModelManager_LastSyncTime", "0"),
-    ("ModelManager_ModelsCache", ""),
-    ("NeuralNetworkLateralControl", "0"),
-    ("QuietMode", "0"),
-  ]
+  # quick boot
+  if params.get_bool("QuickBootToggle") and not PC:
+    prebuilt_path = "/data/openpilot/prebuilt"
+    if not os.path.exists(prebuilt_path):
+      open(prebuilt_path, 'x').close()
 
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
-  # set unset params
-  for k, v in (default_params + sunnypilot_default_params):
-    if params.get(k) is None:
-      params.put(k, v)
+  if not PC:
+    run_migration(params)
+
+  # set unset params to their default value
+  for k in params.all_keys():
+    default_value = params.get_default_value(k)
+    if default_value is not None and params.get(k) is None:
+      params.put(k, default_value)
 
   # Create folders needed for msgq
   try:
@@ -76,14 +71,14 @@ def manager_init() -> None:
   # set params
   serial = HARDWARE.get_serial()
   params.put("Version", build_metadata.openpilot.version)
-  params.put("TermsVersion", terms_version)
-  params.put("TrainingVersion", training_version)
   params.put("GitCommit", build_metadata.openpilot.git_commit)
   params.put("GitCommitDate", build_metadata.openpilot.git_commit_date)
   params.put("GitBranch", build_metadata.channel)
   params.put("GitRemote", build_metadata.openpilot.git_origin)
+  params.put_bool("IsDevelopmentBranch", build_metadata.development_channel)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put_bool("IsReleaseSpBranch", build_metadata.release_sp_channel)
   params.put("HardwareSerial", serial)
 
   # set dongle id
@@ -135,19 +130,20 @@ def manager_thread() -> None:
   params = Params()
 
   ignore: list[str] = []
-  if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
+  if params.get("DongleId") in (None, UNREGISTERED_DONGLE_ID):
     ignore += ["manage_athenad", "uploader"]
   if os.getenv("NOBOARD") is not None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
+  sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
+  ignition_prev = False
 
   while True:
     sm.update(1000)
@@ -155,15 +151,20 @@ def manager_thread() -> None:
     started = sm['deviceState'].started
 
     if started and not started_prev:
-      params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
+      params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
     elif not started and started_prev:
-      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+      params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
+
+    ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
+    if ignition and not ignition_prev:
+      params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
 
     # update onroad params, which drives pandad's safety setter thread
     if started != started_prev:
       write_onroad_params(started, params)
 
     started_prev = started
+    ignition_prev = ignition
 
     ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
 
@@ -177,6 +178,14 @@ def manager_thread() -> None:
     msg.managerState.processes = [p.get_process_state_msg() for p in managed_processes.values()]
     pm.send('managerState', msg)
 
+    # kick AGNOS power monitoring watchdog
+    try:
+      if sm.all_checks(['deviceState']):
+        with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
+          f.write(str(time.monotonic()))
+    except Exception:
+      pass
+
     # Exit main loop when uninstall/shutdown/reboot is needed
     shutdown = False
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
@@ -218,8 +227,6 @@ def main() -> None:
 
 
 if __name__ == "__main__":
-  from openpilot.system.ui.text import TextWindow
-
   unblock_stdout()
 
   try:
diff --git a/system/manager/process.py b/system/manager/process.py
index 6c233c21ab..36e1ba77b2 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -1,7 +1,6 @@
 import importlib
 import os
 import signal
-import struct
 import time
 import subprocess
 from collections.abc import Callable, ValuesView
@@ -16,10 +15,6 @@ import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware.hw import Paths
-
-WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
-ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
 
 def launcher(proc: str, name: str) -> None:
@@ -71,11 +66,8 @@ class ManagerProcess(ABC):
   proc: Process | None = None
   enabled = True
   name = ""
-
-  last_watchdog_time = 0
-  watchdog_max_dt: int | None = None
-  watchdog_seen = False
   shutting_down = False
+  restart_if_crash = False
 
   @abstractmethod
   def prepare(self) -> None:
@@ -89,28 +81,7 @@ class ManagerProcess(ABC):
     self.stop(sig=signal.SIGKILL)
     self.start()
 
-  def check_watchdog(self, started: bool) -> None:
-    if self.watchdog_max_dt is None or self.proc is None:
-      return
-
-    try:
-      fn = WATCHDOG_FN + str(self.proc.pid)
-      with open(fn, "rb") as f:
-        # TODO: why can't pylint find struct.unpack?
-        self.last_watchdog_time = struct.unpack('Q', f.read())[0]
-    except Exception:
-      pass
-
-    dt = time.monotonic() - self.last_watchdog_time / 1e9
-
-    if dt > self.watchdog_max_dt:
-      if self.watchdog_seen and ENABLE_WATCHDOG:
-        cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
-        self.restart()
-    else:
-      self.watchdog_seen = True
-
-  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
+  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
     if self.proc is None:
       return None
 
@@ -169,14 +140,13 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
-    self.watchdog_max_dt = watchdog_max_dt
     self.launcher = nativelauncher
 
   def prepare(self) -> None:
@@ -194,19 +164,18 @@ class NativeProcess(ManagerProcess):
     cloudlog.info(f"starting process {self.name}")
     self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
     self.proc.start()
-    self.watchdog_seen = False
     self.shutting_down = False
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
     self.name = name
     self.module = module
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
-    self.watchdog_max_dt = watchdog_max_dt
     self.launcher = launcher
+    self.restart_if_crash = restart_if_crash
 
   def prepare(self) -> None:
     if self.enabled:
@@ -228,7 +197,6 @@ class PythonProcess(ManagerProcess):
     cloudlog.info(f"starting python {self.module}")
     self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
-    self.watchdog_seen = False
     self.shutting_down = False
 
 
@@ -253,7 +221,7 @@ class DaemonProcess(ManagerProcess):
     if self.params is None:
       self.params = Params()
 
-    pid = self.params.get(self.param_name, encoding='utf-8')
+    pid = self.params.get(self.param_name)
     if pid is not None:
       try:
         os.kill(int(pid), 0)
@@ -272,7 +240,7 @@ class DaemonProcess(ManagerProcess):
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    self.params.put(self.param_name, str(proc.pid))
+    self.params.put(self.param_name, proc.pid)
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
@@ -286,12 +254,13 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   running = []
   for p in procs:
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
+      if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
+        cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
+        p.restart()
       running.append(p)
     else:
       p.stop(block=False)
 
-    p.check_watchdog(started)
-
   for p in running:
     p.start()
 
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 0a572af132..2e43dfada6 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -1,13 +1,17 @@
 import os
 import operator
+import platform
 
 from cereal import car, custom
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.system.hardware.hw import Paths
 
-from sunnypilot.models.helpers import get_active_model_runner
-from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
+
+from openpilot.sunnypilot.models.helpers import get_active_model_runner
+from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
@@ -58,7 +62,11 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
 def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
+  return not PC and params.get_bool("EnableGithubRunner") and (
+    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
+
+def use_copyparty(started, params, CP: car.CarParams) -> bool:
+  return bool(params.get_bool("EnableCopyparty"))
 
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""
@@ -72,10 +80,6 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
-def is_snpe_model(started, params, CP: car.CarParams) -> bool:
-  """Check if the active model runner is SNPE."""
-  return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.snpe)
-
 def is_tinygrad_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is SNPE."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.tinygrad)
@@ -84,6 +88,15 @@ def is_stock_model(started, params, CP: car.CarParams) -> bool:
   """Check if the active model runner is stock."""
   return bool(get_active_model_runner(params, not started) == custom.ModelManagerSP.Runner.stock)
 
+def mapd_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return bool(os.path.exists(Paths.mapd_root()))
+
+def uploader_ready(started: bool, params: Params, CP: car.CarParams) -> bool:
+  if not params.get_bool("OnroadUploads"):
+    return only_offroad(started, params, CP)
+
+  return always_run(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -100,17 +113,17 @@ procs = [
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
+  PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
-  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
-  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
+  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
+  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
+  PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
@@ -125,7 +138,7 @@ procs = [
   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("ubloxd", "system.ubloxd.ubloxd", ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
   PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
@@ -133,8 +146,9 @@ procs = [
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
-  PythonProcess("uploader", "system.loggerd.uploader", always_run),
+  PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
   PythonProcess("statsd", "system.statsd", always_run),
+  PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
@@ -145,23 +159,41 @@ procs = [
   # sunnylink <3
   DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
   PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]
 
 # sunnypilot
 procs += [
   # Models
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
   NativeProcess("modeld_tinygrad", "sunnypilot/modeld_v2", ["./modeld"], and_(only_onroad, is_tinygrad_model)),
 
   # Backup
   PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
+
+  # mapd
+  NativeProcess("mapd", Paths.mapd_root(), ["bash", "-c", f"{MAPD_PATH} > /dev/null 2>&1"], mapd_ready),
+  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
+
+  # locationd
+  NativeProcess("locationd_llk", "sunnypilot/selfdrive/locationd", ["./locationd"], only_onroad),
 ]
 
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 
-if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
+if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
+if os.path.exists("../../third_party/copyparty/copyparty-sfx.py"):
+  sunnypilot_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
+  copyparty_args = [f"-v{Paths.crash_log_root()}:/swaglogs:r"]
+  copyparty_args += [f"-v{Paths.log_root()}:/routes:r"]
+  copyparty_args += [f"-v{Paths.model_root()}:/models:rw"]
+  copyparty_args += [f"-v{sunnypilot_root}:/sunnypilot:rw"]
+  copyparty_args += ["-p8080"]
+  copyparty_args += ["-z"]
+  copyparty_args += ["-q"]
+  procs += [NativeProcess("copyparty-sfx", "third_party/copyparty", ["./copyparty-sfx.py", *copyparty_args], and_(only_offroad, use_copyparty))]
+
 managed_processes = {p.name: p for p in procs}
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index 9c0b664006..34d07c6724 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -38,6 +38,19 @@ class TestManager:
     # TODO: ensure there are blacklisted procs until we have a dedicated test
     assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
 
+  def test_set_params_with_default_value(self):
+    params = Params()
+    params.clear_all()
+
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+    for k in params.all_keys():
+      default_value = params.get_default_value(k)
+      if default_value is not None:
+        assert params.get(k) == default_value
+    assert params.get("OpenpilotEnabledToggle")
+    assert params.get("RouteCount") == 0
+
   @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self, subtests):
     """
diff --git a/system/micd.py b/system/micd.py
index 38f3225f55..9b3ccc8d29 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -5,14 +5,14 @@ import threading
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
-from openpilot.common.retry import retry
+from openpilot.common.utils import retry
 from openpilot.common.swaglog import cloudlog
 
 RATE = 10
-FFT_SAMPLES = 4096
+FFT_SAMPLES = 1600 # 100ms
 REFERENCE_SPL = 2e-5  # newtons/m^2
-SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096  # approx 100ms
+SAMPLE_RATE = 16000
+SAMPLE_BUFFER = 800  # 50ms
 
 
 @cache
@@ -45,7 +45,7 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
 class Mic:
   def __init__(self):
     self.rk = Ratekeeper(RATE)
-    self.pm = messaging.PubMaster(['microphone'])
+    self.pm = messaging.PubMaster(['soundPressure', 'rawAudioData'])
 
     self.measurements = np.empty(0)
 
@@ -61,12 +61,12 @@ class Mic:
       sound_pressure_weighted = self.sound_pressure_weighted
       sound_pressure_level_weighted = self.sound_pressure_level_weighted
 
-    msg = messaging.new_message('microphone', valid=True)
-    msg.microphone.soundPressure = float(sound_pressure)
-    msg.microphone.soundPressureWeighted = float(sound_pressure_weighted)
-    msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted)
+    msg = messaging.new_message('soundPressure', valid=True)
+    msg.soundPressure.soundPressure = float(sound_pressure)
+    msg.soundPressure.soundPressureWeighted = float(sound_pressure_weighted)
+    msg.soundPressure.soundPressureWeightedDb = float(sound_pressure_level_weighted)
 
-    self.pm.send('microphone', msg)
+    self.pm.send('soundPressure', msg)
     self.rk.keep_time()
 
   def callback(self, indata, frames, time, status):
@@ -76,6 +76,12 @@ class Mic:
 
     Logged A-weighted equivalents are rough approximations of the human-perceived loudness.
     """
+    msg = messaging.new_message('rawAudioData', valid=True)
+    audio_data_int_16 = (indata[:, 0] * 32767).astype(np.int16)
+    msg.rawAudioData.data = audio_data_int_16.tobytes()
+    msg.rawAudioData.sampleRate = SAMPLE_RATE
+    self.pm.send('rawAudioData', msg)
+
     with self.lock:
       self.measurements = np.concatenate((self.measurements, indata[:, 0]))
 
@@ -88,7 +94,7 @@ class Mic:
 
         self.measurements = self.measurements[FFT_SAMPLES:]
 
-  @retry(attempts=7, delay=3)
+  @retry(attempts=10, delay=3)
   def get_stream(self, sd):
     # reload sounddevice to reinitialize portaudio
     sd._terminate()
diff --git a/system/proclogd.py b/system/proclogd.py
new file mode 100755
index 0000000000..b008f8ed9b
--- /dev/null
+++ b/system/proclogd.py
@@ -0,0 +1,286 @@
+#!/usr/bin/env python3
+import os
+from typing import NoReturn, TypedDict
+
+from cereal import messaging
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+JIFFY = os.sysconf(os.sysconf_names['SC_CLK_TCK'])
+PAGE_SIZE = os.sysconf(os.sysconf_names['SC_PAGE_SIZE'])
+
+
+def _cpu_times() -> list[dict[str, float]]:
+  cpu_times: list[dict[str, float]] = []
+  try:
+    with open('/proc/stat') as f:
+      lines = f.readlines()[1:]
+    for line in lines:
+      if not line.startswith('cpu') or len(line) < 4 or not line[3].isdigit():
+        break
+      parts = line.split()
+      cpu_times.append({
+        'cpuNum': int(parts[0][3:]),
+        'user': float(parts[1]) / JIFFY,
+        'nice': float(parts[2]) / JIFFY,
+        'system': float(parts[3]) / JIFFY,
+        'idle': float(parts[4]) / JIFFY,
+        'iowait': float(parts[5]) / JIFFY,
+        'irq': float(parts[6]) / JIFFY,
+        'softirq': float(parts[7]) / JIFFY,
+      })
+  except Exception:
+    cloudlog.exception("failed to read /proc/stat")
+  return cpu_times
+
+
+def _mem_info() -> dict[str, int]:
+  keys = ["MemTotal:", "MemFree:", "MemAvailable:", "Buffers:", "Cached:", "Active:", "Inactive:", "Shmem:"]
+  info: dict[str, int] = dict.fromkeys(keys, 0)
+  try:
+    with open('/proc/meminfo') as f:
+      for line in f:
+        parts = line.split()
+        if parts and parts[0] in info:
+          info[parts[0]] = int(parts[1]) * 1024
+  except Exception:
+    cloudlog.exception("failed to read /proc/meminfo")
+  return info
+
+
+_STAT_POS = {
+  'pid': 1,
+  'state': 3,
+  'ppid': 4,
+  'utime': 14,
+  'stime': 15,
+  'cutime': 16,
+  'cstime': 17,
+  'priority': 18,
+  'nice': 19,
+  'num_threads': 20,
+  'starttime': 22,
+  'vsize': 23,
+  'rss': 24,
+  'processor': 39,
+}
+
+class ProcStat(TypedDict):
+  name: str
+  pid: int
+  state: str
+  ppid: int
+  utime: int
+  stime: int
+  cutime: int
+  cstime: int
+  priority: int
+  nice: int
+  num_threads: int
+  starttime: int
+  vms: int
+  rss: int
+  processor: int
+
+
+def _parse_proc_stat(stat: str) -> ProcStat | None:
+  open_paren = stat.find('(')
+  close_paren = stat.rfind(')')
+  if open_paren == -1 or close_paren == -1 or open_paren > close_paren:
+    return None
+  name = stat[open_paren + 1:close_paren]
+  stat = stat[:open_paren] + stat[open_paren:close_paren].replace(' ', '_') + stat[close_paren:]
+  parts = stat.split()
+  if len(parts) < 52:
+    return None
+  try:
+    return {
+      'name': name,
+      'pid': int(parts[_STAT_POS['pid'] - 1]),
+      'state': parts[_STAT_POS['state'] - 1][0],
+      'ppid': int(parts[_STAT_POS['ppid'] - 1]),
+      'utime': int(parts[_STAT_POS['utime'] - 1]),
+      'stime': int(parts[_STAT_POS['stime'] - 1]),
+      'cutime': int(parts[_STAT_POS['cutime'] - 1]),
+      'cstime': int(parts[_STAT_POS['cstime'] - 1]),
+      'priority': int(parts[_STAT_POS['priority'] - 1]),
+      'nice': int(parts[_STAT_POS['nice'] - 1]),
+      'num_threads': int(parts[_STAT_POS['num_threads'] - 1]),
+      'starttime': int(parts[_STAT_POS['starttime'] - 1]),
+      'vms': int(parts[_STAT_POS['vsize'] - 1]),
+      'rss': int(parts[_STAT_POS['rss'] - 1]),
+      'processor': int(parts[_STAT_POS['processor'] - 1]),
+    }
+  except Exception:
+    cloudlog.exception("failed to parse /proc/<pid>/stat")
+    return None
+
+class SmapsData(TypedDict):
+  pss: int       # bytes
+  pss_anon: int  # bytes
+  pss_shmem: int # bytes
+
+
+_SMAPS_KEYS = {b'Pss:', b'Pss_Anon:', b'Pss_Shmem:'}
+
+# smaps_rollup (kernel 4.14+) is ideal but missing on some BSP kernels;
+# fall back to per-VMA smaps (any kernel). Pss_Anon/Pss_Shmem only in 5.x+.
+_smaps_path: str | None = None  # auto-detected on first call
+
+# per-VMA smaps is expensive (kernel walks page tables for every VMA).
+# cache results and only refresh every N cycles to keep CPU low.
+_smaps_cache: dict[int, SmapsData] = {}
+_smaps_cycle = 0
+_SMAPS_EVERY = 20  # refresh every 20th cycle (40s at 0.5Hz)
+
+
+def _read_smaps(pid: int) -> SmapsData:
+  global _smaps_path
+  try:
+    if _smaps_path is None:
+      _smaps_path = 'smaps_rollup' if os.path.exists(f'/proc/{pid}/smaps_rollup') else 'smaps'
+
+    result: SmapsData = {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}
+    with open(f'/proc/{pid}/{_smaps_path}', 'rb') as f:
+      for line in f:
+        parts = line.split()
+        if len(parts) >= 2 and parts[0] in _SMAPS_KEYS:
+          val = int(parts[1]) * 1024  # kB -> bytes
+          if parts[0] == b'Pss:':
+            result['pss'] += val
+          elif parts[0] == b'Pss_Anon:':
+            result['pss_anon'] += val
+          elif parts[0] == b'Pss_Shmem:':
+            result['pss_shmem'] += val
+    return result
+  except (FileNotFoundError, PermissionError, ProcessLookupError, OSError):
+    return {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}
+
+
+def _get_smaps_cached(pid: int) -> SmapsData:
+  """Return cached smaps data, refreshing every _SMAPS_EVERY cycles."""
+  if _smaps_cycle == 0 or pid not in _smaps_cache:
+    _smaps_cache[pid] = _read_smaps(pid)
+  return _smaps_cache.get(pid, {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0})
+
+
+class ProcExtra(TypedDict):
+  pid: int
+  name: str
+  exe: str
+  cmdline: list[str]
+
+
+_proc_cache: dict[int, ProcExtra] = {}
+
+
+def _get_proc_extra(pid: int, name: str) -> ProcExtra:
+  cache: ProcExtra | None = _proc_cache.get(pid)
+  if cache is None or cache.get('name') != name:
+    exe = ''
+    cmdline: list[str] = []
+    try:
+      exe = os.readlink(f'/proc/{pid}/exe')
+    except OSError:
+      pass
+    try:
+      with open(f'/proc/{pid}/cmdline', 'rb') as f:
+        cmdline = [c.decode('utf-8', errors='replace') for c in f.read().split(b'\0') if c]
+    except OSError:
+      pass
+    cache = {'pid': pid, 'name': name, 'exe': exe, 'cmdline': cmdline}
+    _proc_cache[pid] = cache
+  return cache
+
+
+def _procs() -> list[ProcStat]:
+  stats: list[ProcStat] = []
+  for pid_str in os.listdir('/proc'):
+    if not pid_str.isdigit():
+      continue
+    try:
+      with open(f'/proc/{pid_str}/stat') as f:
+        stat = f.read()
+      parsed = _parse_proc_stat(stat)
+      if parsed is not None:
+        stats.append(parsed)
+    except OSError:
+      continue
+  return stats
+
+
+def build_proc_log_message(msg) -> None:
+  pl = msg.procLog
+
+  procs = _procs()
+  l = pl.init('procs', len(procs))
+  for i, r in enumerate(procs):
+    proc = l[i]
+    proc.pid = r['pid']
+    proc.state = ord(r['state'][0])
+    proc.ppid = r['ppid']
+    proc.cpuUser = r['utime'] / JIFFY
+    proc.cpuSystem = r['stime'] / JIFFY
+    proc.cpuChildrenUser = r['cutime'] / JIFFY
+    proc.cpuChildrenSystem = r['cstime'] / JIFFY
+    proc.priority = r['priority']
+    proc.nice = r['nice']
+    proc.numThreads = r['num_threads']
+    proc.startTime = r['starttime'] / JIFFY
+    proc.memVms = r['vms']
+    proc.memRss = r['rss'] * PAGE_SIZE
+    proc.processor = r['processor']
+    proc.name = r['name']
+
+    extra = _get_proc_extra(r['pid'], r['name'])
+    proc.exe = extra['exe']
+    cmdline = proc.init('cmdline', len(extra['cmdline']))
+    for j, arg in enumerate(extra['cmdline']):
+      cmdline[j] = arg
+
+    # smaps is expensive (kernel walks page tables); skip small processes, use cache
+    if r['rss'] * PAGE_SIZE > 5 * 1024 * 1024:
+      smaps = _get_smaps_cached(r['pid'])
+      proc.memPss = smaps['pss']
+      proc.memPssAnon = smaps['pss_anon']
+      proc.memPssShmem = smaps['pss_shmem']
+
+  cpu_times = _cpu_times()
+  cpu_list = pl.init('cpuTimes', len(cpu_times))
+  for i, ct in enumerate(cpu_times):
+    cpu = cpu_list[i]
+    cpu.cpuNum = ct['cpuNum']
+    cpu.user = ct['user']
+    cpu.nice = ct['nice']
+    cpu.system = ct['system']
+    cpu.idle = ct['idle']
+    cpu.iowait = ct['iowait']
+    cpu.irq = ct['irq']
+    cpu.softirq = ct['softirq']
+
+  mem_info = _mem_info()
+  pl.mem.total = mem_info["MemTotal:"]
+  pl.mem.free = mem_info["MemFree:"]
+  pl.mem.available = mem_info["MemAvailable:"]
+  pl.mem.buffers = mem_info["Buffers:"]
+  pl.mem.cached = mem_info["Cached:"]
+  pl.mem.active = mem_info["Active:"]
+  pl.mem.inactive = mem_info["Inactive:"]
+  pl.mem.shared = mem_info["Shmem:"]
+
+  global _smaps_cycle
+  _smaps_cycle = (_smaps_cycle + 1) % _SMAPS_EVERY
+
+
+def main() -> NoReturn:
+  pm = messaging.PubMaster(['procLog'])
+  rk = Ratekeeper(0.5)
+  while True:
+    msg = messaging.new_message('procLog', valid=True)
+    build_proc_log_message(msg)
+    pm.send('procLog', msg)
+    rk.keep_time()
+
+
+if __name__ == '__main__':
+  main()
diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript
deleted file mode 100644
index 08814d5ccb..0000000000
--- a/system/proclogd/SConscript
+++ /dev/null
@@ -1,6 +0,0 @@
-Import('env', 'messaging', 'common')
-libs = [messaging, 'pthread', common]
-env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs)
-
-if GetOption('extras'):
-  env.Program('tests/test_proclog', ['tests/test_proclog.cc', 'proclog.cc'], LIBS=libs)
diff --git a/system/proclogd/main.cc b/system/proclogd/main.cc
deleted file mode 100644
index 3f8a889eea..0000000000
--- a/system/proclogd/main.cc
+++ /dev/null
@@ -1,25 +0,0 @@
-
-#include <sys/resource.h>
-
-#include "common/ratekeeper.h"
-#include "common/util.h"
-#include "system/proclogd/proclog.h"
-
-ExitHandler do_exit;
-
-int main(int argc, char **argv) {
-  setpriority(PRIO_PROCESS, 0, -15);
-
-  RateKeeper rk("proclogd", 0.5);
-  PubMaster publisher({"procLog"});
-
-  while (!do_exit) {
-    MessageBuilder msg;
-    buildProcLogMessage(msg);
-    publisher.send("procLog", msg);
-
-    rk.keepTime();
-  }
-
-  return 0;
-}
diff --git a/system/proclogd/proclog.cc b/system/proclogd/proclog.cc
deleted file mode 100644
index 09ab4f559e..0000000000
--- a/system/proclogd/proclog.cc
+++ /dev/null
@@ -1,239 +0,0 @@
-#include "system/proclogd/proclog.h"
-
-#include <dirent.h>
-
-#include <cassert>
-#include <fstream>
-#include <iterator>
-#include <sstream>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-namespace Parser {
-
-// parse /proc/stat
-std::vector<CPUTime> cpuTimes(std::istream &stream) {
-  std::vector<CPUTime> cpu_times;
-  std::string line;
-  // skip the first line for cpu total
-  std::getline(stream, line);
-  while (std::getline(stream, line)) {
-    if (line.compare(0, 3, "cpu") != 0) break;
-
-    CPUTime t = {};
-    std::istringstream iss(line);
-    if (iss.ignore(3) >> t.id >> t.utime >> t.ntime >> t.stime >> t.itime >> t.iowtime >> t.irqtime >> t.sirqtime)
-      cpu_times.push_back(t);
-  }
-  return cpu_times;
-}
-
-// parse /proc/meminfo
-std::unordered_map<std::string, uint64_t> memInfo(std::istream &stream) {
-  std::unordered_map<std::string, uint64_t> mem_info;
-  std::string line, key;
-  while (std::getline(stream, line)) {
-    uint64_t val = 0;
-    std::istringstream iss(line);
-    if (iss >> key >> val) {
-      mem_info[key] = val * 1024;
-    }
-  }
-  return mem_info;
-}
-
-// field position (https://man7.org/linux/man-pages/man5/proc.5.html)
-enum StatPos {
-  pid = 1,
-  state = 3,
-  ppid = 4,
-  utime = 14,
-  stime = 15,
-  cutime = 16,
-  cstime = 17,
-  priority = 18,
-  nice = 19,
-  num_threads = 20,
-  starttime = 22,
-  vsize = 23,
-  rss = 24,
-  processor = 39,
-  MAX_FIELD = 52,
-};
-
-// parse /proc/pid/stat
-std::optional<ProcStat> procStat(std::string stat) {
-  // To avoid being fooled by names containing a closing paren, scan backwards.
-  auto open_paren = stat.find('(');
-  auto close_paren = stat.rfind(')');
-  if (open_paren == std::string::npos || close_paren == std::string::npos || open_paren > close_paren) {
-    return std::nullopt;
-  }
-
-  std::string name = stat.substr(open_paren + 1, close_paren - open_paren - 1);
-  // replace space in name with _
-  std::replace(&stat[open_paren], &stat[close_paren], ' ', '_');
-  std::istringstream iss(stat);
-  std::vector<std::string> v{std::istream_iterator<std::string>(iss),
-                             std::istream_iterator<std::string>()};
-  try {
-    if (v.size() != StatPos::MAX_FIELD) {
-      throw std::invalid_argument("stat");
-    }
-    ProcStat p = {
-      .name = name,
-      .pid = stoi(v[StatPos::pid - 1]),
-      .state = v[StatPos::state - 1][0],
-      .ppid = stoi(v[StatPos::ppid - 1]),
-      .utime = stoul(v[StatPos::utime - 1]),
-      .stime = stoul(v[StatPos::stime - 1]),
-      .cutime = stol(v[StatPos::cutime - 1]),
-      .cstime = stol(v[StatPos::cstime - 1]),
-      .priority = stol(v[StatPos::priority - 1]),
-      .nice = stol(v[StatPos::nice - 1]),
-      .num_threads = stol(v[StatPos::num_threads - 1]),
-      .starttime = stoull(v[StatPos::starttime - 1]),
-      .vms = stoul(v[StatPos::vsize - 1]),
-      .rss = stol(v[StatPos::rss - 1]),
-      .processor = stoi(v[StatPos::processor - 1]),
-    };
-    return p;
-  } catch (const std::invalid_argument &e) {
-    LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str());
-  } catch (const std::out_of_range &e) {
-    LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str());
-  }
-  return std::nullopt;
-}
-
-// return list of PIDs from /proc
-std::vector<int> pids() {
-  std::vector<int> ids;
-  DIR *d = opendir("/proc");
-  assert(d);
-  char *p_end;
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type == DT_DIR) {
-      int pid = strtol(de->d_name, &p_end, 10);
-      if (p_end == (de->d_name + strlen(de->d_name))) {
-        ids.push_back(pid);
-      }
-    }
-  }
-  closedir(d);
-  return ids;
-}
-
-// null-delimited cmdline arguments to vector
-std::vector<std::string> cmdline(std::istream &stream) {
-  std::vector<std::string> ret;
-  std::string line;
-  while (std::getline(stream, line, '\0')) {
-    if (!line.empty()) {
-      ret.push_back(line);
-    }
-  }
-  return ret;
-}
-
-const ProcCache &getProcExtraInfo(int pid, const std::string &name) {
-  static std::unordered_map<pid_t, ProcCache> proc_cache;
-  ProcCache &cache = proc_cache[pid];
-  if (cache.pid != pid || cache.name != name) {
-    cache.pid = pid;
-    cache.name = name;
-    std::string proc_path = "/proc/" + std::to_string(pid);
-    cache.exe = util::readlink(proc_path + "/exe");
-    std::ifstream stream(proc_path + "/cmdline");
-    cache.cmdline = cmdline(stream);
-  }
-  return cache;
-}
-
-}  // namespace Parser
-
-const double jiffy = sysconf(_SC_CLK_TCK);
-const size_t page_size = sysconf(_SC_PAGE_SIZE);
-
-void buildCPUTimes(cereal::ProcLog::Builder &builder) {
-  std::ifstream stream("/proc/stat");
-  std::vector<CPUTime> stats = Parser::cpuTimes(stream);
-
-  auto log_cpu_times = builder.initCpuTimes(stats.size());
-  for (int i = 0; i < stats.size(); ++i) {
-    auto l = log_cpu_times[i];
-    const CPUTime &r = stats[i];
-    l.setCpuNum(r.id);
-    l.setUser(r.utime / jiffy);
-    l.setNice(r.ntime / jiffy);
-    l.setSystem(r.stime / jiffy);
-    l.setIdle(r.itime / jiffy);
-    l.setIowait(r.iowtime / jiffy);
-    l.setIrq(r.irqtime / jiffy);
-    l.setSoftirq(r.sirqtime / jiffy);
-  }
-}
-
-void buildMemInfo(cereal::ProcLog::Builder &builder) {
-  std::ifstream stream("/proc/meminfo");
-  auto mem_info = Parser::memInfo(stream);
-
-  auto mem = builder.initMem();
-  mem.setTotal(mem_info["MemTotal:"]);
-  mem.setFree(mem_info["MemFree:"]);
-  mem.setAvailable(mem_info["MemAvailable:"]);
-  mem.setBuffers(mem_info["Buffers:"]);
-  mem.setCached(mem_info["Cached:"]);
-  mem.setActive(mem_info["Active:"]);
-  mem.setInactive(mem_info["Inactive:"]);
-  mem.setShared(mem_info["Shmem:"]);
-}
-
-void buildProcs(cereal::ProcLog::Builder &builder) {
-  auto pids = Parser::pids();
-  std::vector<ProcStat> proc_stats;
-  proc_stats.reserve(pids.size());
-  for (int pid : pids) {
-    std::string path = "/proc/" + std::to_string(pid) + "/stat";
-    if (auto stat = Parser::procStat(util::read_file(path))) {
-      proc_stats.push_back(*stat);
-    }
-  }
-
-  auto procs = builder.initProcs(proc_stats.size());
-  for (size_t i = 0; i < proc_stats.size(); i++) {
-    auto l = procs[i];
-    const ProcStat &r = proc_stats[i];
-    l.setPid(r.pid);
-    l.setState(r.state);
-    l.setPpid(r.ppid);
-    l.setCpuUser(r.utime / jiffy);
-    l.setCpuSystem(r.stime / jiffy);
-    l.setCpuChildrenUser(r.cutime / jiffy);
-    l.setCpuChildrenSystem(r.cstime / jiffy);
-    l.setPriority(r.priority);
-    l.setNice(r.nice);
-    l.setNumThreads(r.num_threads);
-    l.setStartTime(r.starttime / jiffy);
-    l.setMemVms(r.vms);
-    l.setMemRss((uint64_t)r.rss * page_size);
-    l.setProcessor(r.processor);
-    l.setName(r.name);
-
-    const ProcCache &extra_info = Parser::getProcExtraInfo(r.pid, r.name);
-    l.setExe(extra_info.exe);
-    auto lcmdline = l.initCmdline(extra_info.cmdline.size());
-    for (size_t j = 0; j < lcmdline.size(); j++) {
-      lcmdline.set(j, extra_info.cmdline[j]);
-    }
-  }
-}
-
-void buildProcLogMessage(MessageBuilder &msg) {
-  auto procLog = msg.initEvent().initProcLog();
-  buildProcs(procLog);
-  buildCPUTimes(procLog);
-  buildMemInfo(procLog);
-}
diff --git a/system/proclogd/proclog.h b/system/proclogd/proclog.h
deleted file mode 100644
index 49f97cdd36..0000000000
--- a/system/proclogd/proclog.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#include <optional>
-#include <string>
-#include <unordered_map>
-#include <vector>
-
-#include "cereal/messaging/messaging.h"
-
-struct CPUTime {
-  int id;
-  unsigned long utime, ntime, stime, itime;
-  unsigned long iowtime, irqtime, sirqtime;
-};
-
-struct ProcCache {
-  int pid;
-  std::string name, exe;
-  std::vector<std::string> cmdline;
-};
-
-struct ProcStat {
-  int pid, ppid, processor;
-  char state;
-  long cutime, cstime, priority, nice, num_threads, rss;
-  unsigned long utime, stime, vms;
-  unsigned long long starttime;
-  std::string name;
-};
-
-namespace Parser {
-
-std::vector<int> pids();
-std::optional<ProcStat> procStat(std::string stat);
-std::vector<std::string> cmdline(std::istream &stream);
-std::vector<CPUTime> cpuTimes(std::istream &stream);
-std::unordered_map<std::string, uint64_t> memInfo(std::istream &stream);
-const ProcCache &getProcExtraInfo(int pid, const std::string &name);
-
-};  // namespace Parser
-
-void buildProcLogMessage(MessageBuilder &msg);
diff --git a/system/proclogd/tests/.gitignore b/system/proclogd/tests/.gitignore
deleted file mode 100644
index 5230b1598d..0000000000
--- a/system/proclogd/tests/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-test_proclog
diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc
deleted file mode 100644
index b86229a499..0000000000
--- a/system/proclogd/tests/test_proclog.cc
+++ /dev/null
@@ -1,142 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
-#include "common/util.h"
-#include "system/proclogd/proclog.h"
-
-const std::string allowed_states = "RSDTZtWXxKWPI";
-
-TEST_CASE("Parser::procStat") {
-  SECTION("from string") {
-    const std::string stat_str =
-        "33012 (code )) S 32978 6620 6620 0 -1 4194368 2042377 0 144 0 24510 11627 0 "
-        "0 20 0 39 0 53077 830029824 62214 18446744073709551615 94257242783744 94257366235808 "
-        "140735738643248 0 0 0 0 4098 1073808632 0 0 0 17 2 0 0 2 0 0 94257370858656 94257371248232 "
-        "94257404952576 140735738648768 140735738648823 140735738648823 140735738650595 0";
-    auto stat = Parser::procStat(stat_str);
-    REQUIRE(stat);
-    REQUIRE(stat->pid == 33012);
-    REQUIRE(stat->name == "code )");
-    REQUIRE(stat->state == 'S');
-    REQUIRE(stat->ppid == 32978);
-    REQUIRE(stat->utime == 24510);
-    REQUIRE(stat->stime == 11627);
-    REQUIRE(stat->cutime == 0);
-    REQUIRE(stat->cstime == 0);
-    REQUIRE(stat->priority == 20);
-    REQUIRE(stat->nice == 0);
-    REQUIRE(stat->num_threads == 39);
-    REQUIRE(stat->starttime == 53077);
-    REQUIRE(stat->vms == 830029824);
-    REQUIRE(stat->rss == 62214);
-    REQUIRE(stat->processor == 2);
-  }
-  SECTION("all processes") {
-    std::vector<int> pids = Parser::pids();
-    REQUIRE(pids.size() > 1);
-    for (int pid : pids) {
-      std::string stat_path = "/proc/" + std::to_string(pid) + "/stat";
-      INFO(stat_path);
-      if (auto stat = Parser::procStat(util::read_file(stat_path))) {
-        REQUIRE(stat->pid == pid);
-        REQUIRE(allowed_states.find(stat->state) != std::string::npos);
-      } else {
-        REQUIRE(util::file_exists(stat_path) == false);
-      }
-    }
-  }
-}
-
-TEST_CASE("Parser::cpuTimes") {
-  SECTION("from string") {
-    std::string stat =
-        "cpu  0 0 0 0 0 0 0 0 0 0\n"
-        "cpu0 1 2 3 4 5 6 7 8 9 10\n"
-        "cpu1 1 2 3 4 5 6 7 8 9 10\n";
-    std::istringstream stream(stat);
-    auto stats = Parser::cpuTimes(stream);
-    REQUIRE(stats.size() == 2);
-    for (int i = 0; i < stats.size(); ++i) {
-      REQUIRE(stats[i].id == i);
-      REQUIRE(stats[i].utime == 1);
-      REQUIRE(stats[i].ntime ==2);
-      REQUIRE(stats[i].stime == 3);
-      REQUIRE(stats[i].itime == 4);
-      REQUIRE(stats[i].iowtime == 5);
-      REQUIRE(stats[i].irqtime == 6);
-      REQUIRE(stats[i].sirqtime == 7);
-    }
-  }
-  SECTION("all cpus") {
-    std::istringstream stream(util::read_file("/proc/stat"));
-    auto stats = Parser::cpuTimes(stream);
-    REQUIRE(stats.size() == sysconf(_SC_NPROCESSORS_ONLN));
-    for (int i = 0; i < stats.size(); ++i) {
-      REQUIRE(stats[i].id == i);
-    }
-  }
-}
-
-TEST_CASE("Parser::memInfo") {
-  SECTION("from string") {
-    std::istringstream stream("MemTotal:    1024 kb\nMemFree:    2048 kb\n");
-    auto meminfo = Parser::memInfo(stream);
-    REQUIRE(meminfo["MemTotal:"] == 1024 * 1024);
-    REQUIRE(meminfo["MemFree:"] == 2048 * 1024);
-  }
-  SECTION("from /proc/meminfo") {
-    std::string require_keys[] = {"MemTotal:", "MemFree:", "MemAvailable:", "Buffers:", "Cached:", "Active:", "Inactive:", "Shmem:"};
-    std::istringstream stream(util::read_file("/proc/meminfo"));
-    auto meminfo = Parser::memInfo(stream);
-    for (auto &key : require_keys) {
-      REQUIRE(meminfo.find(key) != meminfo.end());
-      REQUIRE(meminfo[key] > 0);
-    }
-  }
-}
-
-void test_cmdline(std::string cmdline, const std::vector<std::string> requires) {
-  std::stringstream ss;
-  ss.write(&cmdline[0], cmdline.size());
-  auto cmds = Parser::cmdline(ss);
-  REQUIRE(cmds.size() == requires.size());
-  for (int i = 0; i < requires.size(); ++i) {
-    REQUIRE(cmds[i] == requires[i]);
-  }
-}
-TEST_CASE("Parser::cmdline") {
-  test_cmdline(std::string("a\0b\0c\0", 7), {"a", "b", "c"});
-  test_cmdline(std::string("a\0\0c\0", 6), {"a", "c"});
-  test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"});
-}
-
-TEST_CASE("buildProcLoggerMessage") {
-  MessageBuilder msg;
-  buildProcLogMessage(msg);
-
-  kj::Array<capnp::word> buf = capnp::messageToFlatArray(msg);
-  capnp::FlatArrayMessageReader reader(buf);
-  auto log = reader.getRoot<cereal::Event>().getProcLog();
-  REQUIRE(log.totalSize().wordCount > 0);
-
-  // test cereal::ProcLog::CPUTimes
-  auto cpu_times = log.getCpuTimes();
-  REQUIRE(cpu_times.size() == sysconf(_SC_NPROCESSORS_ONLN));
-  REQUIRE(cpu_times[cpu_times.size() - 1].getCpuNum() == cpu_times.size() - 1);
-
-  // test cereal::ProcLog::Mem
-  auto mem = log.getMem();
-  REQUIRE(mem.getTotal() > 0);
-  REQUIRE(mem.getShared() > 0);
-
-  // test cereal::ProcLog::Process
-  auto procs = log.getProcs();
-  for (auto p : procs) {
-    REQUIRE(allowed_states.find(p.getState()) != std::string::npos);
-    if (p.getPid() == ::getpid()) {
-      REQUIRE(p.getName() == "test_proclog");
-      REQUIRE(p.getState() == 'R');
-      REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog"));
-      REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog"));
-    }
-  }
-}
diff --git a/system/qcomgpsd/nmeaport.py b/system/qcomgpsd/nmeaport.py
index 8b9ab51086..10b8516ed0 100644
--- a/system/qcomgpsd/nmeaport.py
+++ b/system/qcomgpsd/nmeaport.py
@@ -107,11 +107,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
           match fields[0]:
             case "$GNCLK":
               # fields at end are reserved (not used)
-              gnss_clock = GnssClockNmeaPort(*fields[1:10]) # type: ignore[arg-type]
+              gnss_clock = GnssClockNmeaPort(*fields[1:10])
               print(gnss_clock)
             case "$GNMEAS":
               # fields at end are reserved (not used)
-              gnss_meas = GnssMeasNmeaPort(*fields[1:14]) # type: ignore[arg-type]
+              gnss_meas = GnssMeasNmeaPort(*fields[1:14])
               print(gnss_meas)
     except Exception as e:
       print(e)
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 3a9e3585ba..59f5ac0b50 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -16,7 +16,7 @@ from struct import unpack_from, calcsize, pack
 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
-from openpilot.common.retry import retry
+from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.common.swaglog import cloudlog
@@ -286,7 +286,7 @@ def main() -> NoReturn:
       continue
 
     if DEBUG:
-      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")
+      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")  # noqa: TID251
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
new file mode 100755
index 0000000000..62908c6f18
--- /dev/null
+++ b/system/sensord/sensord.py
@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+import os
+import time
+import ctypes
+import select
+import threading
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.common.utils import sudo_write
+from openpilot.common.realtime import config_realtime_process, Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
+from openpilot.system.hardware import HARDWARE
+
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
+from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
+from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
+from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
+
+I2C_BUS_IMU = 1
+
+def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
+  pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
+
+  # Requesting both edges as the data ready pulse from the lsm6ds sensor is
+  # very short (75us) and is mostly detected as falling edge instead of rising.
+  # So if it is detected as rising the following falling edge is skipped.
+  fd = gpiochip_get_ro_value_fd("sensord", 0, 84)
+
+  # Configure IRQ affinity
+  irq_path = "/proc/irq/336/smp_affinity_list"
+  if not os.path.exists(irq_path):
+    irq_path = "/proc/irq/335/smp_affinity_list"
+  if os.path.exists(irq_path):
+    sudo_write('1\n', irq_path)
+
+  offset = time.time_ns() - time.monotonic_ns()
+
+  poller = select.poll()
+  poller.register(fd, select.POLLIN | select.POLLPRI)
+  while not event.is_set():
+    events = poller.poll(100)
+    if not events:
+      cloudlog.error("poll timed out")
+      continue
+    if not (events[0][1] & (select.POLLIN | select.POLLPRI)):
+      cloudlog.error("no poll events set")
+      continue
+
+    dat = os.read(fd, ctypes.sizeof(gpioevent_data)*16)
+    evd = gpioevent_data.from_buffer_copy(dat)
+
+    cur_offset = time.time_ns() - time.monotonic_ns()
+    if abs(cur_offset - offset) > 10 * 1e6:  # ms
+      cloudlog.warning(f"time jumped: {cur_offset} {offset}")
+      offset = cur_offset
+      continue
+
+    ts = evd.timestamp - cur_offset
+    for sensor, service, interrupt in sensors:
+      if interrupt:
+        try:
+          evt = sensor.get_event(ts)
+          if not sensor.is_data_valid():
+            continue
+          msg = messaging.new_message(service, valid=True)
+          setattr(msg, service, evt)
+          pm.send(service, msg)
+        except Sensor.DataNotReady:
+          pass
+        except Exception:
+          cloudlog.exception(f"Error processing {service}")
+
+
+def polling_loop(sensor: Sensor, service: str, event: threading.Event) -> None:
+  pm = messaging.PubMaster([service])
+  rk = Ratekeeper(SERVICE_LIST[service].frequency, print_delay_threshold=None)
+  while not event.is_set():
+    try:
+      evt = sensor.get_event()
+      if not sensor.is_data_valid():
+        continue
+      msg = messaging.new_message(service, valid=True)
+      setattr(msg, service, evt)
+      pm.send(service, msg)
+    except Exception:
+      cloudlog.exception(f"Error in {service} polling loop")
+    rk.keep_time()
+
+def main() -> None:
+  config_realtime_process([1, ], 1)
+
+  sensors_cfg = [
+    (LSM6DS3_Accel(I2C_BUS_IMU), "accelerometer", True),
+    (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
+    (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
+  ]
+  if HARDWARE.get_device_type() == "tizi":
+    sensors_cfg.append(
+      (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
+    )
+
+  # Reset sensors
+  for sensor, _, _ in sensors_cfg:
+    try:
+      sensor.reset()
+    except Exception:
+      cloudlog.exception(f"Error initializing {sensor} sensor")
+
+  # Initialize sensors
+  exit_event = threading.Event()
+  threads = [
+    threading.Thread(target=interrupt_loop, args=(sensors_cfg, exit_event), daemon=True)
+  ]
+  for sensor, service, interrupt in sensors_cfg:
+    try:
+      sensor.init()
+      if not interrupt:
+        # Start polling thread for sensors without interrupts
+        threads.append(threading.Thread(
+          target=polling_loop,
+          args=(sensor, service, exit_event),
+          daemon=True
+        ))
+    except Exception:
+      cloudlog.exception(f"Error initializing {service} sensor")
+
+  try:
+    for t in threads:
+      t.start()
+    while any(t.is_alive() for t in threads):
+      time.sleep(1)
+  except KeyboardInterrupt:
+    pass
+  finally:
+    exit_event.set()
+    for t in threads:
+      if t.is_alive():
+        t.join()
+
+    for sensor, _, _ in sensors_cfg:
+      try:
+        sensor.shutdown()
+      except Exception:
+        cloudlog.exception("Error shutting down sensor")
+
+if __name__ == "__main__":
+  main()
diff --git a/system/sensord/sensors/__init__.py b/system/sensord/sensors/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py
new file mode 100644
index 0000000000..57edcc52d9
--- /dev/null
+++ b/system/sensord/sensors/i2c_sensor.py
@@ -0,0 +1,78 @@
+import time
+import ctypes
+from collections.abc import Iterable
+
+from cereal import log
+from openpilot.common.i2c import SMBus
+
+
+class Sensor:
+  class SensorException(Exception):
+    pass
+
+  class DataNotReady(SensorException):
+    pass
+
+  def __init__(self, bus: int) -> None:
+    self.bus = SMBus(bus)
+    self.source = log.SensorEventData.SensorSource.velodyne  # unknown
+    self.start_ts = 0.
+
+  def __del__(self):
+    self.bus.close()
+
+  def read(self, addr: int, length: int) -> bytes:
+    return bytes(self.bus.read_i2c_block_data(self.device_address, addr, length))
+
+  def write(self, addr: int, data: int) -> None:
+    self.bus.write_byte_data(self.device_address, addr, data)
+
+  def writes(self, writes: Iterable[tuple[int, int]]) -> None:
+    for addr, data in writes:
+      self.write(addr, data)
+
+  def verify_chip_id(self, address: int, expected_ids: list[int]) -> int:
+    chip_id = self.read(address, 1)[0]
+    assert chip_id in expected_ids
+    return chip_id
+
+  # Abstract methods that must be implemented by subclasses
+  @property
+  def device_address(self) -> int:
+    raise NotImplementedError
+
+  def reset(self) -> None:
+    # optional.
+    # not part of init due to shared registers
+    pass
+
+  def init(self) -> None:
+    raise NotImplementedError
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    raise NotImplementedError
+
+  def shutdown(self) -> None:
+    raise NotImplementedError
+
+  def is_data_valid(self) -> bool:
+    if self.start_ts == 0:
+      self.start_ts = time.monotonic()
+
+    # unclear whether we need this...
+    return (time.monotonic() - self.start_ts) > 0.5
+
+  # *** helpers ***
+  @staticmethod
+  def wait():
+    # a standard small sleep
+    time.sleep(0.005)
+
+  @staticmethod
+  def parse_16bit(lsb: int, msb: int) -> int:
+    return ctypes.c_int16((msb << 8) | lsb).value
+
+  @staticmethod
+  def parse_20bit(b2: int, b1: int, b0: int) -> int:
+    combined = ctypes.c_uint32((b0 << 16) | (b1 << 8) | b2).value
+    return ctypes.c_int32(combined).value // (1 << 4)
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
new file mode 100644
index 0000000000..43863daa93
--- /dev/null
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -0,0 +1,161 @@
+import os
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+class LSM6DS3_Accel(Sensor):
+  LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  = 0x0B
+  LSM6DS3_ACCEL_I2C_REG_INT1_CTRL = 0x0D
+  LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  = 0x10
+  LSM6DS3_ACCEL_I2C_REG_CTRL3_C   = 0x12
+  LSM6DS3_ACCEL_I2C_REG_CTRL5_C   = 0x14
+  LSM6DS3_ACCEL_I2C_REG_STAT_REG  = 0x1E
+  LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL = 0x28
+
+  LSM6DS3_ACCEL_ODR_104HZ       = (0b0100 << 4)
+  LSM6DS3_ACCEL_INT1_DRDY_XL    = 0b1
+  LSM6DS3_ACCEL_DRDY_XLDA       = 0b1
+  LSM6DS3_ACCEL_DRDY_PULSE_MODE = (1 << 7)
+  LSM6DS3_ACCEL_IF_INC          = 0b00000100
+
+  LSM6DS3_ACCEL_ODR_52HZ        = (0b0011 << 4)
+  LSM6DS3_ACCEL_FS_4G           = (0b10 << 2)
+  LSM6DS3_ACCEL_IF_INC_BDU      = 0b01000100
+  LSM6DS3_ACCEL_POSITIVE_TEST   = 0b01
+  LSM6DS3_ACCEL_NEGATIVE_TEST   = 0b10
+  LSM6DS3_ACCEL_MIN_ST_LIMIT_mg = 90.0
+  LSM6DS3_ACCEL_MAX_ST_LIMIT_mg = 1700.0
+
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def reset(self):
+    self.write(0x12, 0x1)
+    time.sleep(0.1)
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+    # self-test
+    if os.getenv("LSM_SELF_TEST") == "1":
+      self.self_test(self.LSM6DS3_ACCEL_POSITIVE_TEST)
+      self.self_test(self.LSM6DS3_ACCEL_NEGATIVE_TEST)
+
+    # actual init
+    int1 = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0]
+    int1 |= self.LSM6DS3_ACCEL_INT1_DRDY_XL
+    self.writes((
+      # Enable continuous update and automatic address increment
+      (self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC),
+      # Set ODR to 104 Hz, FS to ±2g (default)
+      (self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, self.LSM6DS3_ACCEL_ODR_104HZ),
+      # Configure data ready signal to pulse mode
+      (self.LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, self.LSM6DS3_ACCEL_DRDY_PULSE_MODE),
+      # Enable data ready interrupt on INT1 without resetting existing interrupts
+      (self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, int1),
+    ))
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    assert ts is not None  # must come from the IRQ event
+
+    # Check if data is ready since IRQ is shared with gyro
+    status_reg = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0]
+    if (status_reg & self.LSM6DS3_ACCEL_DRDY_XLDA) == 0:
+      raise self.DataNotReady
+
+    scale = 9.81 * 2.0 / (1 << 15)
+    b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6)
+    x = self.parse_16bit(b[0], b[1]) * scale
+    y = self.parse_16bit(b[2], b[3]) * scale
+    z = self.parse_16bit(b[4], b[5]) * scale
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 1
+    event.sensor = 1  # SENSOR_ACCELEROMETER
+    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
+    event.source = self.source
+    a = event.init('acceleration')
+    a.v = [y, -x, z]
+    a.status = 1
+    return event
+
+  def shutdown(self) -> None:
+    # Disable data ready interrupt on INT1
+    value = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0]
+    value &= ~self.LSM6DS3_ACCEL_INT1_DRDY_XL
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value)
+
+    # Power down by clearing ODR bits
+    value = self.read(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 1)[0]
+    value &= 0x0F
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value)
+
+  # *** self-test stuff ***
+  def _wait_for_data_ready(self):
+    while True:
+      drdy = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0]
+      if drdy & self.LSM6DS3_ACCEL_DRDY_XLDA:
+        break
+
+  def _read_and_avg_data(self, scaling: float) -> list[float]:
+    out_buf = [0.0, 0.0, 0.0]
+    for _ in range(5):
+      self._wait_for_data_ready()
+      b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6)
+      for j in range(3):
+        val = self.parse_16bit(b[j*2], b[j*2+1]) * scaling
+        out_buf[j] += val
+    return [x / 5.0 for x in out_buf]
+
+  def self_test(self, test_type: int) -> None:
+    # Prepare sensor for self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC_BDU)
+
+    # Configure ODR and full scale based on sensor type
+    if self.source == log.SensorEventData.SensorSource.lsm6ds3trc:
+      odr_fs = self.LSM6DS3_ACCEL_FS_4G | self.LSM6DS3_ACCEL_ODR_52HZ
+      scaling = 0.122  # mg/LSB for ±4g
+    else:
+      odr_fs = self.LSM6DS3_ACCEL_ODR_52HZ
+      scaling = 0.061  # mg/LSB for ±2g
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, odr_fs)
+
+    # Wait for stable output
+    time.sleep(0.1)
+    self._wait_for_data_ready()
+    val_st_off = self._read_and_avg_data(scaling)
+
+    # Enable self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type)
+
+    # Wait for stable output
+    time.sleep(0.1)
+    self._wait_for_data_ready()
+    val_st_on = self._read_and_avg_data(scaling)
+
+    # Disable sensor and self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0)
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0)
+
+    # Calculate differences and check limits
+    test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)]
+    for val in test_val:
+      if val < self.LSM6DS3_ACCEL_MIN_ST_LIMIT_mg or val > self.LSM6DS3_ACCEL_MAX_ST_LIMIT_mg:
+        raise self.SensorException(f"Accelerometer self-test failed for test type {test_type}")
+
+if __name__ == "__main__":
+  import numpy as np
+  s = LSM6DS3_Accel(1)
+  s.init()
+  time.sleep(0.2)
+  e = s.get_event(0)
+  print(e)
+  print(np.linalg.norm(e.acceleration.v))
+  s.shutdown()
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
new file mode 100644
index 0000000000..60de2bbe02
--- /dev/null
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -0,0 +1,145 @@
+import os
+import math
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+class LSM6DS3_Gyro(Sensor):
+  LSM6DS3_GYRO_I2C_REG_DRDY_CFG  = 0x0B
+  LSM6DS3_GYRO_I2C_REG_INT1_CTRL = 0x0D
+  LSM6DS3_GYRO_I2C_REG_CTRL2_G   = 0x11
+  LSM6DS3_GYRO_I2C_REG_CTRL5_C   = 0x14
+  LSM6DS3_GYRO_I2C_REG_STAT_REG  = 0x1E
+  LSM6DS3_GYRO_I2C_REG_OUTX_L_G  = 0x22
+
+  LSM6DS3_GYRO_ODR_104HZ       = (0b0100 << 4)
+  LSM6DS3_GYRO_INT1_DRDY_G     = 0b10
+  LSM6DS3_GYRO_DRDY_GDA        = 0b10
+  LSM6DS3_GYRO_DRDY_PULSE_MODE = (1 << 7)
+
+  LSM6DS3_GYRO_ODR_208HZ       = (0b0101 << 4)
+  LSM6DS3_GYRO_FS_2000dps      = (0b11 << 2)
+  LSM6DS3_GYRO_POSITIVE_TEST   = (0b01 << 2)
+  LSM6DS3_GYRO_NEGATIVE_TEST   = (0b11 << 2)
+  LSM6DS3_GYRO_MIN_ST_LIMIT_mdps = 150000.0
+  LSM6DS3_GYRO_MAX_ST_LIMIT_mdps = 700000.0
+
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def reset(self):
+    self.write(0x12, 0x1)
+    time.sleep(0.1)
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+    # self-test
+    if "LSM_SELF_TEST" in os.environ:
+      self.self_test(self.LSM6DS3_GYRO_POSITIVE_TEST)
+      self.self_test(self.LSM6DS3_GYRO_NEGATIVE_TEST)
+
+    # actual init
+    self.writes((
+      # TODO: set scale. Default is +- 250 deg/s
+      (self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_104HZ),
+      # Configure data ready signal to pulse mode
+      (self.LSM6DS3_GYRO_I2C_REG_DRDY_CFG, self.LSM6DS3_GYRO_DRDY_PULSE_MODE),
+    ))
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0]
+    value |= self.LSM6DS3_GYRO_INT1_DRDY_G
+    self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value)
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    assert ts is not None  # must come from the IRQ event
+
+    # Check if gyroscope data is ready, since it's shared with accelerometer
+    status_reg = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0]
+    if not (status_reg & self.LSM6DS3_GYRO_DRDY_GDA):
+      raise self.DataNotReady
+
+    b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6)
+    x = self.parse_16bit(b[0], b[1])
+    y = self.parse_16bit(b[2], b[3])
+    z = self.parse_16bit(b[4], b[5])
+    scale = (8.75 / 1000.0) * (math.pi / 180.0)
+    xyz = [y * scale, -x * scale, z * scale]
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 2
+    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
+    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
+    event.source = self.source
+    g = event.init('gyroUncalibrated')
+    g.v = xyz
+    g.status = 1
+    return event
+
+  def shutdown(self) -> None:
+    # Disable data ready interrupt on INT1
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0]
+    value &= ~self.LSM6DS3_GYRO_INT1_DRDY_G
+    self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value)
+
+    # Power down by clearing ODR bits
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 1)[0]
+    value &= 0x0F
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, value)
+
+  # *** self-test stuff ***
+  def _wait_for_data_ready(self):
+    while True:
+      drdy = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0]
+      if drdy & self.LSM6DS3_GYRO_DRDY_GDA:
+        break
+
+  def _read_and_avg_data(self) -> list[float]:
+    out_buf = [0.0, 0.0, 0.0]
+    for _ in range(5):
+      self._wait_for_data_ready()
+      b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6)
+      for j in range(3):
+        val = self.parse_16bit(b[j*2], b[j*2+1]) * 70.0  # mdps/LSB for 2000 dps
+        out_buf[j] += val
+    return [x / 5.0 for x in out_buf]
+
+  def self_test(self, test_type: int):
+    # Set ODR to 208Hz, FS to 2000dps
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_208HZ | self.LSM6DS3_GYRO_FS_2000dps)
+
+    # Wait for stable output
+    time.sleep(0.15)
+    self._wait_for_data_ready()
+    val_st_off = self._read_and_avg_data()
+
+    # Enable self-test
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type)
+
+    # Wait for stable output
+    time.sleep(0.05)
+    self._wait_for_data_ready()
+    val_st_on = self._read_and_avg_data()
+
+    # Disable sensor and self-test
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0)
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0)
+
+    # Calculate differences and check limits
+    test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)]
+    for val in test_val:
+      if val < self.LSM6DS3_GYRO_MIN_ST_LIMIT_mdps or val > self.LSM6DS3_GYRO_MAX_ST_LIMIT_mdps:
+        raise Exception(f"Gyroscope self-test failed for test type {test_type}")
+
+if __name__ == "__main__":
+  s = LSM6DS3_Gyro(1)
+  s.init()
+  time.sleep(0.1)
+  print(s.get_event(0))
+  s.shutdown()
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
new file mode 100644
index 0000000000..b9bb9fe3da
--- /dev/null
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -0,0 +1,33 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
+class LSM6DS3_Temp(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def _read_temperature(self) -> float:
+    scale = 16.0 if self.source == log.SensorEventData.SensorSource.lsm6ds3 else 256.0
+    data = self.read(0x20, 2)
+    return 25 + (self.parse_16bit(data[0], data[1]) / scale)
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    event = log.SensorEventData.new_message()
+    event.version = 1
+    event.timestamp = int(time.monotonic() * 1e9)
+    event.source = self.source
+    event.temperature = self._read_temperature()
+    return event
+
+  def shutdown(self) -> None:
+    pass
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
new file mode 100644
index 0000000000..255e99eb3e
--- /dev/null
+++ b/system/sensord/sensors/mmc5603nj_magn.py
@@ -0,0 +1,76 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
+
+# Register addresses
+REG_ODR = 0x1A
+REG_INTERNAL_0 = 0x1B
+REG_INTERNAL_1 = 0x1C
+
+# Control register settings
+CMM_FREQ_EN = (1 << 7)
+AUTO_SR_EN  = (1 << 5)
+SET         = (1 << 3)
+RESET       = (1 << 4)
+
+class MMC5603NJ_Magn(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x30
+
+  def init(self):
+    self.verify_chip_id(0x39, [0x10, ])
+    self.writes((
+      (REG_ODR, 0),
+
+      # Set BW to 0b01 for 1-150 Hz operation
+      (REG_INTERNAL_1, 0b01),
+    ))
+
+  def _read_data(self, cycle) -> list[float]:
+    # start measurement
+    self.write(REG_INTERNAL_0, cycle)
+    self.wait()
+
+    # read out XYZ
+    scale = 1.0 / 16384.0
+    b = self.read(0x00, 9)
+    return [
+      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
+      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
+      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
+    ]
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    ts = time.monotonic_ns()
+
+    # SET - RESET cycle
+    xyz = self._read_data(SET)
+    reset_xyz = self._read_data(RESET)
+    vals = [*xyz, *reset_xyz]
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 1
+    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
+    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
+    event.source = log.SensorEventData.SensorSource.mmc5603nj
+
+    m = event.init('magneticUncalibrated')
+    m.v = vals
+    m.status = int(all(int(v) != -32 for v in vals))
+
+    return event
+
+  def shutdown(self) -> None:
+    v = self.read(REG_INTERNAL_0, 1)[0]
+    self.writes((
+      # disable auto-reset of measurements
+      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
+
+      # disable continuous mode
+      (REG_ODR, 0),
+    ))
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 15f1f2dc35..20214e12ff 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -12,13 +12,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-BMX = {
-  ('bmx055', 'acceleration'),
-  ('bmx055', 'gyroUncalibrated'),
-  ('bmx055', 'magneticUncalibrated'),
-  ('bmx055', 'temperature'),
-}
-
 LSM = {
   ('lsm6ds3', 'acceleration'),
   ('lsm6ds3', 'gyroUncalibrated'),
@@ -30,45 +23,26 @@ MMC = {
   ('mmc5603nj', 'magneticUncalibrated'),
 }
 
-SENSOR_CONFIGURATIONS: list[set] = [
-  BMX | LSM,
-  MMC | LSM,
-  BMX | LSM_C,
-  MMC| LSM_C,
-]
-if HARDWARE.get_device_type() == "mici":
-  SENSOR_CONFIGURATIONS = [
-    LSM,
-    LSM_C,
-  ]
+SENSOR_CONFIGURATIONS: list[set] = {
+  "mici": [LSM, LSM_C],
+  "tizi": [MMC | LSM, MMC | LSM_C],
+  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
+}.get(HARDWARE.get_device_type(), [])
 
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
 ALL_SENSORS = {
-  Sensor.lsm6ds3: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
-  },
-
   Sensor.lsm6ds3trc: {
     SensorConfig("acceleration", 5, 15),
     SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
-  },
-
-  Sensor.bmx055: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("magneticUncalibrated", 0, 300),
-    SensorConfig("temperature", 0, 60),
+    SensorConfig("temperature", 10, 40),  # set for max range of our office
   },
 
   Sensor.mmc5603nj: {
     SensorConfig("magneticUncalibrated", 0, 300),
   }
 }
-
+ALL_SENSORS[Sensor.lsm6ds3] = ALL_SENSORS[Sensor.lsm6ds3trc]
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -76,8 +50,7 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
-                  'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
+  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)
diff --git a/system/sentry.py b/system/sentry.py
index 2f918ebc49..a1fb604dea 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -106,10 +106,10 @@ def set_user() -> None:
 
 def get_properties() -> tuple[str, str, str]:
   params = Params()
-  hardware_serial: str = params.get("HardwareSerial", encoding='utf-8') or ""
-  git_username: str = params.get("GithubUsername", encoding='utf-8') or ""
-  dongle_id: str = params.get("DongleId", encoding='utf-8') or f"{UNREGISTERED_DONGLE_ID}-{hardware_serial}"
-  sunnylink_dongle_id: str = params.get("SunnylinkDongleId", encoding='utf-8') or UNREGISTERED_SUNNYLINK_DONGLE_ID
+  hardware_serial: str = params.get("HardwareSerial") or ""
+  git_username: str = params.get("GithubUsername") or ""
+  dongle_id: str = params.get("DongleId") or f"{UNREGISTERED_DONGLE_ID}-{hardware_serial}"
+  sunnylink_dongle_id: str = params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
 
   return dongle_id, git_username, sunnylink_dongle_id
 
diff --git a/system/statsd.py b/system/statsd.py
index b8a7f2c661..3a67dd44c2 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
+import base64
+import json
 import os
+from decimal import Decimal
+
 import zmq
 import time
 import uuid
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, UTC
+from datetime import datetime, UTC, date
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -13,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
@@ -21,18 +25,21 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
 class METRIC_TYPE:
   GAUGE = 'g'
   SAMPLE = 'sa'
+  RAW = 'r'
+
 
 class StatLog:
   def __init__(self):
     self.pid = None
     self.zctx = None
     self.sock = None
+    self.stats_socket = STATS_SOCKET
 
   def connect(self) -> None:
-    self.zctx = zmq.Context()
+    self.zctx = zmq.Context.instance() or zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(STATS_SOCKET)
+    self.sock.connect(self.stats_socket)
     self.pid = os.getpid()
 
   def __del__(self):
@@ -60,8 +67,52 @@ class StatLog:
     self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")
 
 
+class StatLogSP(StatLog):
+  def __init__(self, intercept=True):
+    """
+    Initializes the class instance with an optional parameter to determine
+    if statistical logging should be configured or not.
+
+    :param intercept: A boolean flag that indicates whether to initialize
+        the `comma_statlog`. If True, the `comma_statlog` attribute is
+        instantiated as a `StatLog` object. Defaults to True.
+    """
+    super().__init__()
+    self.comma_statlog = StatLog() if intercept else None
+    self.stats_socket = f"{STATS_SOCKET}_sp"
+
+  def connect(self) -> None:
+    super().connect()
+    if self.comma_statlog:
+      self.comma_statlog.connect()
+
+  def __del__(self):
+    super().__del__()
+    if self.comma_statlog:
+      self.comma_statlog.__del__()
+
+  def _send(self, metric: str) -> None:
+    super()._send(metric)
+    if self.comma_statlog:
+      self.comma_statlog._send(metric)
+
+  @staticmethod
+  def default_converter(obj):
+    if isinstance(obj, (datetime, date)):
+      return obj.isoformat()
+    if isinstance(obj, set):
+      return list(obj)
+    if isinstance(obj, Decimal):
+      return float(obj)
+    return str(obj)  # fallback for unknown types
+
+  def raw(self, name: str, value: dict) -> None:
+    encoded_dict = base64.b64encode(json.dumps(value, default=self.default_converter).encode("utf-8")).decode("utf-8")
+    self._send(f"{name}:{encoded_dict}|{METRIC_TYPE.RAW}")
+
+
 def main() -> NoReturn:
-  dongle_id = Params().get("DongleId", encoding='utf-8')
+  dongle_id = Params().get("DongleId")
   def get_influxdb_line(measurement: str, value: float | dict[str, float],  timestamp: datetime, tags: dict) -> str:
     res = f"{measurement}"
     for k, v in tags.items():
@@ -167,7 +218,7 @@ def main() -> NoReturn:
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:
@@ -180,4 +231,4 @@ def main() -> NoReturn:
 if __name__ == "__main__":
   main()
 else:
-  statlog = StatLog()
+  statlog = StatLogSP(intercept=True)
diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore
deleted file mode 100644
index 05263ff67c..0000000000
--- a/system/ubloxd/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-ubloxd
-tests/test_glonass_runner
diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript
deleted file mode 100644
index ce09e235e6..0000000000
--- a/system/ubloxd/SConscript
+++ /dev/null
@@ -1,20 +0,0 @@
-Import('env', 'common', 'messaging')
-
-loc_libs = [messaging, common, 'kaitai', 'pthread']
-
-if GetOption('kaitai'):
-  generated = Dir('generated').srcnode().abspath
-  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
-  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
-  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
-  glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
-
-  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
-  patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
-  env.Depends(patch, glonass)
-
-glonass_obj = env.Object('generated/glonass.cpp')
-env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp",  glonass_obj], LIBS=loc_libs)
-
-if GetOption('extras'):
-  env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
\ No newline at end of file
diff --git a/system/ubloxd/binary_struct.py b/system/ubloxd/binary_struct.py
new file mode 100644
index 0000000000..c144bd5696
--- /dev/null
+++ b/system/ubloxd/binary_struct.py
@@ -0,0 +1,280 @@
+"""
+Binary struct parsing DSL.
+
+Defines a declarative schema for binary messages using dataclasses
+and type annotations.
+"""
+
+import struct
+from enum import Enum
+from dataclasses import dataclass, is_dataclass
+from typing import Annotated, Any, TypeVar, get_args, get_origin
+
+
+class FieldType:
+  """Base class for field type descriptors."""
+
+
+@dataclass(frozen=True)
+class IntType(FieldType):
+  bits: int
+  signed: bool
+  big_endian: bool = False
+
+@dataclass(frozen=True)
+class FloatType(FieldType):
+  bits: int
+
+@dataclass(frozen=True)
+class BitsType(FieldType):
+  bits: int
+
+@dataclass(frozen=True)
+class BytesType(FieldType):
+  size: int
+
+@dataclass(frozen=True)
+class ArrayType(FieldType):
+  element_type: Any
+  count_field: str
+
+@dataclass(frozen=True)
+class SwitchType(FieldType):
+  selector: str
+  cases: dict[Any, Any]
+  default: Any = None
+
+@dataclass(frozen=True)
+class EnumType(FieldType):
+  base_type: FieldType
+  enum_cls: type[Enum]
+
+@dataclass(frozen=True)
+class ConstType(FieldType):
+  base_type: FieldType
+  expected: Any
+
+@dataclass(frozen=True)
+class SubstreamType(FieldType):
+  length_field: str
+  element_type: Any
+
+# Common types - little endian
+u8 = IntType(8, False)
+u16 = IntType(16, False)
+u32 = IntType(32, False)
+s8 = IntType(8, True)
+s16 = IntType(16, True)
+s32 = IntType(32, True)
+f32 = FloatType(32)
+f64 = FloatType(64)
+# Big endian variants
+u16be = IntType(16, False, big_endian=True)
+u32be = IntType(32, False, big_endian=True)
+s16be = IntType(16, True, big_endian=True)
+s32be = IntType(32, True, big_endian=True)
+
+
+def bits(n: int) -> BitsType:
+  """Create a bit-level field type."""
+  return BitsType(n)
+
+def bytes_field(size: int) -> BytesType:
+  """Create a fixed-size bytes field."""
+  return BytesType(size)
+
+def array(element_type: Any, count_field: str) -> ArrayType:
+  """Create an array/repeated field."""
+  return ArrayType(element_type, count_field)
+
+def switch(selector: str, cases: dict[Any, Any], default: Any = None) -> SwitchType:
+  """Create a switch-on field."""
+  return SwitchType(selector, cases, default)
+
+def enum(base_type: Any, enum_cls: type[Enum]) -> EnumType:
+  """Create an enum-wrapped field."""
+  field_type = _field_type_from_spec(base_type)
+  if field_type is None:
+    raise TypeError(f"Unsupported field type: {base_type!r}")
+  return EnumType(field_type, enum_cls)
+
+def const(base_type: Any, expected: Any) -> ConstType:
+  """Create a constant-value field."""
+  field_type = _field_type_from_spec(base_type)
+  if field_type is None:
+    raise TypeError(f"Unsupported field type: {base_type!r}")
+  return ConstType(field_type, expected)
+
+def substream(length_field: str, element_type: Any) -> SubstreamType:
+  """Parse a fixed-length substream using an inner schema."""
+  return SubstreamType(length_field, element_type)
+
+
+class BinaryReader:
+  def __init__(self, data: bytes):
+    self.data = data
+    self.pos = 0
+    self.bit_pos = 0  # 0-7, position within current byte
+
+  def _require(self, n: int) -> None:
+    if self.pos + n > len(self.data):
+      raise EOFError("Unexpected end of data")
+
+  def _read_struct(self, fmt: str):
+    self._align_to_byte()
+    size = struct.calcsize(fmt)
+    self._require(size)
+    value = struct.unpack_from(fmt, self.data, self.pos)[0]
+    self.pos += size
+    return value
+
+  def read_bytes(self, n: int) -> bytes:
+    self._align_to_byte()
+    self._require(n)
+    result = self.data[self.pos : self.pos + n]
+    self.pos += n
+    return result
+
+  def read_bits_int_be(self, n: int) -> int:
+    result = 0
+    bits_remaining = n
+    while bits_remaining > 0:
+      if self.pos >= len(self.data):
+        raise EOFError("Unexpected end of data while reading bits")
+      bits_in_byte = 8 - self.bit_pos
+      bits_to_read = min(bits_remaining, bits_in_byte)
+      byte_val = self.data[self.pos]
+      shift = bits_in_byte - bits_to_read
+      mask = (1 << bits_to_read) - 1
+      extracted = (byte_val >> shift) & mask
+      result = (result << bits_to_read) | extracted
+      self.bit_pos += bits_to_read
+      bits_remaining -= bits_to_read
+      if self.bit_pos >= 8:
+        self.bit_pos = 0
+        self.pos += 1
+    return result
+
+  def _align_to_byte(self) -> None:
+    if self.bit_pos > 0:
+      self.bit_pos = 0
+      self.pos += 1
+
+
+T = TypeVar('T', bound='BinaryStruct')
+
+
+class BinaryStruct:
+  """Base class for binary struct definitions."""
+
+  def __init_subclass__(cls, **kwargs) -> None:
+    super().__init_subclass__(**kwargs)
+    if cls is BinaryStruct:
+      return
+    if not is_dataclass(cls):
+      dataclass(init=False)(cls)
+    fields = list(getattr(cls, '__annotations__', {}).items())
+    cls.__binary_fields__ = fields
+
+    @classmethod
+    def _read(inner_cls, reader: BinaryReader):
+      obj = inner_cls.__new__(inner_cls)
+      for name, spec in inner_cls.__binary_fields__:
+        value = _parse_field(spec, reader, obj)
+        setattr(obj, name, value)
+      return obj
+
+    cls._read = _read
+
+  @classmethod
+  def from_bytes(cls: type[T], data: bytes) -> T:
+    """Parse struct from bytes."""
+    reader = BinaryReader(data)
+    return cls._read(reader)
+
+  @classmethod
+  def _read(cls: type[T], reader: BinaryReader) -> T:
+    """Override in subclasses to implement parsing."""
+    raise NotImplementedError
+
+
+def _resolve_path(obj: Any, path: str) -> Any:
+  cur = obj
+  for part in path.split('.'):
+    cur = getattr(cur, part)
+  return cur
+
+def _unwrap_annotated(spec: Any) -> tuple[Any, ...]:
+  if get_origin(spec) is Annotated:
+    return get_args(spec)[1:]
+  return ()
+
+def _field_type_from_spec(spec: Any) -> FieldType | None:
+  if isinstance(spec, FieldType):
+    return spec
+  for item in _unwrap_annotated(spec):
+    if isinstance(item, FieldType):
+      return item
+  return None
+
+
+def _int_format(field_type: IntType) -> str:
+  if field_type.bits == 8:
+    return 'b' if field_type.signed else 'B'
+  endian = '>' if field_type.big_endian else '<'
+  if field_type.bits == 16:
+    code = 'h' if field_type.signed else 'H'
+  elif field_type.bits == 32:
+    code = 'i' if field_type.signed else 'I'
+  else:
+    raise ValueError(f"Unsupported integer size: {field_type.bits}")
+  return f"{endian}{code}"
+
+def _float_format(field_type: FloatType) -> str:
+  if field_type.bits == 32:
+    return '<f'
+  if field_type.bits == 64:
+    return '<d'
+  raise ValueError(f"Unsupported float size: {field_type.bits}")
+
+def _parse_field(spec: Any, reader: BinaryReader, obj: Any) -> Any:
+  field_type = _field_type_from_spec(spec)
+  if field_type is not None:
+    spec = field_type
+  if isinstance(spec, ConstType):
+    value = _parse_field(spec.base_type, reader, obj)
+    if value != spec.expected:
+      raise ValueError(f"Invalid constant: expected {spec.expected!r}, got {value!r}")
+    return value
+  if isinstance(spec, EnumType):
+    raw = _parse_field(spec.base_type, reader, obj)
+    try:
+      return spec.enum_cls(raw)
+    except ValueError:
+      return raw
+  if isinstance(spec, SwitchType):
+    key = _resolve_path(obj, spec.selector)
+    target = spec.cases.get(key, spec.default)
+    if target is None:
+      return None
+    return _parse_field(target, reader, obj)
+  if isinstance(spec, ArrayType):
+    count = _resolve_path(obj, spec.count_field)
+    return [_parse_field(spec.element_type, reader, obj) for _ in range(int(count))]
+  if isinstance(spec, SubstreamType):
+    length = _resolve_path(obj, spec.length_field)
+    data = reader.read_bytes(int(length))
+    sub_reader = BinaryReader(data)
+    return _parse_field(spec.element_type, sub_reader, obj)
+  if isinstance(spec, IntType):
+    return reader._read_struct(_int_format(spec))
+  if isinstance(spec, FloatType):
+    return reader._read_struct(_float_format(spec))
+  if isinstance(spec, BitsType):
+    value = reader.read_bits_int_be(spec.bits)
+    return bool(value) if spec.bits == 1 else value
+  if isinstance(spec, BytesType):
+    return reader.read_bytes(spec.size)
+  if isinstance(spec, type) and issubclass(spec, BinaryStruct):
+    return spec._read(reader)
+  raise TypeError(f"Unsupported field spec: {spec!r}")
diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
deleted file mode 100644
index cd0f96ab68..0000000000
--- a/system/ubloxd/generated/glonass.cpp
+++ /dev/null
@@ -1,353 +0,0 @@
-// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-#include "glonass.h"
-
-glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = this;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::_read() {
-    m_idle_chip = m__io->read_bits_int_be(1);
-    m_string_number = m__io->read_bits_int_be(4);
-    //m__io->align_to_byte();
-    switch (string_number()) {
-    case 4: {
-        m_data = new string_4_t(m__io, this, m__root);
-        break;
-    }
-    case 1: {
-        m_data = new string_1_t(m__io, this, m__root);
-        break;
-    }
-    case 3: {
-        m_data = new string_3_t(m__io, this, m__root);
-        break;
-    }
-    case 5: {
-        m_data = new string_5_t(m__io, this, m__root);
-        break;
-    }
-    case 2: {
-        m_data = new string_2_t(m__io, this, m__root);
-        break;
-    }
-    default: {
-        m_data = new string_non_immediate_t(m__io, this, m__root);
-        break;
-    }
-    }
-    m_hamming_code = m__io->read_bits_int_be(8);
-    m_pad_1 = m__io->read_bits_int_be(11);
-    m_superframe_number = m__io->read_bits_int_be(16);
-    m_pad_2 = m__io->read_bits_int_be(8);
-    m_frame_number = m__io->read_bits_int_be(8);
-}
-
-glonass_t::~glonass_t() {
-    _clean_up();
-}
-
-void glonass_t::_clean_up() {
-    if (m_data) {
-        delete m_data; m_data = 0;
-    }
-}
-
-glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    f_tau_n = false;
-    f_delta_tau_n = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::string_4_t::_read() {
-    m_tau_n_sign = m__io->read_bits_int_be(1);
-    m_tau_n_value = m__io->read_bits_int_be(21);
-    m_delta_tau_n_sign = m__io->read_bits_int_be(1);
-    m_delta_tau_n_value = m__io->read_bits_int_be(4);
-    m_e_n = m__io->read_bits_int_be(5);
-    m_not_used_1 = m__io->read_bits_int_be(14);
-    m_p4 = m__io->read_bits_int_be(1);
-    m_f_t = m__io->read_bits_int_be(4);
-    m_not_used_2 = m__io->read_bits_int_be(3);
-    m_n_t = m__io->read_bits_int_be(11);
-    m_n = m__io->read_bits_int_be(5);
-    m_m = m__io->read_bits_int_be(2);
-}
-
-glonass_t::string_4_t::~string_4_t() {
-    _clean_up();
-}
-
-void glonass_t::string_4_t::_clean_up() {
-}
-
-int32_t glonass_t::string_4_t::tau_n() {
-    if (f_tau_n)
-        return m_tau_n;
-    m_tau_n = ((tau_n_sign()) ? ((tau_n_value() * -1)) : (tau_n_value()));
-    f_tau_n = true;
-    return m_tau_n;
-}
-
-int32_t glonass_t::string_4_t::delta_tau_n() {
-    if (f_delta_tau_n)
-        return m_delta_tau_n;
-    m_delta_tau_n = ((delta_tau_n_sign()) ? ((delta_tau_n_value() * -1)) : (delta_tau_n_value()));
-    f_delta_tau_n = true;
-    return m_delta_tau_n;
-}
-
-glonass_t::string_non_immediate_t::string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::string_non_immediate_t::_read() {
-    m_data_1 = m__io->read_bits_int_be(64);
-    m_data_2 = m__io->read_bits_int_be(8);
-}
-
-glonass_t::string_non_immediate_t::~string_non_immediate_t() {
-    _clean_up();
-}
-
-void glonass_t::string_non_immediate_t::_clean_up() {
-}
-
-glonass_t::string_5_t::string_5_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::string_5_t::_read() {
-    m_n_a = m__io->read_bits_int_be(11);
-    m_tau_c = m__io->read_bits_int_be(32);
-    m_not_used = m__io->read_bits_int_be(1);
-    m_n_4 = m__io->read_bits_int_be(5);
-    m_tau_gps = m__io->read_bits_int_be(22);
-    m_l_n = m__io->read_bits_int_be(1);
-}
-
-glonass_t::string_5_t::~string_5_t() {
-    _clean_up();
-}
-
-void glonass_t::string_5_t::_clean_up() {
-}
-
-glonass_t::string_1_t::string_1_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    f_x_vel = false;
-    f_x_accel = false;
-    f_x = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::string_1_t::_read() {
-    m_not_used = m__io->read_bits_int_be(2);
-    m_p1 = m__io->read_bits_int_be(2);
-    m_t_k = m__io->read_bits_int_be(12);
-    m_x_vel_sign = m__io->read_bits_int_be(1);
-    m_x_vel_value = m__io->read_bits_int_be(23);
-    m_x_accel_sign = m__io->read_bits_int_be(1);
-    m_x_accel_value = m__io->read_bits_int_be(4);
-    m_x_sign = m__io->read_bits_int_be(1);
-    m_x_value = m__io->read_bits_int_be(26);
-}
-
-glonass_t::string_1_t::~string_1_t() {
-    _clean_up();
-}
-
-void glonass_t::string_1_t::_clean_up() {
-}
-
-int32_t glonass_t::string_1_t::x_vel() {
-    if (f_x_vel)
-        return m_x_vel;
-    m_x_vel = ((x_vel_sign()) ? ((x_vel_value() * -1)) : (x_vel_value()));
-    f_x_vel = true;
-    return m_x_vel;
-}
-
-int32_t glonass_t::string_1_t::x_accel() {
-    if (f_x_accel)
-        return m_x_accel;
-    m_x_accel = ((x_accel_sign()) ? ((x_accel_value() * -1)) : (x_accel_value()));
-    f_x_accel = true;
-    return m_x_accel;
-}
-
-int32_t glonass_t::string_1_t::x() {
-    if (f_x)
-        return m_x;
-    m_x = ((x_sign()) ? ((x_value() * -1)) : (x_value()));
-    f_x = true;
-    return m_x;
-}
-
-glonass_t::string_2_t::string_2_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    f_y_vel = false;
-    f_y_accel = false;
-    f_y = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::string_2_t::_read() {
-    m_b_n = m__io->read_bits_int_be(3);
-    m_p2 = m__io->read_bits_int_be(1);
-    m_t_b = m__io->read_bits_int_be(7);
-    m_not_used = m__io->read_bits_int_be(5);
-    m_y_vel_sign = m__io->read_bits_int_be(1);
-    m_y_vel_value = m__io->read_bits_int_be(23);
-    m_y_accel_sign = m__io->read_bits_int_be(1);
-    m_y_accel_value = m__io->read_bits_int_be(4);
-    m_y_sign = m__io->read_bits_int_be(1);
-    m_y_value = m__io->read_bits_int_be(26);
-}
-
-glonass_t::string_2_t::~string_2_t() {
-    _clean_up();
-}
-
-void glonass_t::string_2_t::_clean_up() {
-}
-
-int32_t glonass_t::string_2_t::y_vel() {
-    if (f_y_vel)
-        return m_y_vel;
-    m_y_vel = ((y_vel_sign()) ? ((y_vel_value() * -1)) : (y_vel_value()));
-    f_y_vel = true;
-    return m_y_vel;
-}
-
-int32_t glonass_t::string_2_t::y_accel() {
-    if (f_y_accel)
-        return m_y_accel;
-    m_y_accel = ((y_accel_sign()) ? ((y_accel_value() * -1)) : (y_accel_value()));
-    f_y_accel = true;
-    return m_y_accel;
-}
-
-int32_t glonass_t::string_2_t::y() {
-    if (f_y)
-        return m_y;
-    m_y = ((y_sign()) ? ((y_value() * -1)) : (y_value()));
-    f_y = true;
-    return m_y;
-}
-
-glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    f_gamma_n = false;
-    f_z_vel = false;
-    f_z_accel = false;
-    f_z = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void glonass_t::string_3_t::_read() {
-    m_p3 = m__io->read_bits_int_be(1);
-    m_gamma_n_sign = m__io->read_bits_int_be(1);
-    m_gamma_n_value = m__io->read_bits_int_be(10);
-    m_not_used = m__io->read_bits_int_be(1);
-    m_p = m__io->read_bits_int_be(2);
-    m_l_n = m__io->read_bits_int_be(1);
-    m_z_vel_sign = m__io->read_bits_int_be(1);
-    m_z_vel_value = m__io->read_bits_int_be(23);
-    m_z_accel_sign = m__io->read_bits_int_be(1);
-    m_z_accel_value = m__io->read_bits_int_be(4);
-    m_z_sign = m__io->read_bits_int_be(1);
-    m_z_value = m__io->read_bits_int_be(26);
-}
-
-glonass_t::string_3_t::~string_3_t() {
-    _clean_up();
-}
-
-void glonass_t::string_3_t::_clean_up() {
-}
-
-int32_t glonass_t::string_3_t::gamma_n() {
-    if (f_gamma_n)
-        return m_gamma_n;
-    m_gamma_n = ((gamma_n_sign()) ? ((gamma_n_value() * -1)) : (gamma_n_value()));
-    f_gamma_n = true;
-    return m_gamma_n;
-}
-
-int32_t glonass_t::string_3_t::z_vel() {
-    if (f_z_vel)
-        return m_z_vel;
-    m_z_vel = ((z_vel_sign()) ? ((z_vel_value() * -1)) : (z_vel_value()));
-    f_z_vel = true;
-    return m_z_vel;
-}
-
-int32_t glonass_t::string_3_t::z_accel() {
-    if (f_z_accel)
-        return m_z_accel;
-    m_z_accel = ((z_accel_sign()) ? ((z_accel_value() * -1)) : (z_accel_value()));
-    f_z_accel = true;
-    return m_z_accel;
-}
-
-int32_t glonass_t::string_3_t::z() {
-    if (f_z)
-        return m_z;
-    m_z = ((z_sign()) ? ((z_value() * -1)) : (z_value()));
-    f_z = true;
-    return m_z;
-}
diff --git a/system/ubloxd/generated/glonass.h b/system/ubloxd/generated/glonass.h
deleted file mode 100644
index 19867ba22b..0000000000
--- a/system/ubloxd/generated/glonass.h
+++ /dev/null
@@ -1,375 +0,0 @@
-#ifndef GLONASS_H_
-#define GLONASS_H_
-
-// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-#include "kaitai/kaitaistruct.h"
-#include <stdint.h>
-
-#if KAITAI_STRUCT_VERSION < 9000L
-#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required"
-#endif
-
-class glonass_t : public kaitai::kstruct {
-
-public:
-    class string_4_t;
-    class string_non_immediate_t;
-    class string_5_t;
-    class string_1_t;
-    class string_2_t;
-    class string_3_t;
-
-    glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, glonass_t* p__root = 0);
-
-private:
-    void _read();
-    void _clean_up();
-
-public:
-    ~glonass_t();
-
-    class string_4_t : public kaitai::kstruct {
-
-    public:
-
-        string_4_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~string_4_t();
-
-    private:
-        bool f_tau_n;
-        int32_t m_tau_n;
-
-    public:
-        int32_t tau_n();
-
-    private:
-        bool f_delta_tau_n;
-        int32_t m_delta_tau_n;
-
-    public:
-        int32_t delta_tau_n();
-
-    private:
-        bool m_tau_n_sign;
-        uint64_t m_tau_n_value;
-        bool m_delta_tau_n_sign;
-        uint64_t m_delta_tau_n_value;
-        uint64_t m_e_n;
-        uint64_t m_not_used_1;
-        bool m_p4;
-        uint64_t m_f_t;
-        uint64_t m_not_used_2;
-        uint64_t m_n_t;
-        uint64_t m_n;
-        uint64_t m_m;
-        glonass_t* m__root;
-        glonass_t* m__parent;
-
-    public:
-        bool tau_n_sign() const { return m_tau_n_sign; }
-        uint64_t tau_n_value() const { return m_tau_n_value; }
-        bool delta_tau_n_sign() const { return m_delta_tau_n_sign; }
-        uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; }
-        uint64_t e_n() const { return m_e_n; }
-        uint64_t not_used_1() const { return m_not_used_1; }
-        bool p4() const { return m_p4; }
-        uint64_t f_t() const { return m_f_t; }
-        uint64_t not_used_2() const { return m_not_used_2; }
-        uint64_t n_t() const { return m_n_t; }
-        uint64_t n() const { return m_n; }
-        uint64_t m() const { return m_m; }
-        glonass_t* _root() const { return m__root; }
-        glonass_t* _parent() const { return m__parent; }
-    };
-
-    class string_non_immediate_t : public kaitai::kstruct {
-
-    public:
-
-        string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~string_non_immediate_t();
-
-    private:
-        uint64_t m_data_1;
-        uint64_t m_data_2;
-        glonass_t* m__root;
-        glonass_t* m__parent;
-
-    public:
-        uint64_t data_1() const { return m_data_1; }
-        uint64_t data_2() const { return m_data_2; }
-        glonass_t* _root() const { return m__root; }
-        glonass_t* _parent() const { return m__parent; }
-    };
-
-    class string_5_t : public kaitai::kstruct {
-
-    public:
-
-        string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~string_5_t();
-
-    private:
-        uint64_t m_n_a;
-        uint64_t m_tau_c;
-        bool m_not_used;
-        uint64_t m_n_4;
-        uint64_t m_tau_gps;
-        bool m_l_n;
-        glonass_t* m__root;
-        glonass_t* m__parent;
-
-    public:
-        uint64_t n_a() const { return m_n_a; }
-        uint64_t tau_c() const { return m_tau_c; }
-        bool not_used() const { return m_not_used; }
-        uint64_t n_4() const { return m_n_4; }
-        uint64_t tau_gps() const { return m_tau_gps; }
-        bool l_n() const { return m_l_n; }
-        glonass_t* _root() const { return m__root; }
-        glonass_t* _parent() const { return m__parent; }
-    };
-
-    class string_1_t : public kaitai::kstruct {
-
-    public:
-
-        string_1_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~string_1_t();
-
-    private:
-        bool f_x_vel;
-        int32_t m_x_vel;
-
-    public:
-        int32_t x_vel();
-
-    private:
-        bool f_x_accel;
-        int32_t m_x_accel;
-
-    public:
-        int32_t x_accel();
-
-    private:
-        bool f_x;
-        int32_t m_x;
-
-    public:
-        int32_t x();
-
-    private:
-        uint64_t m_not_used;
-        uint64_t m_p1;
-        uint64_t m_t_k;
-        bool m_x_vel_sign;
-        uint64_t m_x_vel_value;
-        bool m_x_accel_sign;
-        uint64_t m_x_accel_value;
-        bool m_x_sign;
-        uint64_t m_x_value;
-        glonass_t* m__root;
-        glonass_t* m__parent;
-
-    public:
-        uint64_t not_used() const { return m_not_used; }
-        uint64_t p1() const { return m_p1; }
-        uint64_t t_k() const { return m_t_k; }
-        bool x_vel_sign() const { return m_x_vel_sign; }
-        uint64_t x_vel_value() const { return m_x_vel_value; }
-        bool x_accel_sign() const { return m_x_accel_sign; }
-        uint64_t x_accel_value() const { return m_x_accel_value; }
-        bool x_sign() const { return m_x_sign; }
-        uint64_t x_value() const { return m_x_value; }
-        glonass_t* _root() const { return m__root; }
-        glonass_t* _parent() const { return m__parent; }
-    };
-
-    class string_2_t : public kaitai::kstruct {
-
-    public:
-
-        string_2_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~string_2_t();
-
-    private:
-        bool f_y_vel;
-        int32_t m_y_vel;
-
-    public:
-        int32_t y_vel();
-
-    private:
-        bool f_y_accel;
-        int32_t m_y_accel;
-
-    public:
-        int32_t y_accel();
-
-    private:
-        bool f_y;
-        int32_t m_y;
-
-    public:
-        int32_t y();
-
-    private:
-        uint64_t m_b_n;
-        bool m_p2;
-        uint64_t m_t_b;
-        uint64_t m_not_used;
-        bool m_y_vel_sign;
-        uint64_t m_y_vel_value;
-        bool m_y_accel_sign;
-        uint64_t m_y_accel_value;
-        bool m_y_sign;
-        uint64_t m_y_value;
-        glonass_t* m__root;
-        glonass_t* m__parent;
-
-    public:
-        uint64_t b_n() const { return m_b_n; }
-        bool p2() const { return m_p2; }
-        uint64_t t_b() const { return m_t_b; }
-        uint64_t not_used() const { return m_not_used; }
-        bool y_vel_sign() const { return m_y_vel_sign; }
-        uint64_t y_vel_value() const { return m_y_vel_value; }
-        bool y_accel_sign() const { return m_y_accel_sign; }
-        uint64_t y_accel_value() const { return m_y_accel_value; }
-        bool y_sign() const { return m_y_sign; }
-        uint64_t y_value() const { return m_y_value; }
-        glonass_t* _root() const { return m__root; }
-        glonass_t* _parent() const { return m__parent; }
-    };
-
-    class string_3_t : public kaitai::kstruct {
-
-    public:
-
-        string_3_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~string_3_t();
-
-    private:
-        bool f_gamma_n;
-        int32_t m_gamma_n;
-
-    public:
-        int32_t gamma_n();
-
-    private:
-        bool f_z_vel;
-        int32_t m_z_vel;
-
-    public:
-        int32_t z_vel();
-
-    private:
-        bool f_z_accel;
-        int32_t m_z_accel;
-
-    public:
-        int32_t z_accel();
-
-    private:
-        bool f_z;
-        int32_t m_z;
-
-    public:
-        int32_t z();
-
-    private:
-        bool m_p3;
-        bool m_gamma_n_sign;
-        uint64_t m_gamma_n_value;
-        bool m_not_used;
-        uint64_t m_p;
-        bool m_l_n;
-        bool m_z_vel_sign;
-        uint64_t m_z_vel_value;
-        bool m_z_accel_sign;
-        uint64_t m_z_accel_value;
-        bool m_z_sign;
-        uint64_t m_z_value;
-        glonass_t* m__root;
-        glonass_t* m__parent;
-
-    public:
-        bool p3() const { return m_p3; }
-        bool gamma_n_sign() const { return m_gamma_n_sign; }
-        uint64_t gamma_n_value() const { return m_gamma_n_value; }
-        bool not_used() const { return m_not_used; }
-        uint64_t p() const { return m_p; }
-        bool l_n() const { return m_l_n; }
-        bool z_vel_sign() const { return m_z_vel_sign; }
-        uint64_t z_vel_value() const { return m_z_vel_value; }
-        bool z_accel_sign() const { return m_z_accel_sign; }
-        uint64_t z_accel_value() const { return m_z_accel_value; }
-        bool z_sign() const { return m_z_sign; }
-        uint64_t z_value() const { return m_z_value; }
-        glonass_t* _root() const { return m__root; }
-        glonass_t* _parent() const { return m__parent; }
-    };
-
-private:
-    bool m_idle_chip;
-    uint64_t m_string_number;
-    kaitai::kstruct* m_data;
-    uint64_t m_hamming_code;
-    uint64_t m_pad_1;
-    uint64_t m_superframe_number;
-    uint64_t m_pad_2;
-    uint64_t m_frame_number;
-    glonass_t* m__root;
-    kaitai::kstruct* m__parent;
-
-public:
-    bool idle_chip() const { return m_idle_chip; }
-    uint64_t string_number() const { return m_string_number; }
-    kaitai::kstruct* data() const { return m_data; }
-    uint64_t hamming_code() const { return m_hamming_code; }
-    uint64_t pad_1() const { return m_pad_1; }
-    uint64_t superframe_number() const { return m_superframe_number; }
-    uint64_t pad_2() const { return m_pad_2; }
-    uint64_t frame_number() const { return m_frame_number; }
-    glonass_t* _root() const { return m__root; }
-    kaitai::kstruct* _parent() const { return m__parent; }
-};
-
-#endif  // GLONASS_H_
diff --git a/system/ubloxd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp
deleted file mode 100644
index 8e1cb85b95..0000000000
--- a/system/ubloxd/generated/gps.cpp
+++ /dev/null
@@ -1,325 +0,0 @@
-// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-#include "gps.h"
-#include "kaitai/exceptions.h"
-
-gps_t::gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = this;
-    m_tlm = 0;
-    m_how = 0;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::_read() {
-    m_tlm = new tlm_t(m__io, this, m__root);
-    m_how = new how_t(m__io, this, m__root);
-    n_body = true;
-    switch (how()->subframe_id()) {
-    case 1: {
-        n_body = false;
-        m_body = new subframe_1_t(m__io, this, m__root);
-        break;
-    }
-    case 2: {
-        n_body = false;
-        m_body = new subframe_2_t(m__io, this, m__root);
-        break;
-    }
-    case 3: {
-        n_body = false;
-        m_body = new subframe_3_t(m__io, this, m__root);
-        break;
-    }
-    case 4: {
-        n_body = false;
-        m_body = new subframe_4_t(m__io, this, m__root);
-        break;
-    }
-    }
-}
-
-gps_t::~gps_t() {
-    _clean_up();
-}
-
-void gps_t::_clean_up() {
-    if (m_tlm) {
-        delete m_tlm; m_tlm = 0;
-    }
-    if (m_how) {
-        delete m_how; m_how = 0;
-    }
-    if (!n_body) {
-        if (m_body) {
-            delete m_body; m_body = 0;
-        }
-    }
-}
-
-gps_t::subframe_1_t::subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    f_af_0 = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::subframe_1_t::_read() {
-    m_week_no = m__io->read_bits_int_be(10);
-    m_code = m__io->read_bits_int_be(2);
-    m_sv_accuracy = m__io->read_bits_int_be(4);
-    m_sv_health = m__io->read_bits_int_be(6);
-    m_iodc_msb = m__io->read_bits_int_be(2);
-    m_l2_p_data_flag = m__io->read_bits_int_be(1);
-    m_reserved1 = m__io->read_bits_int_be(23);
-    m_reserved2 = m__io->read_bits_int_be(24);
-    m_reserved3 = m__io->read_bits_int_be(24);
-    m_reserved4 = m__io->read_bits_int_be(16);
-    m__io->align_to_byte();
-    m_t_gd = m__io->read_s1();
-    m_iodc_lsb = m__io->read_u1();
-    m_t_oc = m__io->read_u2be();
-    m_af_2 = m__io->read_s1();
-    m_af_1 = m__io->read_s2be();
-    m_af_0_sign = m__io->read_bits_int_be(1);
-    m_af_0_value = m__io->read_bits_int_be(21);
-    m_reserved5 = m__io->read_bits_int_be(2);
-}
-
-gps_t::subframe_1_t::~subframe_1_t() {
-    _clean_up();
-}
-
-void gps_t::subframe_1_t::_clean_up() {
-}
-
-int32_t gps_t::subframe_1_t::af_0() {
-    if (f_af_0)
-        return m_af_0;
-    m_af_0 = ((af_0_sign()) ? ((af_0_value() - (1 << 21))) : (af_0_value()));
-    f_af_0 = true;
-    return m_af_0;
-}
-
-gps_t::subframe_3_t::subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    f_omega_dot = false;
-    f_idot = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::subframe_3_t::_read() {
-    m_c_ic = m__io->read_s2be();
-    m_omega_0 = m__io->read_s4be();
-    m_c_is = m__io->read_s2be();
-    m_i_0 = m__io->read_s4be();
-    m_c_rc = m__io->read_s2be();
-    m_omega = m__io->read_s4be();
-    m_omega_dot_sign = m__io->read_bits_int_be(1);
-    m_omega_dot_value = m__io->read_bits_int_be(23);
-    m__io->align_to_byte();
-    m_iode = m__io->read_u1();
-    m_idot_sign = m__io->read_bits_int_be(1);
-    m_idot_value = m__io->read_bits_int_be(13);
-    m_reserved = m__io->read_bits_int_be(2);
-}
-
-gps_t::subframe_3_t::~subframe_3_t() {
-    _clean_up();
-}
-
-void gps_t::subframe_3_t::_clean_up() {
-}
-
-int32_t gps_t::subframe_3_t::omega_dot() {
-    if (f_omega_dot)
-        return m_omega_dot;
-    m_omega_dot = ((omega_dot_sign()) ? ((omega_dot_value() - (1 << 23))) : (omega_dot_value()));
-    f_omega_dot = true;
-    return m_omega_dot;
-}
-
-int32_t gps_t::subframe_3_t::idot() {
-    if (f_idot)
-        return m_idot;
-    m_idot = ((idot_sign()) ? ((idot_value() - (1 << 13))) : (idot_value()));
-    f_idot = true;
-    return m_idot;
-}
-
-gps_t::subframe_4_t::subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::subframe_4_t::_read() {
-    m_data_id = m__io->read_bits_int_be(2);
-    m_page_id = m__io->read_bits_int_be(6);
-    m__io->align_to_byte();
-    n_body = true;
-    switch (page_id()) {
-    case 56: {
-        n_body = false;
-        m_body = new ionosphere_data_t(m__io, this, m__root);
-        break;
-    }
-    }
-}
-
-gps_t::subframe_4_t::~subframe_4_t() {
-    _clean_up();
-}
-
-void gps_t::subframe_4_t::_clean_up() {
-    if (!n_body) {
-        if (m_body) {
-            delete m_body; m_body = 0;
-        }
-    }
-}
-
-gps_t::subframe_4_t::ionosphere_data_t::ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::subframe_4_t::ionosphere_data_t::_read() {
-    m_a0 = m__io->read_s1();
-    m_a1 = m__io->read_s1();
-    m_a2 = m__io->read_s1();
-    m_a3 = m__io->read_s1();
-    m_b0 = m__io->read_s1();
-    m_b1 = m__io->read_s1();
-    m_b2 = m__io->read_s1();
-    m_b3 = m__io->read_s1();
-}
-
-gps_t::subframe_4_t::ionosphere_data_t::~ionosphere_data_t() {
-    _clean_up();
-}
-
-void gps_t::subframe_4_t::ionosphere_data_t::_clean_up() {
-}
-
-gps_t::how_t::how_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::how_t::_read() {
-    m_tow_count = m__io->read_bits_int_be(17);
-    m_alert = m__io->read_bits_int_be(1);
-    m_anti_spoof = m__io->read_bits_int_be(1);
-    m_subframe_id = m__io->read_bits_int_be(3);
-    m_reserved = m__io->read_bits_int_be(2);
-}
-
-gps_t::how_t::~how_t() {
-    _clean_up();
-}
-
-void gps_t::how_t::_clean_up() {
-}
-
-gps_t::tlm_t::tlm_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::tlm_t::_read() {
-    m_preamble = m__io->read_bytes(1);
-    if (!(preamble() == std::string("\x8B", 1))) {
-        throw kaitai::validation_not_equal_error<std::string>(std::string("\x8B", 1), preamble(), _io(), std::string("/types/tlm/seq/0"));
-    }
-    m_tlm = m__io->read_bits_int_be(14);
-    m_integrity_status = m__io->read_bits_int_be(1);
-    m_reserved = m__io->read_bits_int_be(1);
-}
-
-gps_t::tlm_t::~tlm_t() {
-    _clean_up();
-}
-
-void gps_t::tlm_t::_clean_up() {
-}
-
-gps_t::subframe_2_t::subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void gps_t::subframe_2_t::_read() {
-    m_iode = m__io->read_u1();
-    m_c_rs = m__io->read_s2be();
-    m_delta_n = m__io->read_s2be();
-    m_m_0 = m__io->read_s4be();
-    m_c_uc = m__io->read_s2be();
-    m_e = m__io->read_s4be();
-    m_c_us = m__io->read_s2be();
-    m_sqrt_a = m__io->read_u4be();
-    m_t_oe = m__io->read_u2be();
-    m_fit_interval_flag = m__io->read_bits_int_be(1);
-    m_aoda = m__io->read_bits_int_be(5);
-    m_reserved = m__io->read_bits_int_be(2);
-}
-
-gps_t::subframe_2_t::~subframe_2_t() {
-    _clean_up();
-}
-
-void gps_t::subframe_2_t::_clean_up() {
-}
diff --git a/system/ubloxd/generated/gps.h b/system/ubloxd/generated/gps.h
deleted file mode 100644
index 9dfc5031f5..0000000000
--- a/system/ubloxd/generated/gps.h
+++ /dev/null
@@ -1,359 +0,0 @@
-#ifndef GPS_H_
-#define GPS_H_
-
-// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-#include "kaitai/kaitaistruct.h"
-#include <stdint.h>
-
-#if KAITAI_STRUCT_VERSION < 9000L
-#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required"
-#endif
-
-class gps_t : public kaitai::kstruct {
-
-public:
-    class subframe_1_t;
-    class subframe_3_t;
-    class subframe_4_t;
-    class how_t;
-    class tlm_t;
-    class subframe_2_t;
-
-    gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, gps_t* p__root = 0);
-
-private:
-    void _read();
-    void _clean_up();
-
-public:
-    ~gps_t();
-
-    class subframe_1_t : public kaitai::kstruct {
-
-    public:
-
-        subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~subframe_1_t();
-
-    private:
-        bool f_af_0;
-        int32_t m_af_0;
-
-    public:
-        int32_t af_0();
-
-    private:
-        uint64_t m_week_no;
-        uint64_t m_code;
-        uint64_t m_sv_accuracy;
-        uint64_t m_sv_health;
-        uint64_t m_iodc_msb;
-        bool m_l2_p_data_flag;
-        uint64_t m_reserved1;
-        uint64_t m_reserved2;
-        uint64_t m_reserved3;
-        uint64_t m_reserved4;
-        int8_t m_t_gd;
-        uint8_t m_iodc_lsb;
-        uint16_t m_t_oc;
-        int8_t m_af_2;
-        int16_t m_af_1;
-        bool m_af_0_sign;
-        uint64_t m_af_0_value;
-        uint64_t m_reserved5;
-        gps_t* m__root;
-        gps_t* m__parent;
-
-    public:
-        uint64_t week_no() const { return m_week_no; }
-        uint64_t code() const { return m_code; }
-        uint64_t sv_accuracy() const { return m_sv_accuracy; }
-        uint64_t sv_health() const { return m_sv_health; }
-        uint64_t iodc_msb() const { return m_iodc_msb; }
-        bool l2_p_data_flag() const { return m_l2_p_data_flag; }
-        uint64_t reserved1() const { return m_reserved1; }
-        uint64_t reserved2() const { return m_reserved2; }
-        uint64_t reserved3() const { return m_reserved3; }
-        uint64_t reserved4() const { return m_reserved4; }
-        int8_t t_gd() const { return m_t_gd; }
-        uint8_t iodc_lsb() const { return m_iodc_lsb; }
-        uint16_t t_oc() const { return m_t_oc; }
-        int8_t af_2() const { return m_af_2; }
-        int16_t af_1() const { return m_af_1; }
-        bool af_0_sign() const { return m_af_0_sign; }
-        uint64_t af_0_value() const { return m_af_0_value; }
-        uint64_t reserved5() const { return m_reserved5; }
-        gps_t* _root() const { return m__root; }
-        gps_t* _parent() const { return m__parent; }
-    };
-
-    class subframe_3_t : public kaitai::kstruct {
-
-    public:
-
-        subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~subframe_3_t();
-
-    private:
-        bool f_omega_dot;
-        int32_t m_omega_dot;
-
-    public:
-        int32_t omega_dot();
-
-    private:
-        bool f_idot;
-        int32_t m_idot;
-
-    public:
-        int32_t idot();
-
-    private:
-        int16_t m_c_ic;
-        int32_t m_omega_0;
-        int16_t m_c_is;
-        int32_t m_i_0;
-        int16_t m_c_rc;
-        int32_t m_omega;
-        bool m_omega_dot_sign;
-        uint64_t m_omega_dot_value;
-        uint8_t m_iode;
-        bool m_idot_sign;
-        uint64_t m_idot_value;
-        uint64_t m_reserved;
-        gps_t* m__root;
-        gps_t* m__parent;
-
-    public:
-        int16_t c_ic() const { return m_c_ic; }
-        int32_t omega_0() const { return m_omega_0; }
-        int16_t c_is() const { return m_c_is; }
-        int32_t i_0() const { return m_i_0; }
-        int16_t c_rc() const { return m_c_rc; }
-        int32_t omega() const { return m_omega; }
-        bool omega_dot_sign() const { return m_omega_dot_sign; }
-        uint64_t omega_dot_value() const { return m_omega_dot_value; }
-        uint8_t iode() const { return m_iode; }
-        bool idot_sign() const { return m_idot_sign; }
-        uint64_t idot_value() const { return m_idot_value; }
-        uint64_t reserved() const { return m_reserved; }
-        gps_t* _root() const { return m__root; }
-        gps_t* _parent() const { return m__parent; }
-    };
-
-    class subframe_4_t : public kaitai::kstruct {
-
-    public:
-        class ionosphere_data_t;
-
-        subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~subframe_4_t();
-
-        class ionosphere_data_t : public kaitai::kstruct {
-
-        public:
-
-            ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent = 0, gps_t* p__root = 0);
-
-        private:
-            void _read();
-            void _clean_up();
-
-        public:
-            ~ionosphere_data_t();
-
-        private:
-            int8_t m_a0;
-            int8_t m_a1;
-            int8_t m_a2;
-            int8_t m_a3;
-            int8_t m_b0;
-            int8_t m_b1;
-            int8_t m_b2;
-            int8_t m_b3;
-            gps_t* m__root;
-            gps_t::subframe_4_t* m__parent;
-
-        public:
-            int8_t a0() const { return m_a0; }
-            int8_t a1() const { return m_a1; }
-            int8_t a2() const { return m_a2; }
-            int8_t a3() const { return m_a3; }
-            int8_t b0() const { return m_b0; }
-            int8_t b1() const { return m_b1; }
-            int8_t b2() const { return m_b2; }
-            int8_t b3() const { return m_b3; }
-            gps_t* _root() const { return m__root; }
-            gps_t::subframe_4_t* _parent() const { return m__parent; }
-        };
-
-    private:
-        uint64_t m_data_id;
-        uint64_t m_page_id;
-        ionosphere_data_t* m_body;
-        bool n_body;
-
-    public:
-        bool _is_null_body() { body(); return n_body; };
-
-    private:
-        gps_t* m__root;
-        gps_t* m__parent;
-
-    public:
-        uint64_t data_id() const { return m_data_id; }
-        uint64_t page_id() const { return m_page_id; }
-        ionosphere_data_t* body() const { return m_body; }
-        gps_t* _root() const { return m__root; }
-        gps_t* _parent() const { return m__parent; }
-    };
-
-    class how_t : public kaitai::kstruct {
-
-    public:
-
-        how_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~how_t();
-
-    private:
-        uint64_t m_tow_count;
-        bool m_alert;
-        bool m_anti_spoof;
-        uint64_t m_subframe_id;
-        uint64_t m_reserved;
-        gps_t* m__root;
-        gps_t* m__parent;
-
-    public:
-        uint64_t tow_count() const { return m_tow_count; }
-        bool alert() const { return m_alert; }
-        bool anti_spoof() const { return m_anti_spoof; }
-        uint64_t subframe_id() const { return m_subframe_id; }
-        uint64_t reserved() const { return m_reserved; }
-        gps_t* _root() const { return m__root; }
-        gps_t* _parent() const { return m__parent; }
-    };
-
-    class tlm_t : public kaitai::kstruct {
-
-    public:
-
-        tlm_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~tlm_t();
-
-    private:
-        std::string m_preamble;
-        uint64_t m_tlm;
-        bool m_integrity_status;
-        bool m_reserved;
-        gps_t* m__root;
-        gps_t* m__parent;
-
-    public:
-        std::string preamble() const { return m_preamble; }
-        uint64_t tlm() const { return m_tlm; }
-        bool integrity_status() const { return m_integrity_status; }
-        bool reserved() const { return m_reserved; }
-        gps_t* _root() const { return m__root; }
-        gps_t* _parent() const { return m__parent; }
-    };
-
-    class subframe_2_t : public kaitai::kstruct {
-
-    public:
-
-        subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~subframe_2_t();
-
-    private:
-        uint8_t m_iode;
-        int16_t m_c_rs;
-        int16_t m_delta_n;
-        int32_t m_m_0;
-        int16_t m_c_uc;
-        int32_t m_e;
-        int16_t m_c_us;
-        uint32_t m_sqrt_a;
-        uint16_t m_t_oe;
-        bool m_fit_interval_flag;
-        uint64_t m_aoda;
-        uint64_t m_reserved;
-        gps_t* m__root;
-        gps_t* m__parent;
-
-    public:
-        uint8_t iode() const { return m_iode; }
-        int16_t c_rs() const { return m_c_rs; }
-        int16_t delta_n() const { return m_delta_n; }
-        int32_t m_0() const { return m_m_0; }
-        int16_t c_uc() const { return m_c_uc; }
-        int32_t e() const { return m_e; }
-        int16_t c_us() const { return m_c_us; }
-        uint32_t sqrt_a() const { return m_sqrt_a; }
-        uint16_t t_oe() const { return m_t_oe; }
-        bool fit_interval_flag() const { return m_fit_interval_flag; }
-        uint64_t aoda() const { return m_aoda; }
-        uint64_t reserved() const { return m_reserved; }
-        gps_t* _root() const { return m__root; }
-        gps_t* _parent() const { return m__parent; }
-    };
-
-private:
-    tlm_t* m_tlm;
-    how_t* m_how;
-    kaitai::kstruct* m_body;
-    bool n_body;
-
-public:
-    bool _is_null_body() { body(); return n_body; };
-
-private:
-    gps_t* m__root;
-    kaitai::kstruct* m__parent;
-
-public:
-    tlm_t* tlm() const { return m_tlm; }
-    how_t* how() const { return m_how; }
-    kaitai::kstruct* body() const { return m_body; }
-    gps_t* _root() const { return m__root; }
-    kaitai::kstruct* _parent() const { return m__parent; }
-};
-
-#endif  // GPS_H_
diff --git a/system/ubloxd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp
deleted file mode 100644
index 81b82ccafc..0000000000
--- a/system/ubloxd/generated/ubx.cpp
+++ /dev/null
@@ -1,424 +0,0 @@
-// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-#include "ubx.h"
-#include "kaitai/exceptions.h"
-
-ubx_t::ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = this;
-    f_checksum = false;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::_read() {
-    m_magic = m__io->read_bytes(2);
-    if (!(magic() == std::string("\xB5\x62", 2))) {
-        throw kaitai::validation_not_equal_error<std::string>(std::string("\xB5\x62", 2), magic(), _io(), std::string("/seq/0"));
-    }
-    m_msg_type = m__io->read_u2be();
-    m_length = m__io->read_u2le();
-    n_body = true;
-    switch (msg_type()) {
-    case 2569: {
-        n_body = false;
-        m_body = new mon_hw_t(m__io, this, m__root);
-        break;
-    }
-    case 533: {
-        n_body = false;
-        m_body = new rxm_rawx_t(m__io, this, m__root);
-        break;
-    }
-    case 531: {
-        n_body = false;
-        m_body = new rxm_sfrbx_t(m__io, this, m__root);
-        break;
-    }
-    case 309: {
-        n_body = false;
-        m_body = new nav_sat_t(m__io, this, m__root);
-        break;
-    }
-    case 2571: {
-        n_body = false;
-        m_body = new mon_hw2_t(m__io, this, m__root);
-        break;
-    }
-    case 263: {
-        n_body = false;
-        m_body = new nav_pvt_t(m__io, this, m__root);
-        break;
-    }
-    }
-}
-
-ubx_t::~ubx_t() {
-    _clean_up();
-}
-
-void ubx_t::_clean_up() {
-    if (!n_body) {
-        if (m_body) {
-            delete m_body; m_body = 0;
-        }
-    }
-    if (f_checksum) {
-    }
-}
-
-ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    m_meas = 0;
-    m__raw_meas = 0;
-    m__io__raw_meas = 0;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::rxm_rawx_t::_read() {
-    m_rcv_tow = m__io->read_f8le();
-    m_week = m__io->read_u2le();
-    m_leap_s = m__io->read_s1();
-    m_num_meas = m__io->read_u1();
-    m_rec_stat = m__io->read_u1();
-    m_reserved1 = m__io->read_bytes(3);
-    m__raw_meas = new std::vector<std::string>();
-    m__io__raw_meas = new std::vector<kaitai::kstream*>();
-    m_meas = new std::vector<measurement_t*>();
-    const int l_meas = num_meas();
-    for (int i = 0; i < l_meas; i++) {
-        m__raw_meas->push_back(m__io->read_bytes(32));
-        kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1));
-        m__io__raw_meas->push_back(io__raw_meas);
-        m_meas->push_back(new measurement_t(io__raw_meas, this, m__root));
-    }
-}
-
-ubx_t::rxm_rawx_t::~rxm_rawx_t() {
-    _clean_up();
-}
-
-void ubx_t::rxm_rawx_t::_clean_up() {
-    if (m__raw_meas) {
-        delete m__raw_meas; m__raw_meas = 0;
-    }
-    if (m__io__raw_meas) {
-        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) {
-            delete *it;
-        }
-        delete m__io__raw_meas; m__io__raw_meas = 0;
-    }
-    if (m_meas) {
-        for (std::vector<measurement_t*>::iterator it = m_meas->begin(); it != m_meas->end(); ++it) {
-            delete *it;
-        }
-        delete m_meas; m_meas = 0;
-    }
-}
-
-ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::rxm_rawx_t::measurement_t::_read() {
-    m_pr_mes = m__io->read_f8le();
-    m_cp_mes = m__io->read_f8le();
-    m_do_mes = m__io->read_f4le();
-    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
-    m_sv_id = m__io->read_u1();
-    m_reserved2 = m__io->read_bytes(1);
-    m_freq_id = m__io->read_u1();
-    m_lock_time = m__io->read_u2le();
-    m_cno = m__io->read_u1();
-    m_pr_stdev = m__io->read_u1();
-    m_cp_stdev = m__io->read_u1();
-    m_do_stdev = m__io->read_u1();
-    m_trk_stat = m__io->read_u1();
-    m_reserved3 = m__io->read_bytes(1);
-}
-
-ubx_t::rxm_rawx_t::measurement_t::~measurement_t() {
-    _clean_up();
-}
-
-void ubx_t::rxm_rawx_t::measurement_t::_clean_up() {
-}
-
-ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    m_body = 0;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::rxm_sfrbx_t::_read() {
-    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
-    m_sv_id = m__io->read_u1();
-    m_reserved1 = m__io->read_bytes(1);
-    m_freq_id = m__io->read_u1();
-    m_num_words = m__io->read_u1();
-    m_reserved2 = m__io->read_bytes(1);
-    m_version = m__io->read_u1();
-    m_reserved3 = m__io->read_bytes(1);
-    m_body = new std::vector<uint32_t>();
-    const int l_body = num_words();
-    for (int i = 0; i < l_body; i++) {
-        m_body->push_back(m__io->read_u4le());
-    }
-}
-
-ubx_t::rxm_sfrbx_t::~rxm_sfrbx_t() {
-    _clean_up();
-}
-
-void ubx_t::rxm_sfrbx_t::_clean_up() {
-    if (m_body) {
-        delete m_body; m_body = 0;
-    }
-}
-
-ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-    m_svs = 0;
-    m__raw_svs = 0;
-    m__io__raw_svs = 0;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::nav_sat_t::_read() {
-    m_itow = m__io->read_u4le();
-    m_version = m__io->read_u1();
-    m_num_svs = m__io->read_u1();
-    m_reserved = m__io->read_bytes(2);
-    m__raw_svs = new std::vector<std::string>();
-    m__io__raw_svs = new std::vector<kaitai::kstream*>();
-    m_svs = new std::vector<nav_t*>();
-    const int l_svs = num_svs();
-    for (int i = 0; i < l_svs; i++) {
-        m__raw_svs->push_back(m__io->read_bytes(12));
-        kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1));
-        m__io__raw_svs->push_back(io__raw_svs);
-        m_svs->push_back(new nav_t(io__raw_svs, this, m__root));
-    }
-}
-
-ubx_t::nav_sat_t::~nav_sat_t() {
-    _clean_up();
-}
-
-void ubx_t::nav_sat_t::_clean_up() {
-    if (m__raw_svs) {
-        delete m__raw_svs; m__raw_svs = 0;
-    }
-    if (m__io__raw_svs) {
-        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) {
-            delete *it;
-        }
-        delete m__io__raw_svs; m__io__raw_svs = 0;
-    }
-    if (m_svs) {
-        for (std::vector<nav_t*>::iterator it = m_svs->begin(); it != m_svs->end(); ++it) {
-            delete *it;
-        }
-        delete m_svs; m_svs = 0;
-    }
-}
-
-ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::nav_sat_t::nav_t::_read() {
-    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
-    m_sv_id = m__io->read_u1();
-    m_cno = m__io->read_u1();
-    m_elev = m__io->read_s1();
-    m_azim = m__io->read_s2le();
-    m_pr_res = m__io->read_s2le();
-    m_flags = m__io->read_u4le();
-}
-
-ubx_t::nav_sat_t::nav_t::~nav_t() {
-    _clean_up();
-}
-
-void ubx_t::nav_sat_t::nav_t::_clean_up() {
-}
-
-ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::nav_pvt_t::_read() {
-    m_i_tow = m__io->read_u4le();
-    m_year = m__io->read_u2le();
-    m_month = m__io->read_u1();
-    m_day = m__io->read_u1();
-    m_hour = m__io->read_u1();
-    m_min = m__io->read_u1();
-    m_sec = m__io->read_u1();
-    m_valid = m__io->read_u1();
-    m_t_acc = m__io->read_u4le();
-    m_nano = m__io->read_s4le();
-    m_fix_type = m__io->read_u1();
-    m_flags = m__io->read_u1();
-    m_flags2 = m__io->read_u1();
-    m_num_sv = m__io->read_u1();
-    m_lon = m__io->read_s4le();
-    m_lat = m__io->read_s4le();
-    m_height = m__io->read_s4le();
-    m_h_msl = m__io->read_s4le();
-    m_h_acc = m__io->read_u4le();
-    m_v_acc = m__io->read_u4le();
-    m_vel_n = m__io->read_s4le();
-    m_vel_e = m__io->read_s4le();
-    m_vel_d = m__io->read_s4le();
-    m_g_speed = m__io->read_s4le();
-    m_head_mot = m__io->read_s4le();
-    m_s_acc = m__io->read_s4le();
-    m_head_acc = m__io->read_u4le();
-    m_p_dop = m__io->read_u2le();
-    m_flags3 = m__io->read_u1();
-    m_reserved1 = m__io->read_bytes(5);
-    m_head_veh = m__io->read_s4le();
-    m_mag_dec = m__io->read_s2le();
-    m_mag_acc = m__io->read_u2le();
-}
-
-ubx_t::nav_pvt_t::~nav_pvt_t() {
-    _clean_up();
-}
-
-void ubx_t::nav_pvt_t::_clean_up() {
-}
-
-ubx_t::mon_hw2_t::mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::mon_hw2_t::_read() {
-    m_ofs_i = m__io->read_s1();
-    m_mag_i = m__io->read_u1();
-    m_ofs_q = m__io->read_s1();
-    m_mag_q = m__io->read_u1();
-    m_cfg_source = static_cast<ubx_t::mon_hw2_t::config_source_t>(m__io->read_u1());
-    m_reserved1 = m__io->read_bytes(3);
-    m_low_lev_cfg = m__io->read_u4le();
-    m_reserved2 = m__io->read_bytes(8);
-    m_post_status = m__io->read_u4le();
-    m_reserved3 = m__io->read_bytes(4);
-}
-
-ubx_t::mon_hw2_t::~mon_hw2_t() {
-    _clean_up();
-}
-
-void ubx_t::mon_hw2_t::_clean_up() {
-}
-
-ubx_t::mon_hw_t::mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
-    m__parent = p__parent;
-    m__root = p__root;
-
-    try {
-        _read();
-    } catch(...) {
-        _clean_up();
-        throw;
-    }
-}
-
-void ubx_t::mon_hw_t::_read() {
-    m_pin_sel = m__io->read_u4le();
-    m_pin_bank = m__io->read_u4le();
-    m_pin_dir = m__io->read_u4le();
-    m_pin_val = m__io->read_u4le();
-    m_noise_per_ms = m__io->read_u2le();
-    m_agc_cnt = m__io->read_u2le();
-    m_a_status = static_cast<ubx_t::mon_hw_t::antenna_status_t>(m__io->read_u1());
-    m_a_power = static_cast<ubx_t::mon_hw_t::antenna_power_t>(m__io->read_u1());
-    m_flags = m__io->read_u1();
-    m_reserved1 = m__io->read_bytes(1);
-    m_used_mask = m__io->read_u4le();
-    m_vp = m__io->read_bytes(17);
-    m_jam_ind = m__io->read_u1();
-    m_reserved2 = m__io->read_bytes(2);
-    m_pin_irq = m__io->read_u4le();
-    m_pull_h = m__io->read_u4le();
-    m_pull_l = m__io->read_u4le();
-}
-
-ubx_t::mon_hw_t::~mon_hw_t() {
-    _clean_up();
-}
-
-void ubx_t::mon_hw_t::_clean_up() {
-}
-
-uint16_t ubx_t::checksum() {
-    if (f_checksum)
-        return m_checksum;
-    std::streampos _pos = m__io->pos();
-    m__io->seek((length() + 6));
-    m_checksum = m__io->read_u2le();
-    m__io->seek(_pos);
-    f_checksum = true;
-    return m_checksum;
-}
diff --git a/system/ubloxd/generated/ubx.h b/system/ubloxd/generated/ubx.h
deleted file mode 100644
index 022108489f..0000000000
--- a/system/ubloxd/generated/ubx.h
+++ /dev/null
@@ -1,484 +0,0 @@
-#ifndef UBX_H_
-#define UBX_H_
-
-// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
-
-#include "kaitai/kaitaistruct.h"
-#include <stdint.h>
-#include <vector>
-
-#if KAITAI_STRUCT_VERSION < 9000L
-#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required"
-#endif
-
-class ubx_t : public kaitai::kstruct {
-
-public:
-    class rxm_rawx_t;
-    class rxm_sfrbx_t;
-    class nav_sat_t;
-    class nav_pvt_t;
-    class mon_hw2_t;
-    class mon_hw_t;
-
-    enum gnss_type_t {
-        GNSS_TYPE_GPS = 0,
-        GNSS_TYPE_SBAS = 1,
-        GNSS_TYPE_GALILEO = 2,
-        GNSS_TYPE_BEIDOU = 3,
-        GNSS_TYPE_IMES = 4,
-        GNSS_TYPE_QZSS = 5,
-        GNSS_TYPE_GLONASS = 6
-    };
-
-    ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, ubx_t* p__root = 0);
-
-private:
-    void _read();
-    void _clean_up();
-
-public:
-    ~ubx_t();
-
-    class rxm_rawx_t : public kaitai::kstruct {
-
-    public:
-        class measurement_t;
-
-        rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~rxm_rawx_t();
-
-        class measurement_t : public kaitai::kstruct {
-
-        public:
-
-            measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0);
-
-        private:
-            void _read();
-            void _clean_up();
-
-        public:
-            ~measurement_t();
-
-        private:
-            double m_pr_mes;
-            double m_cp_mes;
-            float m_do_mes;
-            gnss_type_t m_gnss_id;
-            uint8_t m_sv_id;
-            std::string m_reserved2;
-            uint8_t m_freq_id;
-            uint16_t m_lock_time;
-            uint8_t m_cno;
-            uint8_t m_pr_stdev;
-            uint8_t m_cp_stdev;
-            uint8_t m_do_stdev;
-            uint8_t m_trk_stat;
-            std::string m_reserved3;
-            ubx_t* m__root;
-            ubx_t::rxm_rawx_t* m__parent;
-
-        public:
-            double pr_mes() const { return m_pr_mes; }
-            double cp_mes() const { return m_cp_mes; }
-            float do_mes() const { return m_do_mes; }
-            gnss_type_t gnss_id() const { return m_gnss_id; }
-            uint8_t sv_id() const { return m_sv_id; }
-            std::string reserved2() const { return m_reserved2; }
-            uint8_t freq_id() const { return m_freq_id; }
-            uint16_t lock_time() const { return m_lock_time; }
-            uint8_t cno() const { return m_cno; }
-            uint8_t pr_stdev() const { return m_pr_stdev; }
-            uint8_t cp_stdev() const { return m_cp_stdev; }
-            uint8_t do_stdev() const { return m_do_stdev; }
-            uint8_t trk_stat() const { return m_trk_stat; }
-            std::string reserved3() const { return m_reserved3; }
-            ubx_t* _root() const { return m__root; }
-            ubx_t::rxm_rawx_t* _parent() const { return m__parent; }
-        };
-
-    private:
-        double m_rcv_tow;
-        uint16_t m_week;
-        int8_t m_leap_s;
-        uint8_t m_num_meas;
-        uint8_t m_rec_stat;
-        std::string m_reserved1;
-        std::vector<measurement_t*>* m_meas;
-        ubx_t* m__root;
-        ubx_t* m__parent;
-        std::vector<std::string>* m__raw_meas;
-        std::vector<kaitai::kstream*>* m__io__raw_meas;
-
-    public:
-        double rcv_tow() const { return m_rcv_tow; }
-        uint16_t week() const { return m_week; }
-        int8_t leap_s() const { return m_leap_s; }
-        uint8_t num_meas() const { return m_num_meas; }
-        uint8_t rec_stat() const { return m_rec_stat; }
-        std::string reserved1() const { return m_reserved1; }
-        std::vector<measurement_t*>* meas() const { return m_meas; }
-        ubx_t* _root() const { return m__root; }
-        ubx_t* _parent() const { return m__parent; }
-        std::vector<std::string>* _raw_meas() const { return m__raw_meas; }
-        std::vector<kaitai::kstream*>* _io__raw_meas() const { return m__io__raw_meas; }
-    };
-
-    class rxm_sfrbx_t : public kaitai::kstruct {
-
-    public:
-
-        rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~rxm_sfrbx_t();
-
-    private:
-        gnss_type_t m_gnss_id;
-        uint8_t m_sv_id;
-        std::string m_reserved1;
-        uint8_t m_freq_id;
-        uint8_t m_num_words;
-        std::string m_reserved2;
-        uint8_t m_version;
-        std::string m_reserved3;
-        std::vector<uint32_t>* m_body;
-        ubx_t* m__root;
-        ubx_t* m__parent;
-
-    public:
-        gnss_type_t gnss_id() const { return m_gnss_id; }
-        uint8_t sv_id() const { return m_sv_id; }
-        std::string reserved1() const { return m_reserved1; }
-        uint8_t freq_id() const { return m_freq_id; }
-        uint8_t num_words() const { return m_num_words; }
-        std::string reserved2() const { return m_reserved2; }
-        uint8_t version() const { return m_version; }
-        std::string reserved3() const { return m_reserved3; }
-        std::vector<uint32_t>* body() const { return m_body; }
-        ubx_t* _root() const { return m__root; }
-        ubx_t* _parent() const { return m__parent; }
-    };
-
-    class nav_sat_t : public kaitai::kstruct {
-
-    public:
-        class nav_t;
-
-        nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~nav_sat_t();
-
-        class nav_t : public kaitai::kstruct {
-
-        public:
-
-            nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0);
-
-        private:
-            void _read();
-            void _clean_up();
-
-        public:
-            ~nav_t();
-
-        private:
-            gnss_type_t m_gnss_id;
-            uint8_t m_sv_id;
-            uint8_t m_cno;
-            int8_t m_elev;
-            int16_t m_azim;
-            int16_t m_pr_res;
-            uint32_t m_flags;
-            ubx_t* m__root;
-            ubx_t::nav_sat_t* m__parent;
-
-        public:
-            gnss_type_t gnss_id() const { return m_gnss_id; }
-            uint8_t sv_id() const { return m_sv_id; }
-            uint8_t cno() const { return m_cno; }
-            int8_t elev() const { return m_elev; }
-            int16_t azim() const { return m_azim; }
-            int16_t pr_res() const { return m_pr_res; }
-            uint32_t flags() const { return m_flags; }
-            ubx_t* _root() const { return m__root; }
-            ubx_t::nav_sat_t* _parent() const { return m__parent; }
-        };
-
-    private:
-        uint32_t m_itow;
-        uint8_t m_version;
-        uint8_t m_num_svs;
-        std::string m_reserved;
-        std::vector<nav_t*>* m_svs;
-        ubx_t* m__root;
-        ubx_t* m__parent;
-        std::vector<std::string>* m__raw_svs;
-        std::vector<kaitai::kstream*>* m__io__raw_svs;
-
-    public:
-        uint32_t itow() const { return m_itow; }
-        uint8_t version() const { return m_version; }
-        uint8_t num_svs() const { return m_num_svs; }
-        std::string reserved() const { return m_reserved; }
-        std::vector<nav_t*>* svs() const { return m_svs; }
-        ubx_t* _root() const { return m__root; }
-        ubx_t* _parent() const { return m__parent; }
-        std::vector<std::string>* _raw_svs() const { return m__raw_svs; }
-        std::vector<kaitai::kstream*>* _io__raw_svs() const { return m__io__raw_svs; }
-    };
-
-    class nav_pvt_t : public kaitai::kstruct {
-
-    public:
-
-        nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~nav_pvt_t();
-
-    private:
-        uint32_t m_i_tow;
-        uint16_t m_year;
-        uint8_t m_month;
-        uint8_t m_day;
-        uint8_t m_hour;
-        uint8_t m_min;
-        uint8_t m_sec;
-        uint8_t m_valid;
-        uint32_t m_t_acc;
-        int32_t m_nano;
-        uint8_t m_fix_type;
-        uint8_t m_flags;
-        uint8_t m_flags2;
-        uint8_t m_num_sv;
-        int32_t m_lon;
-        int32_t m_lat;
-        int32_t m_height;
-        int32_t m_h_msl;
-        uint32_t m_h_acc;
-        uint32_t m_v_acc;
-        int32_t m_vel_n;
-        int32_t m_vel_e;
-        int32_t m_vel_d;
-        int32_t m_g_speed;
-        int32_t m_head_mot;
-        int32_t m_s_acc;
-        uint32_t m_head_acc;
-        uint16_t m_p_dop;
-        uint8_t m_flags3;
-        std::string m_reserved1;
-        int32_t m_head_veh;
-        int16_t m_mag_dec;
-        uint16_t m_mag_acc;
-        ubx_t* m__root;
-        ubx_t* m__parent;
-
-    public:
-        uint32_t i_tow() const { return m_i_tow; }
-        uint16_t year() const { return m_year; }
-        uint8_t month() const { return m_month; }
-        uint8_t day() const { return m_day; }
-        uint8_t hour() const { return m_hour; }
-        uint8_t min() const { return m_min; }
-        uint8_t sec() const { return m_sec; }
-        uint8_t valid() const { return m_valid; }
-        uint32_t t_acc() const { return m_t_acc; }
-        int32_t nano() const { return m_nano; }
-        uint8_t fix_type() const { return m_fix_type; }
-        uint8_t flags() const { return m_flags; }
-        uint8_t flags2() const { return m_flags2; }
-        uint8_t num_sv() const { return m_num_sv; }
-        int32_t lon() const { return m_lon; }
-        int32_t lat() const { return m_lat; }
-        int32_t height() const { return m_height; }
-        int32_t h_msl() const { return m_h_msl; }
-        uint32_t h_acc() const { return m_h_acc; }
-        uint32_t v_acc() const { return m_v_acc; }
-        int32_t vel_n() const { return m_vel_n; }
-        int32_t vel_e() const { return m_vel_e; }
-        int32_t vel_d() const { return m_vel_d; }
-        int32_t g_speed() const { return m_g_speed; }
-        int32_t head_mot() const { return m_head_mot; }
-        int32_t s_acc() const { return m_s_acc; }
-        uint32_t head_acc() const { return m_head_acc; }
-        uint16_t p_dop() const { return m_p_dop; }
-        uint8_t flags3() const { return m_flags3; }
-        std::string reserved1() const { return m_reserved1; }
-        int32_t head_veh() const { return m_head_veh; }
-        int16_t mag_dec() const { return m_mag_dec; }
-        uint16_t mag_acc() const { return m_mag_acc; }
-        ubx_t* _root() const { return m__root; }
-        ubx_t* _parent() const { return m__parent; }
-    };
-
-    class mon_hw2_t : public kaitai::kstruct {
-
-    public:
-
-        enum config_source_t {
-            CONFIG_SOURCE_FLASH = 102,
-            CONFIG_SOURCE_OTP = 111,
-            CONFIG_SOURCE_CONFIG_PINS = 112,
-            CONFIG_SOURCE_ROM = 113
-        };
-
-        mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~mon_hw2_t();
-
-    private:
-        int8_t m_ofs_i;
-        uint8_t m_mag_i;
-        int8_t m_ofs_q;
-        uint8_t m_mag_q;
-        config_source_t m_cfg_source;
-        std::string m_reserved1;
-        uint32_t m_low_lev_cfg;
-        std::string m_reserved2;
-        uint32_t m_post_status;
-        std::string m_reserved3;
-        ubx_t* m__root;
-        ubx_t* m__parent;
-
-    public:
-        int8_t ofs_i() const { return m_ofs_i; }
-        uint8_t mag_i() const { return m_mag_i; }
-        int8_t ofs_q() const { return m_ofs_q; }
-        uint8_t mag_q() const { return m_mag_q; }
-        config_source_t cfg_source() const { return m_cfg_source; }
-        std::string reserved1() const { return m_reserved1; }
-        uint32_t low_lev_cfg() const { return m_low_lev_cfg; }
-        std::string reserved2() const { return m_reserved2; }
-        uint32_t post_status() const { return m_post_status; }
-        std::string reserved3() const { return m_reserved3; }
-        ubx_t* _root() const { return m__root; }
-        ubx_t* _parent() const { return m__parent; }
-    };
-
-    class mon_hw_t : public kaitai::kstruct {
-
-    public:
-
-        enum antenna_status_t {
-            ANTENNA_STATUS_INIT = 0,
-            ANTENNA_STATUS_DONTKNOW = 1,
-            ANTENNA_STATUS_OK = 2,
-            ANTENNA_STATUS_SHORT = 3,
-            ANTENNA_STATUS_OPEN = 4
-        };
-
-        enum antenna_power_t {
-            ANTENNA_POWER_FALSE = 0,
-            ANTENNA_POWER_TRUE = 1,
-            ANTENNA_POWER_DONTKNOW = 2
-        };
-
-        mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
-
-    private:
-        void _read();
-        void _clean_up();
-
-    public:
-        ~mon_hw_t();
-
-    private:
-        uint32_t m_pin_sel;
-        uint32_t m_pin_bank;
-        uint32_t m_pin_dir;
-        uint32_t m_pin_val;
-        uint16_t m_noise_per_ms;
-        uint16_t m_agc_cnt;
-        antenna_status_t m_a_status;
-        antenna_power_t m_a_power;
-        uint8_t m_flags;
-        std::string m_reserved1;
-        uint32_t m_used_mask;
-        std::string m_vp;
-        uint8_t m_jam_ind;
-        std::string m_reserved2;
-        uint32_t m_pin_irq;
-        uint32_t m_pull_h;
-        uint32_t m_pull_l;
-        ubx_t* m__root;
-        ubx_t* m__parent;
-
-    public:
-        uint32_t pin_sel() const { return m_pin_sel; }
-        uint32_t pin_bank() const { return m_pin_bank; }
-        uint32_t pin_dir() const { return m_pin_dir; }
-        uint32_t pin_val() const { return m_pin_val; }
-        uint16_t noise_per_ms() const { return m_noise_per_ms; }
-        uint16_t agc_cnt() const { return m_agc_cnt; }
-        antenna_status_t a_status() const { return m_a_status; }
-        antenna_power_t a_power() const { return m_a_power; }
-        uint8_t flags() const { return m_flags; }
-        std::string reserved1() const { return m_reserved1; }
-        uint32_t used_mask() const { return m_used_mask; }
-        std::string vp() const { return m_vp; }
-        uint8_t jam_ind() const { return m_jam_ind; }
-        std::string reserved2() const { return m_reserved2; }
-        uint32_t pin_irq() const { return m_pin_irq; }
-        uint32_t pull_h() const { return m_pull_h; }
-        uint32_t pull_l() const { return m_pull_l; }
-        ubx_t* _root() const { return m__root; }
-        ubx_t* _parent() const { return m__parent; }
-    };
-
-private:
-    bool f_checksum;
-    uint16_t m_checksum;
-
-public:
-    uint16_t checksum();
-
-private:
-    std::string m_magic;
-    uint16_t m_msg_type;
-    uint16_t m_length;
-    kaitai::kstruct* m_body;
-    bool n_body;
-
-public:
-    bool _is_null_body() { body(); return n_body; };
-
-private:
-    ubx_t* m__root;
-    kaitai::kstruct* m__parent;
-
-public:
-    std::string magic() const { return m_magic; }
-    uint16_t msg_type() const { return m_msg_type; }
-    uint16_t length() const { return m_length; }
-    kaitai::kstruct* body() const { return m_body; }
-    ubx_t* _root() const { return m__root; }
-    kaitai::kstruct* _parent() const { return m__parent; }
-};
-
-#endif  // UBX_H_
diff --git a/system/ubloxd/glonass.ksy b/system/ubloxd/glonass.ksy
deleted file mode 100644
index be99f6e497..0000000000
--- a/system/ubloxd/glonass.ksy
+++ /dev/null
@@ -1,176 +0,0 @@
-# http://gauss.gge.unb.ca/GLONASS.ICD.pdf
-# some variables are misprinted but good in the old doc
-# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
-meta:
-  id: glonass
-  endian: be
-  bit-endian: be
-seq:
-  - id: idle_chip
-    type: b1
-  - id: string_number
-    type: b4
-  - id: data
-    type:
-      switch-on: string_number
-      cases:
-        1: string_1
-        2: string_2
-        3: string_3
-        4: string_4
-        5: string_5
-        _: string_non_immediate
-  - id: hamming_code
-    type: b8
-  - id: pad_1
-    type: b11
-  - id: superframe_number
-    type: b16
-  - id: pad_2
-    type: b8
-  - id: frame_number
-    type: b8
-
-types:
-  string_1:
-    seq:
-      - id: not_used
-        type: b2
-      - id: p1
-        type: b2
-      - id: t_k
-        type: b12
-      - id: x_vel_sign
-        type: b1
-      - id: x_vel_value
-        type: b23
-      - id: x_accel_sign
-        type: b1
-      - id: x_accel_value
-        type: b4
-      - id: x_sign
-        type: b1
-      - id: x_value
-        type: b26
-    instances:
-      x_vel:
-        value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value'
-      x_accel:
-        value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value'
-      x:
-        value: 'x_sign ? (x_value * (-1)) : x_value'
-  string_2:
-    seq:
-      - id: b_n
-        type: b3
-      - id: p2
-        type: b1
-      - id: t_b
-        type: b7
-      - id: not_used
-        type: b5
-      - id: y_vel_sign
-        type: b1
-      - id: y_vel_value
-        type: b23
-      - id: y_accel_sign
-        type: b1
-      - id: y_accel_value
-        type: b4
-      - id: y_sign
-        type: b1
-      - id: y_value
-        type: b26
-    instances:
-      y_vel:
-        value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value'
-      y_accel:
-        value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value'
-      y:
-        value: 'y_sign ? (y_value * (-1)) : y_value'
-  string_3:
-    seq:
-      - id: p3
-        type: b1
-      - id: gamma_n_sign
-        type: b1
-      - id: gamma_n_value
-        type: b10
-      - id: not_used
-        type: b1
-      - id: p
-        type: b2
-      - id: l_n
-        type: b1
-      - id: z_vel_sign
-        type: b1
-      - id: z_vel_value
-        type: b23
-      - id: z_accel_sign
-        type: b1
-      - id: z_accel_value
-        type: b4
-      - id: z_sign
-        type: b1
-      - id: z_value
-        type: b26
-    instances:
-      gamma_n:
-        value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value'
-      z_vel:
-        value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value'
-      z_accel:
-        value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value'
-      z:
-        value: 'z_sign ? (z_value * (-1)) : z_value'
-  string_4:
-    seq:
-      - id: tau_n_sign
-        type: b1
-      - id: tau_n_value
-        type: b21
-      - id: delta_tau_n_sign
-        type: b1
-      - id: delta_tau_n_value
-        type: b4
-      - id: e_n
-        type: b5
-      - id: not_used_1
-        type: b14
-      - id: p4
-        type: b1
-      - id: f_t
-        type: b4
-      - id: not_used_2
-        type: b3
-      - id: n_t
-        type: b11
-      - id: n
-        type: b5
-      - id: m
-        type: b2
-    instances:
-      tau_n:
-        value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value'
-      delta_tau_n:
-        value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value'
-  string_5:
-    seq:
-      - id: n_a
-        type: b11
-      - id: tau_c
-        type: b32
-      - id: not_used
-        type: b1
-      - id: n_4
-        type: b5
-      - id: tau_gps
-        type: b22
-      - id: l_n
-        type: b1
-  string_non_immediate:
-    seq:
-      - id: data_1
-        type: b64
-      - id: data_2
-        type: b8
diff --git a/system/ubloxd/glonass.py b/system/ubloxd/glonass.py
new file mode 100644
index 0000000000..144ccdde6e
--- /dev/null
+++ b/system/ubloxd/glonass.py
@@ -0,0 +1,156 @@
+"""
+Parses GLONASS navigation strings per GLONASS ICD specification.
+http://gauss.gge.unb.ca/GLONASS.ICD.pdf
+https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
+"""
+
+from typing import Annotated
+
+from openpilot.system.ubloxd import binary_struct as bs
+
+
+class Glonass(bs.BinaryStruct):
+  class String1(bs.BinaryStruct):
+    not_used: Annotated[int, bs.bits(2)]
+    p1: Annotated[int, bs.bits(2)]
+    t_k: Annotated[int, bs.bits(12)]
+    x_vel_sign: Annotated[bool, bs.bits(1)]
+    x_vel_value: Annotated[int, bs.bits(23)]
+    x_accel_sign: Annotated[bool, bs.bits(1)]
+    x_accel_value: Annotated[int, bs.bits(4)]
+    x_sign: Annotated[bool, bs.bits(1)]
+    x_value: Annotated[int, bs.bits(26)]
+
+    @property
+    def x_vel(self) -> int:
+      """Computed x_vel from sign-magnitude representation."""
+      return (self.x_vel_value * -1) if self.x_vel_sign else self.x_vel_value
+
+    @property
+    def x_accel(self) -> int:
+      """Computed x_accel from sign-magnitude representation."""
+      return (self.x_accel_value * -1) if self.x_accel_sign else self.x_accel_value
+
+    @property
+    def x(self) -> int:
+      """Computed x from sign-magnitude representation."""
+      return (self.x_value * -1) if self.x_sign else self.x_value
+
+  class String2(bs.BinaryStruct):
+    b_n: Annotated[int, bs.bits(3)]
+    p2: Annotated[bool, bs.bits(1)]
+    t_b: Annotated[int, bs.bits(7)]
+    not_used: Annotated[int, bs.bits(5)]
+    y_vel_sign: Annotated[bool, bs.bits(1)]
+    y_vel_value: Annotated[int, bs.bits(23)]
+    y_accel_sign: Annotated[bool, bs.bits(1)]
+    y_accel_value: Annotated[int, bs.bits(4)]
+    y_sign: Annotated[bool, bs.bits(1)]
+    y_value: Annotated[int, bs.bits(26)]
+
+    @property
+    def y_vel(self) -> int:
+      """Computed y_vel from sign-magnitude representation."""
+      return (self.y_vel_value * -1) if self.y_vel_sign else self.y_vel_value
+
+    @property
+    def y_accel(self) -> int:
+      """Computed y_accel from sign-magnitude representation."""
+      return (self.y_accel_value * -1) if self.y_accel_sign else self.y_accel_value
+
+    @property
+    def y(self) -> int:
+      """Computed y from sign-magnitude representation."""
+      return (self.y_value * -1) if self.y_sign else self.y_value
+
+  class String3(bs.BinaryStruct):
+    p3: Annotated[bool, bs.bits(1)]
+    gamma_n_sign: Annotated[bool, bs.bits(1)]
+    gamma_n_value: Annotated[int, bs.bits(10)]
+    not_used: Annotated[bool, bs.bits(1)]
+    p: Annotated[int, bs.bits(2)]
+    l_n: Annotated[bool, bs.bits(1)]
+    z_vel_sign: Annotated[bool, bs.bits(1)]
+    z_vel_value: Annotated[int, bs.bits(23)]
+    z_accel_sign: Annotated[bool, bs.bits(1)]
+    z_accel_value: Annotated[int, bs.bits(4)]
+    z_sign: Annotated[bool, bs.bits(1)]
+    z_value: Annotated[int, bs.bits(26)]
+
+    @property
+    def gamma_n(self) -> int:
+      """Computed gamma_n from sign-magnitude representation."""
+      return (self.gamma_n_value * -1) if self.gamma_n_sign else self.gamma_n_value
+
+    @property
+    def z_vel(self) -> int:
+      """Computed z_vel from sign-magnitude representation."""
+      return (self.z_vel_value * -1) if self.z_vel_sign else self.z_vel_value
+
+    @property
+    def z_accel(self) -> int:
+      """Computed z_accel from sign-magnitude representation."""
+      return (self.z_accel_value * -1) if self.z_accel_sign else self.z_accel_value
+
+    @property
+    def z(self) -> int:
+      """Computed z from sign-magnitude representation."""
+      return (self.z_value * -1) if self.z_sign else self.z_value
+
+  class String4(bs.BinaryStruct):
+    tau_n_sign: Annotated[bool, bs.bits(1)]
+    tau_n_value: Annotated[int, bs.bits(21)]
+    delta_tau_n_sign: Annotated[bool, bs.bits(1)]
+    delta_tau_n_value: Annotated[int, bs.bits(4)]
+    e_n: Annotated[int, bs.bits(5)]
+    not_used_1: Annotated[int, bs.bits(14)]
+    p4: Annotated[bool, bs.bits(1)]
+    f_t: Annotated[int, bs.bits(4)]
+    not_used_2: Annotated[int, bs.bits(3)]
+    n_t: Annotated[int, bs.bits(11)]
+    n: Annotated[int, bs.bits(5)]
+    m: Annotated[int, bs.bits(2)]
+
+    @property
+    def tau_n(self) -> int:
+      """Computed tau_n from sign-magnitude representation."""
+      return (self.tau_n_value * -1) if self.tau_n_sign else self.tau_n_value
+
+    @property
+    def delta_tau_n(self) -> int:
+      """Computed delta_tau_n from sign-magnitude representation."""
+      return (self.delta_tau_n_value * -1) if self.delta_tau_n_sign else self.delta_tau_n_value
+
+  class String5(bs.BinaryStruct):
+    n_a: Annotated[int, bs.bits(11)]
+    tau_c: Annotated[int, bs.bits(32)]
+    not_used: Annotated[bool, bs.bits(1)]
+    n_4: Annotated[int, bs.bits(5)]
+    tau_gps: Annotated[int, bs.bits(22)]
+    l_n: Annotated[bool, bs.bits(1)]
+
+  class StringNonImmediate(bs.BinaryStruct):
+    data_1: Annotated[int, bs.bits(64)]
+    data_2: Annotated[int, bs.bits(8)]
+
+  idle_chip: Annotated[bool, bs.bits(1)]
+  string_number: Annotated[int, bs.bits(4)]
+  data: Annotated[
+    object,
+    bs.switch(
+      'string_number',
+      {
+        1: String1,
+        2: String2,
+        3: String3,
+        4: String4,
+        5: String5,
+      },
+      default=StringNonImmediate,
+    ),
+  ]
+  hamming_code: Annotated[int, bs.bits(8)]
+  pad_1: Annotated[int, bs.bits(11)]
+  superframe_number: Annotated[int, bs.bits(16)]
+  pad_2: Annotated[int, bs.bits(8)]
+  frame_number: Annotated[int, bs.bits(8)]
diff --git a/system/ubloxd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch
deleted file mode 100644
index 7eb973a348..0000000000
--- a/system/ubloxd/glonass_fix.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
-index 5b17bc327..b5c6aa610 100644
---- a/system/ubloxd/generated/glonass.cpp
-+++ b/system/ubloxd/generated/glonass.cpp
-@@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass
- void glonass_t::_read() {
-     m_idle_chip = m__io->read_bits_int_be(1);
-     m_string_number = m__io->read_bits_int_be(4);
--    m__io->align_to_byte();
-+    //m__io->align_to_byte();
-     switch (string_number()) {
-     case 4: {
-         m_data = new string_4_t(m__io, this, m__root);
diff --git a/system/ubloxd/gps.ksy b/system/ubloxd/gps.ksy
deleted file mode 100644
index 893ad1b25b..0000000000
--- a/system/ubloxd/gps.ksy
+++ /dev/null
@@ -1,189 +0,0 @@
-# https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf
-meta:
-  id: gps
-  endian: be
-  bit-endian: be
-seq:
-  - id: tlm
-    type: tlm
-  - id: how
-    type: how
-  - id: body
-    type:
-      switch-on: how.subframe_id
-      cases:
-        1: subframe_1
-        2: subframe_2
-        3: subframe_3
-        4: subframe_4
-types:
-  tlm:
-   seq:
-     - id: preamble
-       contents: [0x8b]
-     - id: tlm
-       type: b14
-     - id: integrity_status
-       type: b1
-     - id: reserved
-       type: b1
-  how:
-    seq:
-      - id: tow_count
-        type: b17
-      - id: alert
-        type: b1
-      - id: anti_spoof
-        type: b1
-      - id: subframe_id
-        type: b3
-      - id: reserved
-        type: b2
-  subframe_1:
-    seq:
-      # Word 3
-      - id: week_no
-        type: b10
-      - id: code
-        type: b2
-      - id: sv_accuracy
-        type: b4
-      - id: sv_health
-        type: b6
-      - id: iodc_msb
-        type: b2
-      # Word 4
-      - id: l2_p_data_flag
-        type: b1
-      - id: reserved1
-        type: b23
-      # Word 5
-      - id: reserved2
-        type: b24
-      # Word 6
-      - id: reserved3
-        type: b24
-      # Word 7
-      - id: reserved4
-        type: b16
-      - id: t_gd
-        type: s1
-      # Word 8
-      - id: iodc_lsb
-        type: u1
-      - id: t_oc
-        type: u2
-      # Word 9
-      - id: af_2
-        type: s1
-      - id: af_1
-        type: s2
-      # Word 10
-      - id: af_0_sign
-        type: b1
-      - id: af_0_value
-        type: b21
-      - id: reserved5
-        type: b2
-    instances:
-      af_0:
-        value: 'af_0_sign ? (af_0_value - (1 << 21)) : af_0_value'
-  subframe_2:
-    seq:
-      # Word 3
-      - id: iode
-        type: u1
-      - id: c_rs
-        type: s2
-      # Word 4 & 5
-      - id: delta_n
-        type: s2
-      - id: m_0
-        type: s4
-      # Word 6 & 7
-      - id: c_uc
-        type: s2
-      - id: e
-        type: s4
-      # Word 8 & 9
-      - id: c_us
-        type: s2
-      - id: sqrt_a
-        type: u4
-      # Word 10
-      - id: t_oe
-        type: u2
-      - id: fit_interval_flag
-        type: b1
-      - id: aoda
-        type: b5
-      - id: reserved
-        type: b2
-  subframe_3:
-    seq:
-      # Word 3 & 4
-      - id: c_ic
-        type: s2
-      - id: omega_0
-        type: s4
-      # Word 5 & 6
-      - id: c_is
-        type: s2
-      - id: i_0
-        type: s4
-      # Word 7 & 8
-      - id: c_rc
-        type: s2
-      - id: omega
-        type: s4
-      # Word 9
-      - id: omega_dot_sign
-        type: b1
-      - id: omega_dot_value
-        type: b23
-      # Word 10
-      - id: iode
-        type: u1
-      - id: idot_sign
-        type: b1
-      - id: idot_value
-        type: b13
-      - id: reserved
-        type: b2
-    instances:
-      omega_dot:
-        value: 'omega_dot_sign ? (omega_dot_value - (1 << 23)) : omega_dot_value'
-      idot:
-        value: 'idot_sign ? (idot_value - (1 << 13)) : idot_value'
-  subframe_4:
-    seq:
-      # Word 3
-      - id: data_id
-        type: b2
-      - id: page_id
-        type: b6
-      - id: body
-        type:
-          switch-on: page_id
-          cases:
-            56: ionosphere_data
-    types:
-      ionosphere_data:
-        seq:
-          - id: a0
-            type: s1
-          - id: a1
-            type: s1
-          - id: a2
-            type: s1
-          - id: a3
-            type: s1
-          - id: b0
-            type: s1
-          - id: b1
-            type: s1
-          - id: b2
-            type: s1
-          - id: b3
-            type: s1
-
diff --git a/system/ubloxd/gps.py b/system/ubloxd/gps.py
new file mode 100644
index 0000000000..1c0833bd92
--- /dev/null
+++ b/system/ubloxd/gps.py
@@ -0,0 +1,116 @@
+"""
+Parses GPS navigation subframes per IS-GPS-200E specification.
+https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf
+"""
+
+from typing import Annotated
+
+from openpilot.system.ubloxd import binary_struct as bs
+
+
+class Gps(bs.BinaryStruct):
+  class Tlm(bs.BinaryStruct):
+    preamble: Annotated[bytes, bs.const(bs.bytes_field(1), b"\x8b")]
+    tlm: Annotated[int, bs.bits(14)]
+    integrity_status: Annotated[bool, bs.bits(1)]
+    reserved: Annotated[bool, bs.bits(1)]
+
+  class How(bs.BinaryStruct):
+    tow_count: Annotated[int, bs.bits(17)]
+    alert: Annotated[bool, bs.bits(1)]
+    anti_spoof: Annotated[bool, bs.bits(1)]
+    subframe_id: Annotated[int, bs.bits(3)]
+    reserved: Annotated[int, bs.bits(2)]
+
+  class Subframe1(bs.BinaryStruct):
+    week_no: Annotated[int, bs.bits(10)]
+    code: Annotated[int, bs.bits(2)]
+    sv_accuracy: Annotated[int, bs.bits(4)]
+    sv_health: Annotated[int, bs.bits(6)]
+    iodc_msb: Annotated[int, bs.bits(2)]
+    l2_p_data_flag: Annotated[bool, bs.bits(1)]
+    reserved1: Annotated[int, bs.bits(23)]
+    reserved2: Annotated[int, bs.bits(24)]
+    reserved3: Annotated[int, bs.bits(24)]
+    reserved4: Annotated[int, bs.bits(16)]
+    t_gd: Annotated[int, bs.s8]
+    iodc_lsb: Annotated[int, bs.u8]
+    t_oc: Annotated[int, bs.u16be]
+    af_2: Annotated[int, bs.s8]
+    af_1: Annotated[int, bs.s16be]
+    af_0_sign: Annotated[bool, bs.bits(1)]
+    af_0_value: Annotated[int, bs.bits(21)]
+    reserved5: Annotated[int, bs.bits(2)]
+
+    @property
+    def af_0(self) -> int:
+      """Computed af_0 from sign-magnitude representation."""
+      return (self.af_0_value - (1 << 21)) if self.af_0_sign else self.af_0_value
+
+  class Subframe2(bs.BinaryStruct):
+    iode: Annotated[int, bs.u8]
+    c_rs: Annotated[int, bs.s16be]
+    delta_n: Annotated[int, bs.s16be]
+    m_0: Annotated[int, bs.s32be]
+    c_uc: Annotated[int, bs.s16be]
+    e: Annotated[int, bs.s32be]
+    c_us: Annotated[int, bs.s16be]
+    sqrt_a: Annotated[int, bs.u32be]
+    t_oe: Annotated[int, bs.u16be]
+    fit_interval_flag: Annotated[bool, bs.bits(1)]
+    aoda: Annotated[int, bs.bits(5)]
+    reserved: Annotated[int, bs.bits(2)]
+
+  class Subframe3(bs.BinaryStruct):
+    c_ic: Annotated[int, bs.s16be]
+    omega_0: Annotated[int, bs.s32be]
+    c_is: Annotated[int, bs.s16be]
+    i_0: Annotated[int, bs.s32be]
+    c_rc: Annotated[int, bs.s16be]
+    omega: Annotated[int, bs.s32be]
+    omega_dot_sign: Annotated[bool, bs.bits(1)]
+    omega_dot_value: Annotated[int, bs.bits(23)]
+    iode: Annotated[int, bs.u8]
+    idot_sign: Annotated[bool, bs.bits(1)]
+    idot_value: Annotated[int, bs.bits(13)]
+    reserved: Annotated[int, bs.bits(2)]
+
+    @property
+    def omega_dot(self) -> int:
+      """Computed omega_dot from sign-magnitude representation."""
+      return (self.omega_dot_value - (1 << 23)) if self.omega_dot_sign else self.omega_dot_value
+
+    @property
+    def idot(self) -> int:
+      """Computed idot from sign-magnitude representation."""
+      return (self.idot_value - (1 << 13)) if self.idot_sign else self.idot_value
+
+  class Subframe4(bs.BinaryStruct):
+    class IonosphereData(bs.BinaryStruct):
+      a0: Annotated[int, bs.s8]
+      a1: Annotated[int, bs.s8]
+      a2: Annotated[int, bs.s8]
+      a3: Annotated[int, bs.s8]
+      b0: Annotated[int, bs.s8]
+      b1: Annotated[int, bs.s8]
+      b2: Annotated[int, bs.s8]
+      b3: Annotated[int, bs.s8]
+
+    data_id: Annotated[int, bs.bits(2)]
+    page_id: Annotated[int, bs.bits(6)]
+    body: Annotated[object, bs.switch('page_id', {56: IonosphereData})]
+
+  tlm: Tlm
+  how: How
+  body: Annotated[
+    object,
+    bs.switch(
+      'how.subframe_id',
+      {
+        1: Subframe1,
+        2: Subframe2,
+        3: Subframe3,
+        4: Subframe4,
+      },
+    ),
+  ]
diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py
index 2194a4b9d2..e458a9d65f 100755
--- a/system/ubloxd/pigeond.py
+++ b/system/ubloxd/pigeond.py
@@ -41,7 +41,7 @@ def add_ubx_checksum(msg: bytes) -> bytes:
     B = (B + A) % 256
   return msg + bytes([A, B])
 
-def get_assistnow_messages(token: bytes) -> list[bytes]:
+def get_assistnow_messages(token: str) -> list[bytes]:
   # make request
   # TODO: implement adding the last known location
   r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({
@@ -136,6 +136,17 @@ class TTYPigeon:
         return True
     return False
 
+def save_almanac(pigeon: TTYPigeon) -> None:
+  # store almanac in flash
+  pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
+  try:
+    if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
+      cloudlog.info("Done storing almanac")
+    else:
+      cloudlog.error("Error storing almanac")
+  except TimeoutError:
+    pass
+
 def init_baudrate(pigeon: TTYPigeon):
   # ublox default setting on startup is 9600 baudrate
   pigeon.set_baud(9600)
@@ -146,7 +157,7 @@ def init_baudrate(pigeon: TTYPigeon):
   pigeon.set_baud(460800)
 
 
-def initialize_pigeon(pigeon: TTYPigeon) -> bool:
+def init_pigeon(pigeon: TTYPigeon) -> bool:
   # try initializing a few times
   for _ in range(10):
     try:
@@ -239,32 +250,17 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
   return True
 
 def deinitialize_and_exit(pigeon: TTYPigeon | None):
-  cloudlog.warning("Storing almanac in ublox flash")
-
   if pigeon is not None:
     # controlled GNSS stop
     pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74")
 
-    # store almanac in flash
-    pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
-    try:
-      if pigeon.wait_for_ack(ack=UBLOX_SOS_ACK, nack=UBLOX_SOS_NACK):
-        cloudlog.warning("Done storing almanac")
-      else:
-        cloudlog.error("Error storing almanac")
-    except TimeoutError:
-      pass
-
   # turn off power and exit cleanly
   set_power(False)
   sys.exit(0)
 
-def create_pigeon() -> tuple[TTYPigeon, messaging.PubMaster]:
-  pigeon = None
-
+def init(pigeon: TTYPigeon) -> None:
   # register exit handler
   signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon))
-  pm = messaging.PubMaster(['ubloxRaw'])
 
   # power cycle ublox
   set_power(False)
@@ -272,28 +268,34 @@ def create_pigeon() -> tuple[TTYPigeon, messaging.PubMaster]:
   set_power(True)
   time.sleep(0.5)
 
-  pigeon = TTYPigeon()
-  return pigeon, pm
+  init_baudrate(pigeon)
+  init_pigeon(pigeon)
 
-def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0):
+def run_receiving(duration: int = 0):
+  pm = messaging.PubMaster(['ubloxRaw'])
+
+  pigeon = TTYPigeon()
+  init(pigeon)
 
   start_time = time.monotonic()
-  def end_condition():
-    return True if duration == 0 else time.monotonic() - start_time < duration
-
-  while end_condition():
+  last_almanac_save = time.monotonic()
+  while (duration == 0) or (time.monotonic() - start_time < duration):
     dat = pigeon.receive()
     if len(dat) > 0:
       if dat[0] == 0x00:
         cloudlog.warning("received invalid data from ublox, re-initing!")
-        init_baudrate(pigeon)
-        initialize_pigeon(pigeon)
+        init(pigeon)
         continue
 
       # send out to socket
       msg = messaging.new_message('ubloxRaw', len(dat), valid=True)
       msg.ubloxRaw = dat[:]
       pm.send('ubloxRaw', msg)
+
+      # save almanac every 5 minutes
+      if (time.monotonic() - last_almanac_save) > 60*5:
+        save_almanac(pigeon)
+        last_almanac_save = time.monotonic()
     else:
       # prevent locking up a CPU core if ublox disconnects
       time.sleep(0.001)
@@ -301,13 +303,7 @@ def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0)
 
 def main():
   assert TICI, "unsupported hardware for pigeond"
-
-  pigeon, pm = create_pigeon()
-  init_baudrate(pigeon)
-  initialize_pigeon(pigeon)
-
-  # start receiving data
-  run_receiving(pigeon, pm)
+  run_receiving()
 
 if __name__ == "__main__":
   main()
diff --git a/system/ubloxd/tests/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py
deleted file mode 100755
index 8d190f9ec1..0000000000
--- a/system/ubloxd/tests/print_gps_stats.py
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env python3
-import time
-import cereal.messaging as messaging
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(['ubloxGnss', 'gpsLocationExternal'])
-
-  while 1:
-    ug = sm['ubloxGnss']
-    gle = sm['gpsLocationExternal']
-
-    try:
-      cnos = []
-      for m in ug.measurementReport.measurements:
-        cnos.append(m.cno)
-      print(f"Sats: {ug.measurementReport.numMeas}   Accuracy: {gle.horizontalAccuracy:.2f} m   cnos", sorted(cnos))
-    except Exception:
-      pass
-    sm.update()
-    time.sleep(0.1)
diff --git a/system/ubloxd/tests/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc
deleted file mode 100644
index 96f43742b4..0000000000
--- a/system/ubloxd/tests/test_glonass_kaitai.cc
+++ /dev/null
@@ -1,360 +0,0 @@
-#include <iostream>
-#include <vector>
-#include <bitset>
-#include <cassert>
-#include <cstdlib>
-#include <ctime>
-
-#include "catch2/catch.hpp"
-#include "system/ubloxd/generated/glonass.h"
-
-typedef std::vector<std::pair<int, int64_t>> string_data;
-
-#define IDLE_CHIP_IDX 0
-#define STRING_NUMBER_IDX 1
-// string data 1-5
-#define HC_IDX 0
-#define PAD1_IDX 1
-#define SUPERFRAME_IDX 2
-#define PAD2_IDX 3
-#define FRAME_IDX 4
-
-// Indexes for string number 1
-#define ST1_NU_IDX 2
-#define ST1_P1_IDX 3
-#define ST1_T_K_IDX 4
-#define ST1_X_VEL_S_IDX 5
-#define ST1_X_VEL_V_IDX 6
-#define ST1_X_ACCEL_S_IDX 7
-#define ST1_X_ACCEL_V_IDX 8
-#define ST1_X_S_IDX 9
-#define ST1_X_V_IDX 10
-#define ST1_HC_OFF 11
-
-// Indexes for string number 2
-#define ST2_BN_IDX 2
-#define ST2_P2_IDX 3
-#define ST2_TB_IDX 4
-#define ST2_NU_IDX 5
-#define ST2_Y_VEL_S_IDX 6
-#define ST2_Y_VEL_V_IDX 7
-#define ST2_Y_ACCEL_S_IDX 8
-#define ST2_Y_ACCEL_V_IDX 9
-#define ST2_Y_S_IDX 10
-#define ST2_Y_V_IDX 11
-#define ST2_HC_OFF 12
-
-// Indexes for string number 3
-#define ST3_P3_IDX 2
-#define ST3_GAMMA_N_S_IDX 3
-#define ST3_GAMMA_N_V_IDX 4
-#define ST3_NU_1_IDX 5
-#define ST3_P_IDX 6
-#define ST3_L_N_IDX 7
-#define ST3_Z_VEL_S_IDX 8
-#define ST3_Z_VEL_V_IDX 9
-#define ST3_Z_ACCEL_S_IDX 10
-#define ST3_Z_ACCEL_V_IDX 11
-#define ST3_Z_S_IDX 12
-#define ST3_Z_V_IDX 13
-#define ST3_HC_OFF 14
-
-// Indexes for string number 4
-#define ST4_TAU_N_S_IDX 2
-#define ST4_TAU_N_V_IDX 3
-#define ST4_DELTA_TAU_N_S_IDX 4
-#define ST4_DELTA_TAU_N_V_IDX 5
-#define ST4_E_N_IDX 6
-#define ST4_NU_1_IDX 7
-#define ST4_P4_IDX 8
-#define ST4_F_T_IDX 9
-#define ST4_NU_2_IDX 10
-#define ST4_N_T_IDX 11
-#define ST4_N_IDX 12
-#define ST4_M_IDX 13
-#define ST4_HC_OFF 14
-
-// Indexes for string number 5
-#define ST5_N_A_IDX 2
-#define ST5_TAU_C_IDX 3
-#define ST5_NU_IDX 4
-#define ST5_N_4_IDX 5
-#define ST5_TAU_GPS_IDX 6
-#define ST5_L_N_IDX 7
-#define ST5_HC_OFF 8
-
-// Indexes for non immediate
-#define ST6_DATA_1_IDX 2
-#define ST6_DATA_2_IDX 3
-#define ST6_HC_OFF 4
-
-
-std::string generate_inp_data(string_data& data) {
-  std::string inp_data = "";
-  for (auto& [b, v] : data) {
-    std::string tmp = std::bitset<64>(v).to_string();
-    inp_data += tmp.substr(64-b, b);
-  }
-  assert(inp_data.size() == 128);
-
-  std::string string_data;
-  string_data.reserve(16);
-  for (int i = 0; i < 128; i+=8) {
-    std::string substr = inp_data.substr(i, 8);
-    string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2));
-  }
-
-  return string_data;
-}
-
-string_data generate_string_data(uint8_t string_number) {
-
-  srand((unsigned)time(0));
-  string_data data; //<bit length, value>
-  data.push_back({1, 0}); // idle chip
-  data.push_back({4, string_number}); // string number
-
-  if (string_number == 1) {
-    data.push_back({2, 3}); // not_used
-    data.push_back({2, 1}); // p1
-    data.push_back({12, 113}); // t_k
-    data.push_back({1, rand() & 1}); // x_vel_sign
-    data.push_back({23, 7122}); // x_vel_value
-    data.push_back({1, rand() & 1}); // x_accel_sign
-    data.push_back({4, 3}); // x_accel_value
-    data.push_back({1, rand() & 1}); // x_sign
-    data.push_back({26, 33554431}); // x_value
-  } else if (string_number == 2) {
-    data.push_back({3, 3}); // b_n
-    data.push_back({1, 1}); // p2
-    data.push_back({7, 123}); // t_b
-    data.push_back({5, 31}); // not_used
-    data.push_back({1, rand() & 1}); // y_vel_sign
-    data.push_back({23, 7422}); // y_vel_value
-    data.push_back({1, rand() & 1}); // y_accel_sign
-    data.push_back({4, 3}); // y_accel_value
-    data.push_back({1, rand() & 1}); // y_sign
-    data.push_back({26, 67108863}); // y_value
-  } else if (string_number == 3) {
-    data.push_back({1, 0}); // p3
-    data.push_back({1, 1}); // gamma_n_sign
-    data.push_back({10, 123}); // gamma_n_value
-    data.push_back({1, 0}); // not_used
-    data.push_back({2, 2}); // p
-    data.push_back({1, 1}); // l_n
-    data.push_back({1, rand() & 1}); // z_vel_sign
-    data.push_back({23, 1337}); // z_vel_value
-    data.push_back({1, rand() & 1}); // z_accel_sign
-    data.push_back({4, 9}); // z_accel_value
-    data.push_back({1, rand() & 1}); // z_sign
-    data.push_back({26, 100023}); // z_value
-  } else if (string_number == 4) {
-    data.push_back({1, rand() & 1}); // tau_n_sign
-    data.push_back({21, 197152}); // tau_n_value
-    data.push_back({1, rand() & 1}); // delta_tau_n_sign
-    data.push_back({4, 4}); // delta_tau_n_value
-    data.push_back({5, 0}); // e_n
-    data.push_back({14, 2}); // not_used_1
-    data.push_back({1, 1}); // p4
-    data.push_back({4, 9}); // f_t
-    data.push_back({3, 3}); // not_used_2
-    data.push_back({11, 2047}); // n_t
-    data.push_back({5, 2}); // n
-    data.push_back({2, 1}); // m
-  } else if (string_number == 5) {
-    data.push_back({11, 2047}); // n_a
-    data.push_back({32, 4294767295}); // tau_c
-    data.push_back({1, 0}); // not_used_1
-    data.push_back({5, 2}); // n_4
-    data.push_back({22, 4114304}); // tau_gps
-    data.push_back({1, 0}); // l_n
-  } else { // non-immediate data is not parsed
-    data.push_back({64, rand()}); // data_1
-    data.push_back({8, 6}); // data_2
-  }
-
-  data.push_back({8, rand() & 0xFF}); // hamming code
-  data.push_back({11, rand() & 0x7FF}); // pad
-  data.push_back({16, rand() & 0xFFFF}); // superframe
-  data.push_back({8, rand() & 0xFF}); // pad
-  data.push_back({8, rand() & 0xFF}); // frame
-  return data;
-}
-
-TEST_CASE("parse_string_number_1"){
-  string_data data = generate_string_data(1);
-  std::string inp_data = generate_inp_data(data);
-
-  kaitai::kstream stream(inp_data);
-  glonass_t gl_string(&stream);
-
-  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
-  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
-  REQUIRE(gl_string.hamming_code() == data[ST1_HC_OFF + HC_IDX].second);
-  REQUIRE(gl_string.pad_1() == data[ST1_HC_OFF + PAD1_IDX].second);
-  REQUIRE(gl_string.superframe_number() == data[ST1_HC_OFF + SUPERFRAME_IDX].second);
-  REQUIRE(gl_string.pad_2() == data[ST1_HC_OFF + PAD2_IDX].second);
-  REQUIRE(gl_string.frame_number() == data[ST1_HC_OFF + FRAME_IDX].second);
-
-  kaitai::kstream str1(inp_data);
-  glonass_t str1_data(&str1);
-  glonass_t::string_1_t* s1 = static_cast<glonass_t::string_1_t*>(str1_data.data());
-
-  REQUIRE(s1->not_used() == data[ST1_NU_IDX].second);
-  REQUIRE(s1->p1() == data[ST1_P1_IDX].second);
-  REQUIRE(s1->t_k() == data[ST1_T_K_IDX].second);
-
-  int mul = s1->x_vel_sign() ? (-1) : 1;
-  REQUIRE(s1->x_vel() == (data[ST1_X_VEL_V_IDX].second * mul));
-  mul = s1->x_accel_sign() ? (-1) : 1;
-  REQUIRE(s1->x_accel() == (data[ST1_X_ACCEL_V_IDX].second * mul));
-  mul = s1->x_sign() ? (-1) : 1;
-  REQUIRE(s1->x() == (data[ST1_X_V_IDX].second * mul));
-}
-
-TEST_CASE("parse_string_number_2"){
-  string_data data = generate_string_data(2);
-  std::string inp_data = generate_inp_data(data);
-
-  kaitai::kstream stream(inp_data);
-  glonass_t gl_string(&stream);
-
-  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
-  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
-  REQUIRE(gl_string.hamming_code() == data[ST2_HC_OFF + HC_IDX].second);
-  REQUIRE(gl_string.pad_1() == data[ST2_HC_OFF + PAD1_IDX].second);
-  REQUIRE(gl_string.superframe_number() == data[ST2_HC_OFF + SUPERFRAME_IDX].second);
-  REQUIRE(gl_string.pad_2() == data[ST2_HC_OFF + PAD2_IDX].second);
-  REQUIRE(gl_string.frame_number() == data[ST2_HC_OFF + FRAME_IDX].second);
-
-  kaitai::kstream str2(inp_data);
-  glonass_t str2_data(&str2);
-  glonass_t::string_2_t* s2 = static_cast<glonass_t::string_2_t*>(str2_data.data());
-
-  REQUIRE(s2->b_n() == data[ST2_BN_IDX].second);
-  REQUIRE(s2->not_used() == data[ST2_NU_IDX].second);
-  REQUIRE(s2->p2() == data[ST2_P2_IDX].second);
-  REQUIRE(s2->t_b() == data[ST2_TB_IDX].second);
-  int mul = s2->y_vel_sign() ? (-1) : 1;
-  REQUIRE(s2->y_vel() == (data[ST2_Y_VEL_V_IDX].second * mul));
-  mul = s2->y_accel_sign() ? (-1) : 1;
-  REQUIRE(s2->y_accel() == (data[ST2_Y_ACCEL_V_IDX].second * mul));
-  mul = s2->y_sign() ? (-1) : 1;
-  REQUIRE(s2->y() == (data[ST2_Y_V_IDX].second * mul));
-}
-
-TEST_CASE("parse_string_number_3"){
-  string_data data = generate_string_data(3);
-  std::string inp_data = generate_inp_data(data);
-
-  kaitai::kstream stream(inp_data);
-  glonass_t gl_string(&stream);
-
-  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
-  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
-  REQUIRE(gl_string.hamming_code() == data[ST3_HC_OFF + HC_IDX].second);
-  REQUIRE(gl_string.pad_1() == data[ST3_HC_OFF + PAD1_IDX].second);
-  REQUIRE(gl_string.superframe_number() == data[ST3_HC_OFF + SUPERFRAME_IDX].second);
-  REQUIRE(gl_string.pad_2() == data[ST3_HC_OFF + PAD2_IDX].second);
-  REQUIRE(gl_string.frame_number() == data[ST3_HC_OFF + FRAME_IDX].second);
-
-  kaitai::kstream str3(inp_data);
-  glonass_t str3_data(&str3);
-  glonass_t::string_3_t* s3 = static_cast<glonass_t::string_3_t*>(str3_data.data());
-
-  REQUIRE(s3->p3() == data[ST3_P3_IDX].second);
-  int mul = s3->gamma_n_sign() ? (-1) : 1;
-  REQUIRE(s3->gamma_n() == (data[ST3_GAMMA_N_V_IDX].second * mul));
-  REQUIRE(s3->not_used() == data[ST3_NU_1_IDX].second);
-  REQUIRE(s3->p() == data[ST3_P_IDX].second);
-  REQUIRE(s3->l_n() == data[ST3_L_N_IDX].second);
-  mul = s3->z_vel_sign() ? (-1) : 1;
-  REQUIRE(s3->z_vel() == (data[ST3_Z_VEL_V_IDX].second * mul));
-  mul = s3->z_accel_sign() ? (-1) : 1;
-  REQUIRE(s3->z_accel() == (data[ST3_Z_ACCEL_V_IDX].second * mul));
-  mul = s3->z_sign() ? (-1) : 1;
-  REQUIRE(s3->z() == (data[ST3_Z_V_IDX].second * mul));
-}
-
-TEST_CASE("parse_string_number_4"){
-  string_data data = generate_string_data(4);
-  std::string inp_data = generate_inp_data(data);
-
-  kaitai::kstream stream(inp_data);
-  glonass_t gl_string(&stream);
-
-  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
-  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
-  REQUIRE(gl_string.hamming_code() == data[ST4_HC_OFF + HC_IDX].second);
-  REQUIRE(gl_string.pad_1() == data[ST4_HC_OFF + PAD1_IDX].second);
-  REQUIRE(gl_string.superframe_number() == data[ST4_HC_OFF + SUPERFRAME_IDX].second);
-  REQUIRE(gl_string.pad_2() == data[ST4_HC_OFF + PAD2_IDX].second);
-  REQUIRE(gl_string.frame_number() == data[ST4_HC_OFF + FRAME_IDX].second);
-
-  kaitai::kstream str4(inp_data);
-  glonass_t str4_data(&str4);
-  glonass_t::string_4_t* s4 = static_cast<glonass_t::string_4_t*>(str4_data.data());
-
-  int mul = s4->tau_n_sign() ? (-1) : 1;
-  REQUIRE(s4->tau_n() == (data[ST4_TAU_N_V_IDX].second * mul));
-  mul = s4->delta_tau_n_sign() ? (-1) : 1;
-  REQUIRE(s4->delta_tau_n() == (data[ST4_DELTA_TAU_N_V_IDX].second * mul));
-  REQUIRE(s4->e_n() == data[ST4_E_N_IDX].second);
-  REQUIRE(s4->not_used_1() == data[ST4_NU_1_IDX].second);
-  REQUIRE(s4->p4() == data[ST4_P4_IDX].second);
-  REQUIRE(s4->f_t() == data[ST4_F_T_IDX].second);
-  REQUIRE(s4->not_used_2() == data[ST4_NU_2_IDX].second);
-  REQUIRE(s4->n_t() == data[ST4_N_T_IDX].second);
-  REQUIRE(s4->n() == data[ST4_N_IDX].second);
-  REQUIRE(s4->m() == data[ST4_M_IDX].second);
-}
-
-TEST_CASE("parse_string_number_5"){
-  string_data data = generate_string_data(5);
-  std::string inp_data = generate_inp_data(data);
-
-  kaitai::kstream stream(inp_data);
-  glonass_t gl_string(&stream);
-
-  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
-  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
-  REQUIRE(gl_string.hamming_code() == data[ST5_HC_OFF + HC_IDX].second);
-  REQUIRE(gl_string.pad_1() == data[ST5_HC_OFF + PAD1_IDX].second);
-  REQUIRE(gl_string.superframe_number() == data[ST5_HC_OFF + SUPERFRAME_IDX].second);
-  REQUIRE(gl_string.pad_2() == data[ST5_HC_OFF + PAD2_IDX].second);
-  REQUIRE(gl_string.frame_number() == data[ST5_HC_OFF + FRAME_IDX].second);
-
-  kaitai::kstream str5(inp_data);
-  glonass_t str5_data(&str5);
-  glonass_t::string_5_t* s5 = static_cast<glonass_t::string_5_t*>(str5_data.data());
-
-  REQUIRE(s5->n_a() == data[ST5_N_A_IDX].second);
-  REQUIRE(s5->tau_c() == data[ST5_TAU_C_IDX].second);
-  REQUIRE(s5->not_used() == data[ST5_NU_IDX].second);
-  REQUIRE(s5->n_4() == data[ST5_N_4_IDX].second);
-  REQUIRE(s5->tau_gps() == data[ST5_TAU_GPS_IDX].second);
-  REQUIRE(s5->l_n() == data[ST5_L_N_IDX].second);
-}
-
-TEST_CASE("parse_string_number_NI"){
-  string_data data = generate_string_data((rand() % 10) +  6);
-  std::string inp_data = generate_inp_data(data);
-
-  kaitai::kstream stream(inp_data);
-  glonass_t gl_string(&stream);
-
-  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
-  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
-  REQUIRE(gl_string.hamming_code() == data[ST6_HC_OFF + HC_IDX].second);
-  REQUIRE(gl_string.pad_1() == data[ST6_HC_OFF + PAD1_IDX].second);
-  REQUIRE(gl_string.superframe_number() == data[ST6_HC_OFF + SUPERFRAME_IDX].second);
-  REQUIRE(gl_string.pad_2() == data[ST6_HC_OFF + PAD2_IDX].second);
-  REQUIRE(gl_string.frame_number() == data[ST6_HC_OFF + FRAME_IDX].second);
-
-  kaitai::kstream strni(inp_data);
-  glonass_t strni_data(&strni);
-  glonass_t::string_non_immediate_t* sni = static_cast<glonass_t::string_non_immediate_t*>(strni_data.data());
-
-  REQUIRE(sni->data_1() == data[ST6_DATA_1_IDX].second);
-  REQUIRE(sni->data_2() == data[ST6_DATA_2_IDX].second);
-}
diff --git a/system/ubloxd/tests/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc
deleted file mode 100644
index 62bf7476a1..0000000000
--- a/system/ubloxd/tests/test_glonass_runner.cc
+++ /dev/null
@@ -1,2 +0,0 @@
-#define CATCH_CONFIG_MAIN
-#include "catch2/catch.hpp"
diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py
deleted file mode 100755
index c17387114f..0000000000
--- a/system/ubloxd/tests/ubloxd.py
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/usr/bin/env python3
-# type: ignore
-
-from openpilot.selfdrive.locationd.test import ublox
-import struct
-
-baudrate = 460800
-rate = 100  # send new data every 100ms
-
-
-def configure_ublox(dev):
-  # configure ports  and solution parameters and rate
-  dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1)  # enable only UBX on USB
-  dev.configure_port(port=0, inMask=0, outMask=0)  # disable DDC
-
-  payload = struct.pack('<BBHIIHHHBB', 1, 0, 0, 2240, baudrate, 1, 1, 0, 0, 0)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_PRT, payload)  # enable UART
-
-  dev.configure_port(port=4, inMask=0, outMask=0)  # disable SPI
-  dev.configure_poll_port()
-  dev.configure_poll_port(ublox.PORT_SERIAL1)
-  dev.configure_poll_port(ublox.PORT_USB)
-  dev.configure_solution_rate(rate_ms=rate)
-
-  # Configure solution
-  payload = struct.pack('<HBBIIBB4H6BH6B', 5, 4, 3, 0, 0,
-                                           0, 0, 0, 0, 0,
-                                           0, 0, 0, 0, 0,
-                                           0, 0, 0, 0, 0,
-                                           0, 0, 0, 0)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5, payload)
-  payload = struct.pack('<B3BBB6BBB2BBB2B', 0, 0, 0, 0, 1,
-                                            3, 0, 0, 0, 0,
-                                            0, 0, 0, 0, 0,
-                                            0, 0, 0, 0, 0)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ODO, payload)
-  #bits_ITMF_config1 = '10101101011000101010110111111111'
-  #bits_ITMF_config2 = '00000000000000000110001100011110'
-  ITMF_config1 = 2908925439
-  ITMF_config2 = 25374
-  payload = struct.pack('<II', ITMF_config1, ITMF_config2)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ITMF, payload)
-  payload = struct.pack('<HHIBBBBBBBBBBH6BBB2BH4B3BB', 0, (1 << 10), 0, 0, 0,
-                                                      0, 0, 0, 0, 0, 0,
-                                                      0, 1, 0, 0, 0, 0,
-                                                      0, 0, 0, 0, 0, 0,
-                                                      0, 0, 0, 0, 0, 0,
-                                                      0, 0, 0, 0)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5, payload)
-
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAV5)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_NAVX5)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ODO)
-  dev.configure_poll(ublox.CLASS_CFG, ublox.MSG_CFG_ITMF)
-
-  # Configure RAW, PVT and HW messages to be sent every solution cycle
-  dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_PVT, 1)
-  dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_RAW, 1)
-  dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1)
-  dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
-  dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1)
-  dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1)
-
-  # Query the backup restore status
-  print("backup restore polling message (implement custom response handler!):")
-  dev.configure_poll(0x09, 0x14)
-
-  print("if successful, send this to clear the flash:")
-  dev.send_message(0x09, 0x14, b"\x01\x00\x00\x00")
-
-  print("send on stop:")
-
-  # Save on shutdown
-  # Controlled GNSS stop and hot start
-  payload = struct.pack('<HBB', 0x0000, 0x08, 0x00)
-  dev.send_message(ublox.CLASS_CFG, ublox.MSG_CFG_RST, payload)
-
-  # UBX-UPD-SOS backup
-  dev.send_message(0x09, 0x14, b"\x00\x00\x00\x00")
-
-
-if __name__ == "__main__":
-  class Device:
-    def write(self, s):
-      d = '"{}"s'.format(''.join(f'\\x{b:02X}' for b in s))
-      print(f"    if (!send_with_ack({d})) continue;")
-
-  dev = ublox.UBlox(Device(), baudrate=baudrate)
-  configure_ublox(dev)
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
deleted file mode 100644
index 728f3b15fa..0000000000
--- a/system/ubloxd/ublox_msg.cc
+++ /dev/null
@@ -1,530 +0,0 @@
-#include "system/ubloxd/ublox_msg.h"
-
-#include <unistd.h>
-
-#include <algorithm>
-#include <cassert>
-#include <chrono>
-#include <cmath>
-#include <cstdio>
-#include <cstdlib>
-#include <ctime>
-#include <unordered_map>
-#include <utility>
-
-#include "common/swaglog.h"
-
-const double gpsPi = 3.1415926535898;
-#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
-
-inline static bool bit_to_bool(uint8_t val, int shifts) {
-  return (bool)(val & (1 << shifts));
-}
-
-inline int UbloxMsgParser::needed_bytes() {
-  // Msg header incomplete?
-  if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE)
-    return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
-  uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE;
-  // too much data
-  if (needed < (uint16_t)bytes_in_parse_buf)
-    return -1;
-  return needed - (uint16_t)bytes_in_parse_buf;
-}
-
-inline bool UbloxMsgParser::valid_cheksum() {
-  uint8_t ck_a = 0, ck_b = 0;
-  for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE; i++) {
-    ck_a = (ck_a + msg_parse_buf[i]) & 0xFF;
-    ck_b = (ck_b + ck_a) & 0xFF;
-  }
-  if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) {
-    LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]);
-    return false;
-  }
-  if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) {
-    LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]);
-    return false;
-  }
-  return true;
-}
-
-inline bool UbloxMsgParser::valid() {
-  return bytes_in_parse_buf >= ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE &&
-         needed_bytes() == 0 && valid_cheksum();
-}
-
-inline bool UbloxMsgParser::valid_so_far() {
-  if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) {
-    return false;
-  }
-  if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) {
-    return false;
-  }
-  if (needed_bytes() == 0 && !valid()) {
-    return false;
-  }
-  return true;
-}
-
-bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
-  last_log_time = log_time;
-  int needed = needed_bytes();
-  if (needed > 0) {
-    bytes_consumed = std::min((uint32_t)needed, incoming_data_len);
-    // Add data to buffer
-    memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed);
-    bytes_in_parse_buf += bytes_consumed;
-  } else {
-    bytes_consumed = incoming_data_len;
-  }
-
-  // Validate msg format, detect invalid header and invalid checksum.
-  while (!valid_so_far() && bytes_in_parse_buf != 0) {
-    // Corrupted msg, drop a byte.
-    bytes_in_parse_buf -= 1;
-    if (bytes_in_parse_buf > 0)
-      memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf);
-  }
-
-  // There is redundant data at the end of buffer, reset the buffer.
-  if (needed_bytes() == -1) {
-    bytes_in_parse_buf = 0;
-  }
-  return valid();
-}
-
-
-std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
-  std::string dat = data();
-  kaitai::kstream stream(dat);
-
-  ubx_t ubx_message(&stream);
-  auto body = ubx_message.body();
-
-  switch (ubx_message.msg_type()) {
-  case 0x0107:
-    return {"gpsLocationExternal", gen_nav_pvt(static_cast<ubx_t::nav_pvt_t*>(body))};
-  case 0x0213: // UBX-RXM-SFRB (Broadcast Navigation Data Subframe)
-    return {"ubloxGnss", gen_rxm_sfrbx(static_cast<ubx_t::rxm_sfrbx_t*>(body))};
-  case 0x0215: // UBX-RXM-RAW (Multi-GNSS Raw Measurement Data)
-    return {"ubloxGnss", gen_rxm_rawx(static_cast<ubx_t::rxm_rawx_t*>(body))};
-  case 0x0a09:
-    return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
-  case 0x0a0b:
-    return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
-  case 0x0135:
-    return {"ubloxGnss", gen_nav_sat(static_cast<ubx_t::nav_sat_t*>(body))};
-  default:
-    LOGE("Unknown message type %x", ubx_message.msg_type());
-    return {"ubloxGnss", kj::Array<capnp::word>()};
-  }
-}
-
-
-kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
-  MessageBuilder msg_builder;
-  auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
-  gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
-  gpsLoc.setFlags(msg->flags());
-  gpsLoc.setHasFix((msg->flags() % 2) == 1);
-  gpsLoc.setLatitude(msg->lat() * 1e-07);
-  gpsLoc.setLongitude(msg->lon() * 1e-07);
-  gpsLoc.setAltitude(msg->height() * 1e-03);
-  gpsLoc.setSpeed(msg->g_speed() * 1e-03);
-  gpsLoc.setBearingDeg(msg->head_mot() * 1e-5);
-  gpsLoc.setHorizontalAccuracy(msg->h_acc() * 1e-03);
-  gpsLoc.setSatelliteCount(msg->num_sv());
-  std::tm timeinfo = std::tm();
-  timeinfo.tm_year = msg->year() - 1900;
-  timeinfo.tm_mon = msg->month() - 1;
-  timeinfo.tm_mday = msg->day();
-  timeinfo.tm_hour = msg->hour();
-  timeinfo.tm_min = msg->min();
-  timeinfo.tm_sec = msg->sec();
-
-  std::time_t utc_tt = timegm(&timeinfo);
-  gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06);
-  float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f };
-  gpsLoc.setVNED(f);
-  gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03);
-  gpsLoc.setSpeedAccuracy(msg->s_acc() * 1e-03);
-  gpsLoc.setBearingAccuracyDeg(msg->head_acc() * 1e-05);
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg) {
-  // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes
-  // We will first need to separate the data from the padding and parity
-  auto body = *msg->body();
-  assert(body.size() == 10);
-
-  std::string subframe_data;
-  subframe_data.reserve(30);
-  for (uint32_t word : body) {
-    word = word >> 6; // TODO: Verify parity
-    subframe_data.push_back(word >> 16);
-    subframe_data.push_back(word >> 8);
-    subframe_data.push_back(word >> 0);
-  }
-
-  // Collect subframes in map and parse when we have all the parts
-  {
-    kaitai::kstream stream(subframe_data);
-    gps_t subframe(&stream);
-
-    int subframe_id = subframe.how()->subframe_id();
-    if (subframe_id > 3 || subframe_id < 1) {
-      // don't parse almanac subframes
-      return kj::Array<capnp::word>();
-    }
-    gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
-  }
-
-  // publish if subframes 1-3 have been collected
-  if (gps_subframes[msg->sv_id()].size() == 3) {
-    MessageBuilder msg_builder;
-    auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris();
-    eph.setSvId(msg->sv_id());
-
-    int iode_s2 = 0;
-    int iode_s3 = 0;
-    int iodc_lsb = 0;
-    int week;
-
-    // Subframe 1
-    {
-      kaitai::kstream stream(gps_subframes[msg->sv_id()][1]);
-      gps_t subframe(&stream);
-      gps_t::subframe_1_t* subframe_1 = static_cast<gps_t::subframe_1_t*>(subframe.body());
-
-      // Each message is incremented to be greater or equal than week 1877 (2015-12-27).
-      //  To skip this use the current_time argument
-      week = subframe_1->week_no();
-      week += 1024;
-      if (week < 1877) {
-        week += 1024;
-      }
-      //eph.setGpsWeek(subframe_1->week_no());
-      eph.setTgd(subframe_1->t_gd() * pow(2, -31));
-      eph.setToc(subframe_1->t_oc() * pow(2, 4));
-      eph.setAf2(subframe_1->af_2() * pow(2, -55));
-      eph.setAf1(subframe_1->af_1() * pow(2, -43));
-      eph.setAf0(subframe_1->af_0() * pow(2, -31));
-      eph.setSvHealth(subframe_1->sv_health());
-      eph.setTowCount(subframe.how()->tow_count());
-      iodc_lsb = subframe_1->iodc_lsb();
-    }
-
-    // Subframe 2
-    {
-      kaitai::kstream stream(gps_subframes[msg->sv_id()][2]);
-      gps_t subframe(&stream);
-      gps_t::subframe_2_t* subframe_2 = static_cast<gps_t::subframe_2_t*>(subframe.body());
-
-      // GPS week refers to current week, the ephemeris can be valid for the next
-      // if toe equals 0, this can be verified by the TOW count if it is within the
-      // last 2 hours of the week (gps ephemeris valid for 4hours)
-      if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){
-        week += 1;
-      }
-      eph.setCrs(subframe_2->c_rs() * pow(2, -5));
-      eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi);
-      eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi);
-      eph.setCuc(subframe_2->c_uc() * pow(2, -29));
-      eph.setEcc(subframe_2->e() * pow(2, -33));
-      eph.setCus(subframe_2->c_us() * pow(2, -29));
-      eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0));
-      eph.setToe(subframe_2->t_oe() * pow(2, 4));
-      iode_s2 = subframe_2->iode();
-    }
-
-    // Subframe 3
-    {
-      kaitai::kstream stream(gps_subframes[msg->sv_id()][3]);
-      gps_t subframe(&stream);
-      gps_t::subframe_3_t* subframe_3 = static_cast<gps_t::subframe_3_t*>(subframe.body());
-
-      eph.setCic(subframe_3->c_ic() * pow(2, -29));
-      eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi);
-      eph.setCis(subframe_3->c_is() * pow(2, -29));
-      eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi);
-      eph.setCrc(subframe_3->c_rc() * pow(2, -5));
-      eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi);
-      eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi);
-      eph.setIode(subframe_3->iode());
-      eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi);
-      iode_s3 = subframe_3->iode();
-    }
-
-    eph.setToeWeek(week);
-    eph.setTocWeek(week);
-
-    gps_subframes[msg->sv_id()].clear();
-    if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) {
-      // data set cutover, reject ephemeris
-      return kj::Array<capnp::word>();
-    }
-    return capnp::messageToFlatArray(msg_builder);
-  }
-  return kj::Array<capnp::word>();
-}
-
-kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) {
-  // This parser assumes that no 2 satellites of the same frequency
-  // can be in view at the same time
-  auto body = *msg->body();
-  assert(body.size() == 4);
-  {
-    std::string string_data;
-    string_data.reserve(16);
-    for (uint32_t word : body) {
-      for (int i = 3; i >= 0; i--)
-        string_data.push_back(word >> 8*i);
-    }
-
-    kaitai::kstream stream(string_data);
-    glonass_t gl_string(&stream);
-    int string_number = gl_string.string_number();
-    if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) {
-      // don't parse non immediate data, idle_chip == 0
-      return kj::Array<capnp::word>();
-    }
-
-    // Check if new string either has same superframe_id or log transmission times make sense
-    bool superframe_unknown = false;
-    bool needs_clear = false;
-    for (int i = 1; i <= 5; i++) {
-      if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end())
-        continue;
-      if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) {
-        superframe_unknown = true;
-      } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) {
-        needs_clear = true;
-      }
-      // Check if string times add up to being from the same frame
-      // If superframe is known this is redundant
-      // Strings are sent 2s apart and frames are 30s apart
-      if (superframe_unknown &&
-          std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10)
-        needs_clear = true;
-    }
-    if (needs_clear) {
-      glonass_strings[msg->freq_id()].clear();
-      glonass_string_superframes[msg->freq_id()].clear();
-      glonass_string_times[msg->freq_id()].clear();
-    }
-    glonass_strings[msg->freq_id()][string_number] = string_data;
-    glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number();
-    glonass_string_times[msg->freq_id()][string_number] = last_log_time;
-  }
-  if (msg->sv_id() == 255) {
-    // data can be decoded before identifying the SV number, in this case 255
-    // is returned, which means "unknown"  (ublox p32)
-    return kj::Array<capnp::word>();
-  }
-
-  // publish if strings 1-5 have been collected
-  if (glonass_strings[msg->freq_id()].size() != 5) {
-    return kj::Array<capnp::word>();
-  }
-
-  MessageBuilder msg_builder;
-  auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris();
-  eph.setSvId(msg->sv_id());
-  eph.setFreqNum(msg->freq_id() - 7);
-
-  uint16_t current_day = 0;
-  uint16_t tk = 0;
-
-  // string number 1
-  {
-    kaitai::kstream stream(glonass_strings[msg->freq_id()][1]);
-    glonass_t gl_stream(&stream);
-    glonass_t::string_1_t* data = static_cast<glonass_t::string_1_t*>(gl_stream.data());
-
-    eph.setP1(data->p1());
-    tk = data->t_k();
-    eph.setTkDEPRECATED(tk);
-    eph.setXVel(data->x_vel() * pow(2, -20));
-    eph.setXAccel(data->x_accel() * pow(2, -30));
-    eph.setX(data->x() * pow(2, -11));
-  }
-
-  // string number 2
-  {
-    kaitai::kstream stream(glonass_strings[msg->freq_id()][2]);
-    glonass_t gl_stream(&stream);
-    glonass_t::string_2_t* data = static_cast<glonass_t::string_2_t*>(gl_stream.data());
-
-    eph.setSvHealth(data->b_n()>>2); // MSB indicates health
-    eph.setP2(data->p2());
-    eph.setTb(data->t_b());
-    eph.setYVel(data->y_vel() * pow(2, -20));
-    eph.setYAccel(data->y_accel() * pow(2, -30));
-    eph.setY(data->y() * pow(2, -11));
-  }
-
-  // string number 3
-  {
-    kaitai::kstream stream(glonass_strings[msg->freq_id()][3]);
-    glonass_t gl_stream(&stream);
-    glonass_t::string_3_t* data = static_cast<glonass_t::string_3_t*>(gl_stream.data());
-
-    eph.setP3(data->p3());
-    eph.setGammaN(data->gamma_n() * pow(2, -40));
-    eph.setSvHealth(eph.getSvHealth() | data->l_n());
-    eph.setZVel(data->z_vel() * pow(2, -20));
-    eph.setZAccel(data->z_accel() * pow(2, -30));
-    eph.setZ(data->z() * pow(2, -11));
-  }
-
-  // string number 4
-  {
-    kaitai::kstream stream(glonass_strings[msg->freq_id()][4]);
-    glonass_t gl_stream(&stream);
-    glonass_t::string_4_t* data = static_cast<glonass_t::string_4_t*>(gl_stream.data());
-
-    current_day = data->n_t();
-    eph.setNt(current_day);
-    eph.setTauN(data->tau_n() * pow(2, -30));
-    eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30));
-    eph.setAge(data->e_n());
-    eph.setP4(data->p4());
-    eph.setSvURA(glonass_URA_lookup.at(data->f_t()));
-    if (msg->sv_id() != data->n()) {
-      LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n());
-    }
-    eph.setSvType(data->m());
-  }
-
-  // string number 5
-  {
-    kaitai::kstream stream(glonass_strings[msg->freq_id()][5]);
-    glonass_t gl_stream(&stream);
-    glonass_t::string_5_t* data = static_cast<glonass_t::string_5_t*>(gl_stream.data());
-
-    // string5 parsing is only needed to get the year, this can be removed and
-    // the year can be fetched later in laika (note rollovers and leap year)
-    eph.setN4(data->n_4());
-    int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30;
-    eph.setTkSeconds(tk_seconds);
-  }
-
-  glonass_strings[msg->freq_id()].clear();
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-
-kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
-  switch (msg->gnss_id()) {
-    case ubx_t::gnss_type_t::GNSS_TYPE_GPS:
-      return parse_gps_ephemeris(msg);
-    case ubx_t::gnss_type_t::GNSS_TYPE_GLONASS:
-      return parse_glonass_ephemeris(msg);
-    default:
-      return kj::Array<capnp::word>();
-  }
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
-  MessageBuilder msg_builder;
-  auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport();
-  mr.setRcvTow(msg->rcv_tow());
-  mr.setGpsWeek(msg->week());
-  mr.setLeapSeconds(msg->leap_s());
-  mr.setGpsWeek(msg->week());
-
-  auto mb = mr.initMeasurements(msg->num_meas());
-  auto measurements = *msg->meas();
-  for (int8_t i = 0; i < msg->num_meas(); i++) {
-    mb[i].setSvId(measurements[i]->sv_id());
-    mb[i].setPseudorange(measurements[i]->pr_mes());
-    mb[i].setCarrierCycles(measurements[i]->cp_mes());
-    mb[i].setDoppler(measurements[i]->do_mes());
-    mb[i].setGnssId(measurements[i]->gnss_id());
-    mb[i].setGlonassFrequencyIndex(measurements[i]->freq_id());
-    mb[i].setLocktime(measurements[i]->lock_time());
-    mb[i].setCno(measurements[i]->cno());
-    mb[i].setPseudorangeStdev(0.01 * (pow(2, (measurements[i]->pr_stdev() & 15)))); // weird scaling, might be wrong
-    mb[i].setCarrierPhaseStdev(0.004 * (measurements[i]->cp_stdev() & 15));
-    mb[i].setDopplerStdev(0.002 * (pow(2, (measurements[i]->do_stdev() & 15)))); // weird scaling, might be wrong
-
-    auto ts = mb[i].initTrackingStatus();
-    auto trk_stat = measurements[i]->trk_stat();
-    ts.setPseudorangeValid(bit_to_bool(trk_stat, 0));
-    ts.setCarrierPhaseValid(bit_to_bool(trk_stat, 1));
-    ts.setHalfCycleValid(bit_to_bool(trk_stat, 2));
-    ts.setHalfCycleSubtracted(bit_to_bool(trk_stat, 3));
-  }
-
-  mr.setNumMeas(msg->num_meas());
-  auto rs = mr.initReceiverStatus();
-  rs.setLeapSecValid(bit_to_bool(msg->rec_stat(), 0));
-  rs.setClkReset(bit_to_bool(msg->rec_stat(), 2));
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) {
-  MessageBuilder msg_builder;
-  auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport();
-  sr.setITow(msg->itow());
-
-  auto svs = sr.initSvs(msg->num_svs());
-  auto svs_data = *msg->svs();
-  for (int8_t i = 0; i < msg->num_svs(); i++) {
-    svs[i].setSvId(svs_data[i]->sv_id());
-    svs[i].setGnssId(svs_data[i]->gnss_id());
-    svs[i].setFlagsBitfield(svs_data[i]->flags());
-    svs[i].setCno(svs_data[i]->cno());
-    svs[i].setElevationDeg(svs_data[i]->elev());
-    svs[i].setAzimuthDeg(svs_data[i]->azim());
-    svs[i].setPseudorangeResidual(svs_data[i]->pr_res() * 0.1);
-  }
-
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) {
-  MessageBuilder msg_builder;
-  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus();
-  hwStatus.setNoisePerMS(msg->noise_per_ms());
-  hwStatus.setFlags(msg->flags());
-  hwStatus.setAgcCnt(msg->agc_cnt());
-  hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->a_status());
-  hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->a_power());
-  hwStatus.setJamInd(msg->jam_ind());
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw2(ubx_t::mon_hw2_t *msg) {
-  MessageBuilder msg_builder;
-  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus2();
-  hwStatus.setOfsI(msg->ofs_i());
-  hwStatus.setMagI(msg->mag_i());
-  hwStatus.setOfsQ(msg->ofs_q());
-  hwStatus.setMagQ(msg->mag_q());
-
-  switch (msg->cfg_source()) {
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_ROM:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::ROM);
-      break;
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_OTP:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::OTP);
-      break;
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_CONFIG_PINS:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::CONFIGPINS);
-      break;
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_FLASH:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::FLASH);
-      break;
-    default:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::UNDEFINED);
-      break;
-  }
-
-  hwStatus.setLowLevCfg(msg->low_lev_cfg());
-  hwStatus.setPostStatus(msg->post_status());
-
-  return capnp::messageToFlatArray(msg_builder);
-}
diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h
deleted file mode 100644
index d21760edc2..0000000000
--- a/system/ubloxd/ublox_msg.h
+++ /dev/null
@@ -1,131 +0,0 @@
-#pragma once
-
-#include <cassert>
-#include <cstdint>
-#include <ctime>
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
-
-#include "cereal/messaging/messaging.h"
-#include "common/util.h"
-#include "system/ubloxd/generated/gps.h"
-#include "system/ubloxd/generated/glonass.h"
-#include "system/ubloxd/generated/ubx.h"
-
-using namespace std::string_literals;
-
-const int SECS_IN_MIN = 60;
-const int SECS_IN_HR = 60 * SECS_IN_MIN;
-const int SECS_IN_DAY = 24 * SECS_IN_HR;
-const int SECS_IN_WEEK = 7 * SECS_IN_DAY;
-
-// protocol constants
-namespace ublox {
-  const uint8_t PREAMBLE1 = 0xb5;
-  const uint8_t PREAMBLE2 = 0x62;
-
-  const int UBLOX_HEADER_SIZE = 6;
-  const int UBLOX_CHECKSUM_SIZE = 2;
-  const int UBLOX_MAX_MSG_SIZE = 65536;
-
-  struct ubx_mga_ini_time_utc_t {
-    uint8_t type;
-    uint8_t version;
-    uint8_t ref;
-    int8_t leapSecs;
-    uint16_t year;
-    uint8_t month;
-    uint8_t day;
-    uint8_t hour;
-    uint8_t minute;
-    uint8_t second;
-    uint8_t reserved1;
-    uint32_t ns;
-    uint16_t tAccS;
-    uint16_t reserved2;
-    uint32_t tAccNs;
-  } __attribute__((packed));
-
-  inline std::string ubx_add_checksum(const std::string &msg) {
-    assert(msg.size() > 2);
-
-    uint8_t ck_a = 0, ck_b = 0;
-    for (int i = 2; i < msg.size(); i++) {
-      ck_a = (ck_a + msg[i]) & 0xFF;
-      ck_b = (ck_b + ck_a) & 0xFF;
-    }
-
-    std::string r = msg;
-    r.push_back(ck_a);
-    r.push_back(ck_b);
-    return r;
-  }
-
-  inline std::string build_ubx_mga_ini_time_utc(struct tm time) {
-    ublox::ubx_mga_ini_time_utc_t payload = {
-      .type = 0x10,
-      .version = 0x0,
-      .ref = 0x0,
-      .leapSecs = -128, // Unknown
-      .year = (uint16_t)(1900 + time.tm_year),
-      .month = (uint8_t)(1 + time.tm_mon),
-      .day = (uint8_t)time.tm_mday,
-      .hour = (uint8_t)time.tm_hour,
-      .minute = (uint8_t)time.tm_min,
-      .second = (uint8_t)time.tm_sec,
-      .reserved1 = 0x0,
-      .ns = 0,
-      .tAccS = 30,
-      .reserved2 = 0x0,
-      .tAccNs = 0,
-    };
-    assert(sizeof(payload) == 24);
-
-    std::string msg = "\xb5\x62\x13\x40\x18\x00"s;
-    msg += std::string((char*)&payload, sizeof(payload));
-
-    return ubx_add_checksum(msg);
-  }
-}
-
-class UbloxMsgParser {
-  public:
-    bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
-    inline void reset() {bytes_in_parse_buf = 0;}
-    inline int needed_bytes();
-    inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);}
-
-    std::pair<std::string, kj::Array<capnp::word>> gen_msg();
-    kj::Array<capnp::word> gen_nav_pvt(ubx_t::nav_pvt_t *msg);
-    kj::Array<capnp::word> gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg);
-    kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg);
-    kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg);
-    kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg);
-    kj::Array<capnp::word> gen_nav_sat(ubx_t::nav_sat_t *msg);
-
-  private:
-    inline bool valid_cheksum();
-    inline bool valid();
-    inline bool valid_so_far();
-
-    kj::Array<capnp::word> parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg);
-    kj::Array<capnp::word> parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg);
-
-    std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
-
-    float last_log_time = 0.0;
-    size_t bytes_in_parse_buf = 0;
-    uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE];
-
-    // user range accuracy in meters
-    const std::unordered_map<uint8_t, float> glonass_URA_lookup =
-      {{ 0,  1}, { 1,   2}, { 2, 2.5}, { 3,   4}, { 4,  5}, {5, 7},
-       { 6, 10}, { 7,  12}, { 8,  14}, { 9,  16}, {10, 32},
-       {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}};
-
-    std::unordered_map<int, std::unordered_map<int, std::string>> glonass_strings;
-    std::unordered_map<int, std::unordered_map<int, long>> glonass_string_times;
-    std::unordered_map<int, std::unordered_map<int, int>> glonass_string_superframes;
-};
diff --git a/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc
deleted file mode 100644
index 4e7e91f830..0000000000
--- a/system/ubloxd/ubloxd.cc
+++ /dev/null
@@ -1,62 +0,0 @@
-#include <cassert>
-
-#include <kaitai/kaitaistream.h>
-
-#include "cereal/messaging/messaging.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "system/ubloxd/ublox_msg.h"
-
-ExitHandler do_exit;
-using namespace ublox;
-
-int main() {
-  LOGW("starting ubloxd");
-  AlignedBuffer aligned_buf;
-  UbloxMsgParser parser;
-
-  PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
-
-  std::unique_ptr<Context> context(Context::create());
-  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "ubloxRaw"));
-  assert(subscriber != NULL);
-  subscriber->setTimeout(100);
-
-
-  while (!do_exit) {
-    std::unique_ptr<Message> msg(subscriber->receive());
-    if (!msg) {
-      continue;
-    }
-
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
-    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-    auto ubloxRaw = event.getUbloxRaw();
-    float log_time = 1e-9 * event.getLogMonoTime();
-
-    const uint8_t *data = ubloxRaw.begin();
-    size_t len = ubloxRaw.size();
-    size_t bytes_consumed = 0;
-
-    while (bytes_consumed < len && !do_exit) {
-      size_t bytes_consumed_this_time = 0U;
-      if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
-
-        try {
-          auto ublox_msg = parser.gen_msg();
-          if (ublox_msg.second.size() > 0) {
-            auto bytes = ublox_msg.second.asBytes();
-            pm.send(ublox_msg.first.c_str(), bytes.begin(), bytes.size());
-          }
-        } catch (const std::exception& e) {
-          LOGE("Error parsing ublox message %s", e.what());
-        }
-
-        parser.reset();
-      }
-      bytes_consumed += bytes_consumed_this_time;
-    }
-  }
-
-  return 0;
-}
diff --git a/system/ubloxd/ubloxd.py b/system/ubloxd/ubloxd.py
new file mode 100755
index 0000000000..e55cadcf78
--- /dev/null
+++ b/system/ubloxd/ubloxd.py
@@ -0,0 +1,534 @@
+#!/usr/bin/env python3
+import math
+import capnp
+import calendar
+import numpy as np
+from collections import defaultdict
+from dataclasses import dataclass
+
+from cereal import log
+from cereal import messaging
+from openpilot.system.ubloxd.ubx import Ubx
+from openpilot.system.ubloxd.gps import Gps
+from openpilot.system.ubloxd.glonass import Glonass
+
+
+SECS_IN_MIN = 60
+SECS_IN_HR = 60 * SECS_IN_MIN
+SECS_IN_DAY = 24 * SECS_IN_HR
+SECS_IN_WEEK = 7 * SECS_IN_DAY
+
+
+class UbxFramer:
+  PREAMBLE1 = 0xB5
+  PREAMBLE2 = 0x62
+  HEADER_SIZE = 6
+  CHECKSUM_SIZE = 2
+
+  def __init__(self) -> None:
+    self.buf = bytearray()
+    self.last_log_time = 0.0
+
+  def reset(self) -> None:
+    self.buf.clear()
+
+  @staticmethod
+  def _checksum_ok(frame: bytes) -> bool:
+    ck_a = 0
+    ck_b = 0
+    for b in frame[2:-2]:
+      ck_a = (ck_a + b) & 0xFF
+      ck_b = (ck_b + ck_a) & 0xFF
+    return ck_a == frame[-2] and ck_b == frame[-1]
+
+  def add_data(self, log_time: float, incoming: bytes) -> list[bytes]:
+    self.last_log_time = log_time
+    out: list[bytes] = []
+    if not incoming:
+      return out
+    self.buf += incoming
+
+    while True:
+      # find preamble
+      if len(self.buf) < 2:
+        break
+      start = self.buf.find(b"\xb5\x62")
+      if start < 0:
+        # no preamble in buffer
+        self.buf.clear()
+        break
+      if start > 0:
+        # drop garbage before preamble
+        self.buf = self.buf[start:]
+
+      if len(self.buf) < self.HEADER_SIZE:
+        break
+
+      length_le = int.from_bytes(self.buf[4:6], 'little', signed=False)
+      total_len = self.HEADER_SIZE + length_le + self.CHECKSUM_SIZE
+      if len(self.buf) < total_len:
+        break
+
+      candidate = bytes(self.buf[:total_len])
+      if self._checksum_ok(candidate):
+        out.append(candidate)
+        # consume this frame
+        self.buf = self.buf[total_len:]
+      else:
+        # drop first byte and retry
+        self.buf = self.buf[1:]
+
+    return out
+
+
+def _bit(b: int, shift: int) -> bool:
+  return (b & (1 << shift)) != 0
+
+
+@dataclass
+class EphemerisCaches:
+  gps_subframes: defaultdict[int, dict[int, bytes]]
+  glonass_strings: defaultdict[int, dict[int, bytes]]
+  glonass_string_times: defaultdict[int, dict[int, float]]
+  glonass_string_superframes: defaultdict[int, dict[int, int]]
+
+
+class UbloxMsgParser:
+  gpsPi = 3.1415926535898
+
+  # user range accuracy in meters
+  glonass_URA_lookup: dict[int, float] = {
+    0: 1,
+    1: 2,
+    2: 2.5,
+    3: 4,
+    4: 5,
+    5: 7,
+    6: 10,
+    7: 12,
+    8: 14,
+    9: 16,
+    10: 32,
+    11: 64,
+    12: 128,
+    13: 256,
+    14: 512,
+    15: 1024,
+  }
+
+  def __init__(self) -> None:
+    self.framer = UbxFramer()
+    self.caches = EphemerisCaches(
+      gps_subframes=defaultdict(dict),
+      glonass_strings=defaultdict(dict),
+      glonass_string_times=defaultdict(dict),
+      glonass_string_superframes=defaultdict(dict),
+    )
+
+  # Message generation entry point
+  def parse_frame(self, frame: bytes) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None:
+    # Quick header parse
+    msg_type = int.from_bytes(frame[2:4], 'big')
+    payload = frame[6:-2]
+    if msg_type == 0x0107:
+      body = Ubx.NavPvt.from_bytes(payload)
+      return self._gen_nav_pvt(body)
+    if msg_type == 0x0213:
+      # Manually parse RXM-SFRBX to avoid EOF on some frames
+      if len(payload) < 8:
+        return None
+      gnss_id = payload[0]
+      sv_id = payload[1]
+      freq_id = payload[3]
+      num_words = payload[4]
+      exp = 8 + 4 * num_words
+      if exp != len(payload):
+        return None
+      words: list[int] = []
+      off = 8
+      for _ in range(num_words):
+        words.append(int.from_bytes(payload[off : off + 4], 'little'))
+        off += 4
+
+      class _SfrbxView:
+        def __init__(self, gid: int, sid: int, fid: int, body: list[int]):
+          self.gnss_id = Ubx.GnssType(gid)
+          self.sv_id = sid
+          self.freq_id = fid
+          self.body = body
+
+      view = _SfrbxView(gnss_id, sv_id, freq_id, words)
+      return self._gen_rxm_sfrbx(view)
+    if msg_type == 0x0215:
+      body = Ubx.RxmRawx.from_bytes(payload)
+      return self._gen_rxm_rawx(body)
+    if msg_type == 0x0A09:
+      body = Ubx.MonHw.from_bytes(payload)
+      return self._gen_mon_hw(body)
+    if msg_type == 0x0A0B:
+      body = Ubx.MonHw2.from_bytes(payload)
+      return self._gen_mon_hw2(body)
+    if msg_type == 0x0135:
+      body = Ubx.NavSat.from_bytes(payload)
+      return self._gen_nav_sat(body)
+    return None
+
+  # NAV-PVT -> gpsLocationExternal
+  def _gen_nav_pvt(self, msg: Ubx.NavPvt) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]:
+    dat = messaging.new_message('gpsLocationExternal', valid=True)
+    gps = dat.gpsLocationExternal
+    gps.source = log.GpsLocationData.SensorSource.ublox
+    gps.flags = msg.flags
+    gps.hasFix = (msg.flags % 2) == 1
+    gps.latitude = msg.lat * 1e-07
+    gps.longitude = msg.lon * 1e-07
+    gps.altitude = msg.height * 1e-03
+    gps.speed = msg.g_speed * 1e-03
+    gps.bearingDeg = msg.head_mot * 1e-5
+    gps.horizontalAccuracy = msg.h_acc * 1e-03
+    gps.satelliteCount = msg.num_sv
+
+    # build UTC timestamp millis (NAV-PVT is in UTC)
+    # tolerate invalid or unset date values like C++ timegm
+    try:
+      utc_tt = calendar.timegm((msg.year, msg.month, msg.day, msg.hour, msg.min, msg.sec, 0, 0, 0))
+    except Exception:
+      utc_tt = 0
+    gps.unixTimestampMillis = int(utc_tt * 1e3 + (msg.nano * 1e-6))
+
+    # match C++ float32 rounding semantics exactly
+    gps.vNED = [
+      float(np.float32(msg.vel_n) * np.float32(1e-03)),
+      float(np.float32(msg.vel_e) * np.float32(1e-03)),
+      float(np.float32(msg.vel_d) * np.float32(1e-03)),
+    ]
+    gps.verticalAccuracy = msg.v_acc * 1e-03
+    gps.speedAccuracy = msg.s_acc * 1e-03
+    gps.bearingAccuracyDeg = msg.head_acc * 1e-05
+    return ('gpsLocationExternal', dat)
+
+  # RXM-SFRBX dispatch to GPS or GLONASS ephemeris
+  def _gen_rxm_sfrbx(self, msg) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None:
+    if msg.gnss_id == Ubx.GnssType.gps:
+      return self._parse_gps_ephemeris(msg)
+    if msg.gnss_id == Ubx.GnssType.glonass:
+      return self._parse_glonass_ephemeris(msg)
+    return None
+
+  def _parse_gps_ephemeris(self, msg: Ubx.RxmSfrbx) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None:
+    # body is list of 10 words; convert to 30-byte subframe (strip parity/padding)
+    body = msg.body
+    if len(body) != 10:
+      return None
+    subframe_data = bytearray()
+    for word in body:
+      word >>= 6
+      subframe_data.append((word >> 16) & 0xFF)
+      subframe_data.append((word >> 8) & 0xFF)
+      subframe_data.append(word & 0xFF)
+
+    sf = Gps.from_bytes(bytes(subframe_data))
+    subframe_id = sf.how.subframe_id
+    if subframe_id < 1 or subframe_id > 3:
+      return None
+    self.caches.gps_subframes[msg.sv_id][subframe_id] = bytes(subframe_data)
+
+    if len(self.caches.gps_subframes[msg.sv_id]) != 3:
+      return None
+
+    dat = messaging.new_message('ubloxGnss', valid=True)
+    eph = dat.ubloxGnss.init('ephemeris')
+    eph.svId = msg.sv_id
+
+    iode_s2 = 0
+    iode_s3 = 0
+    iodc_lsb = 0
+    week = 0
+
+    # Subframe 1
+    sf1 = Gps.from_bytes(self.caches.gps_subframes[msg.sv_id][1])
+    s1 = sf1.body
+    assert isinstance(s1, Gps.Subframe1)
+    week = s1.week_no
+    week += 1024
+    if week < 1877:
+      week += 1024
+    eph.tgd = s1.t_gd * math.pow(2, -31)
+    eph.toc = s1.t_oc * math.pow(2, 4)
+    eph.af2 = s1.af_2 * math.pow(2, -55)
+    eph.af1 = s1.af_1 * math.pow(2, -43)
+    eph.af0 = s1.af_0 * math.pow(2, -31)
+    eph.svHealth = s1.sv_health
+    eph.towCount = sf1.how.tow_count
+    iodc_lsb = s1.iodc_lsb
+
+    # Subframe 2
+    sf2 = Gps.from_bytes(self.caches.gps_subframes[msg.sv_id][2])
+    s2 = sf2.body
+    assert isinstance(s2, Gps.Subframe2)
+    if s2.t_oe == 0 and sf2.how.tow_count * 6 >= (SECS_IN_WEEK - 2 * SECS_IN_HR):
+      week += 1
+    eph.crs = s2.c_rs * math.pow(2, -5)
+    eph.deltaN = s2.delta_n * math.pow(2, -43) * self.gpsPi
+    eph.m0 = s2.m_0 * math.pow(2, -31) * self.gpsPi
+    eph.cuc = s2.c_uc * math.pow(2, -29)
+    eph.ecc = s2.e * math.pow(2, -33)
+    eph.cus = s2.c_us * math.pow(2, -29)
+    eph.a = math.pow(s2.sqrt_a * math.pow(2, -19), 2.0)
+    eph.toe = s2.t_oe * math.pow(2, 4)
+    iode_s2 = s2.iode
+
+    # Subframe 3
+    sf3 = Gps.from_bytes(self.caches.gps_subframes[msg.sv_id][3])
+    s3 = sf3.body
+    assert isinstance(s3, Gps.Subframe3)
+    eph.cic = s3.c_ic * math.pow(2, -29)
+    eph.omega0 = s3.omega_0 * math.pow(2, -31) * self.gpsPi
+    eph.cis = s3.c_is * math.pow(2, -29)
+    eph.i0 = s3.i_0 * math.pow(2, -31) * self.gpsPi
+    eph.crc = s3.c_rc * math.pow(2, -5)
+    eph.omega = s3.omega * math.pow(2, -31) * self.gpsPi
+    eph.omegaDot = s3.omega_dot * math.pow(2, -43) * self.gpsPi
+    eph.iode = s3.iode
+    eph.iDot = s3.idot * math.pow(2, -43) * self.gpsPi
+    iode_s3 = s3.iode
+
+    eph.toeWeek = week
+    eph.tocWeek = week
+
+    # clear cache for this SV
+    self.caches.gps_subframes[msg.sv_id].clear()
+    if not (iodc_lsb == iode_s2 == iode_s3):
+      return None
+    return ('ubloxGnss', dat)
+
+  def _parse_glonass_ephemeris(self, msg: Ubx.RxmSfrbx) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder] | None:
+    # words are 4 bytes each; Glonass parser expects 16 bytes (string)
+    body = msg.body
+    if len(body) != 4:
+      return None
+    string_bytes = bytearray()
+    for word in body:
+      for i in (3, 2, 1, 0):
+        string_bytes.append((word >> (8 * i)) & 0xFF)
+
+    gl = Glonass.from_bytes(bytes(string_bytes))
+    string_number = gl.string_number
+    if string_number < 1 or string_number > 5 or gl.idle_chip:
+      return None
+
+    # correlate by superframe and timing, similar to C++ logic
+    freq_id = msg.freq_id
+    superframe_unknown = False
+    needs_clear = False
+    for i in range(1, 6):
+      if i not in self.caches.glonass_strings[freq_id]:
+        continue
+      sf_prev = self.caches.glonass_string_superframes[freq_id].get(i, 0)
+      if sf_prev == 0 or gl.superframe_number == 0:
+        superframe_unknown = True
+      elif sf_prev != gl.superframe_number:
+        needs_clear = True
+      if superframe_unknown:
+        prev_time = self.caches.glonass_string_times[freq_id].get(i, 0.0)
+        if abs((prev_time - 2.0 * i) - (self.framer.last_log_time - 2.0 * string_number)) > 10:
+          needs_clear = True
+
+    if needs_clear:
+      self.caches.glonass_strings[freq_id].clear()
+      self.caches.glonass_string_superframes[freq_id].clear()
+      self.caches.glonass_string_times[freq_id].clear()
+
+    self.caches.glonass_strings[freq_id][string_number] = bytes(string_bytes)
+    self.caches.glonass_string_superframes[freq_id][string_number] = gl.superframe_number
+    self.caches.glonass_string_times[freq_id][string_number] = self.framer.last_log_time
+
+    if msg.sv_id == 255:
+      # unknown SV id
+      return None
+    if len(self.caches.glonass_strings[freq_id]) != 5:
+      return None
+
+    dat = messaging.new_message('ubloxGnss', valid=True)
+    eph = dat.ubloxGnss.init('glonassEphemeris')
+    eph.svId = msg.sv_id
+    eph.freqNum = msg.freq_id - 7
+
+    current_day = 0
+    tk = 0
+
+    # string 1
+    try:
+      s1 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][1]).data
+    except Exception:
+      return None
+    assert isinstance(s1, Glonass.String1)
+    eph.p1 = int(s1.p1)
+    tk = int(s1.t_k)
+    eph.tkDEPRECATED = tk
+    eph.xVel = float(s1.x_vel) * math.pow(2, -20)
+    eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
+    eph.x = float(s1.x) * math.pow(2, -11)
+
+    # string 2
+    try:
+      s2 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][2]).data
+    except Exception:
+      return None
+    assert isinstance(s2, Glonass.String2)
+    eph.svHealth = int(s2.b_n >> 2)
+    eph.p2 = int(s2.p2)
+    eph.tb = int(s2.t_b)
+    eph.yVel = float(s2.y_vel) * math.pow(2, -20)
+    eph.yAccel = float(s2.y_accel) * math.pow(2, -30)
+    eph.y = float(s2.y) * math.pow(2, -11)
+
+    # string 3
+    try:
+      s3 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][3]).data
+    except Exception:
+      return None
+    assert isinstance(s3, Glonass.String3)
+    eph.p3 = int(s3.p3)
+    eph.gammaN = float(s3.gamma_n) * math.pow(2, -40)
+    eph.svHealth = int(eph.svHealth | (1 if s3.l_n else 0))
+    eph.zVel = float(s3.z_vel) * math.pow(2, -20)
+    eph.zAccel = float(s3.z_accel) * math.pow(2, -30)
+    eph.z = float(s3.z) * math.pow(2, -11)
+
+    # string 4
+    try:
+      s4 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][4]).data
+    except Exception:
+      return None
+    assert isinstance(s4, Glonass.String4)
+    current_day = int(s4.n_t)
+    eph.nt = current_day
+    eph.tauN = float(s4.tau_n) * math.pow(2, -30)
+    eph.deltaTauN = float(s4.delta_tau_n) * math.pow(2, -30)
+    eph.age = int(s4.e_n)
+    eph.p4 = int(s4.p4)
+    eph.svURA = float(self.glonass_URA_lookup.get(int(s4.f_t), 0.0))
+    # consistency check: SV slot number
+    # if it doesn't match, keep going but note mismatch (no logging here)
+    eph.svType = int(s4.m)
+
+    # string 5
+    try:
+      s5 = Glonass.from_bytes(self.caches.glonass_strings[freq_id][5]).data
+    except Exception:
+      return None
+    assert isinstance(s5, Glonass.String5)
+    eph.n4 = int(s5.n_4)
+    tk_seconds = int(SECS_IN_HR * ((tk >> 7) & 0x1F) + SECS_IN_MIN * ((tk >> 1) & 0x3F) + (tk & 0x1) * 30)
+    eph.tkSeconds = tk_seconds
+
+    self.caches.glonass_strings[freq_id].clear()
+    return ('ubloxGnss', dat)
+
+  def _gen_rxm_rawx(self, msg: Ubx.RxmRawx) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]:
+    dat = messaging.new_message('ubloxGnss', valid=True)
+    mr = dat.ubloxGnss.init('measurementReport')
+    mr.rcvTow = msg.rcv_tow
+    mr.gpsWeek = msg.week
+    mr.leapSeconds = msg.leap_s
+
+    mb = mr.init('measurements', msg.num_meas)
+    for i, m in enumerate(msg.meas):
+      mb[i].svId = m.sv_id
+      mb[i].pseudorange = m.pr_mes
+      mb[i].carrierCycles = m.cp_mes
+      mb[i].doppler = m.do_mes
+      mb[i].gnssId = int(m.gnss_id.value)
+      mb[i].glonassFrequencyIndex = m.freq_id
+      mb[i].locktime = m.lock_time
+      mb[i].cno = m.cno
+      mb[i].pseudorangeStdev = 0.01 * (math.pow(2, (m.pr_stdev & 15)))
+      mb[i].carrierPhaseStdev = 0.004 * (m.cp_stdev & 15)
+      mb[i].dopplerStdev = 0.002 * (math.pow(2, (m.do_stdev & 15)))
+
+      ts = mb[i].init('trackingStatus')
+      trk = m.trk_stat
+      ts.pseudorangeValid = _bit(trk, 0)
+      ts.carrierPhaseValid = _bit(trk, 1)
+      ts.halfCycleValid = _bit(trk, 2)
+      ts.halfCycleSubtracted = _bit(trk, 3)
+
+    mr.numMeas = msg.num_meas
+    rs = mr.init('receiverStatus')
+    rs.leapSecValid = _bit(msg.rec_stat, 0)
+    rs.clkReset = _bit(msg.rec_stat, 2)
+    return ('ubloxGnss', dat)
+
+  def _gen_nav_sat(self, msg: Ubx.NavSat) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]:
+    dat = messaging.new_message('ubloxGnss', valid=True)
+    sr = dat.ubloxGnss.init('satReport')
+    sr.iTow = msg.itow
+    svs = sr.init('svs', msg.num_svs)
+    for i, s in enumerate(msg.svs):
+      svs[i].svId = s.sv_id
+      svs[i].gnssId = int(s.gnss_id.value)
+      svs[i].flagsBitfield = s.flags
+      svs[i].cno = s.cno
+      svs[i].elevationDeg = s.elev
+      svs[i].azimuthDeg = s.azim
+      svs[i].pseudorangeResidual = s.pr_res * 0.1
+    return ('ubloxGnss', dat)
+
+  def _gen_mon_hw(self, msg: Ubx.MonHw) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]:
+    dat = messaging.new_message('ubloxGnss', valid=True)
+    hw = dat.ubloxGnss.init('hwStatus')
+    hw.noisePerMS = msg.noise_per_ms
+    hw.flags = msg.flags
+    hw.agcCnt = msg.agc_cnt
+    hw.aStatus = int(msg.a_status.value)
+    hw.aPower = int(msg.a_power.value)
+    hw.jamInd = msg.jam_ind
+    return ('ubloxGnss', dat)
+
+  def _gen_mon_hw2(self, msg: Ubx.MonHw2) -> tuple[str, capnp.lib.capnp._DynamicStructBuilder]:
+    dat = messaging.new_message('ubloxGnss', valid=True)
+    hw = dat.ubloxGnss.init('hwStatus2')
+    hw.ofsI = msg.ofs_i
+    hw.magI = msg.mag_i
+    hw.ofsQ = msg.ofs_q
+    hw.magQ = msg.mag_q
+    # Map Ubx enum to cereal enum {undefined=0, rom=1, otp=2, configpins=3, flash=4}
+    cfg_map = {
+      Ubx.MonHw2.ConfigSource.rom: 1,
+      Ubx.MonHw2.ConfigSource.otp: 2,
+      Ubx.MonHw2.ConfigSource.config_pins: 3,
+      Ubx.MonHw2.ConfigSource.flash: 4,
+    }
+    hw.cfgSource = cfg_map.get(msg.cfg_source, 0)
+    hw.lowLevCfg = msg.low_lev_cfg
+    hw.postStatus = msg.post_status
+    return ('ubloxGnss', dat)
+
+
+def main():
+  parser = UbloxMsgParser()
+  pm = messaging.PubMaster(['ubloxGnss', 'gpsLocationExternal'])
+  sock = messaging.sub_sock('ubloxRaw', timeout=100, conflate=False)
+
+  while True:
+    msg = messaging.recv_one(sock)
+    if msg is None:
+      continue
+
+    data = bytes(msg.ubloxRaw)
+    log_time = msg.logMonoTime * 1e-9
+    frames = parser.framer.add_data(log_time, data)
+    for frame in frames:
+      try:
+        res = parser.parse_frame(frame)
+      except Exception:
+        continue
+      if not res:
+        continue
+      service, dat = res
+      pm.send(service, dat)
+
+
+if __name__ == '__main__':
+  main()
diff --git a/system/ubloxd/ubx.ksy b/system/ubloxd/ubx.ksy
deleted file mode 100644
index 02c757fe71..0000000000
--- a/system/ubloxd/ubx.ksy
+++ /dev/null
@@ -1,293 +0,0 @@
-meta:
-  id: ubx
-  endian: le
-seq:
-  - id: magic
-    contents: [0xb5, 0x62]
-  - id: msg_type
-    type: u2be
-  - id: length
-    type: u2
-  - id: body
-    type:
-      switch-on: msg_type
-      cases:
-        0x0107: nav_pvt
-        0x0213: rxm_sfrbx
-        0x0215: rxm_rawx
-        0x0a09: mon_hw
-        0x0a0b: mon_hw2
-        0x0135: nav_sat
-instances:
-  checksum:
-    pos: length + 6
-    type: u2
-
-types:
-  mon_hw:
-    seq:
-      - id: pin_sel
-        type: u4
-      - id: pin_bank
-        type: u4
-      - id: pin_dir
-        type: u4
-      - id: pin_val
-        type: u4
-      - id: noise_per_ms
-        type: u2
-      - id: agc_cnt
-        type: u2
-      - id: a_status
-        type: u1
-        enum: antenna_status
-      - id: a_power
-        type: u1
-        enum: antenna_power
-      - id: flags
-        type: u1
-      - id: reserved1
-        size: 1
-      - id: used_mask
-        type: u4
-      - id: vp
-        size: 17
-      - id: jam_ind
-        type: u1
-      - id: reserved2
-        size: 2
-      - id: pin_irq
-        type: u4
-      - id: pull_h
-        type: u4
-      - id: pull_l
-        type: u4
-    enums:
-      antenna_status:
-        0: init
-        1: dontknow
-        2: ok
-        3: short
-        4: open
-      antenna_power:
-        0: off
-        1: on
-        2: dontknow
-
-  mon_hw2:
-    seq:
-      - id: ofs_i
-        type: s1
-      - id: mag_i
-        type: u1
-      - id: ofs_q
-        type: s1
-      - id: mag_q
-        type: u1
-      - id: cfg_source
-        type: u1
-        enum: config_source
-      - id: reserved1
-        size: 3
-      - id: low_lev_cfg
-        type: u4
-      - id: reserved2
-        size: 8
-      - id: post_status
-        type: u4
-      - id: reserved3
-        size: 4
-
-    enums:
-      config_source:
-        113: rom
-        111: otp
-        112: config_pins
-        102: flash
-
-  rxm_sfrbx:
-    seq:
-      - id: gnss_id
-        type: u1
-        enum: gnss_type
-      - id: sv_id
-        type: u1
-      - id: reserved1
-        size: 1
-      - id: freq_id
-        type: u1
-      - id: num_words
-        type: u1
-      - id: reserved2
-        size: 1
-      - id: version
-        type: u1
-      - id: reserved3
-        size: 1
-      - id: body
-        type: u4
-        repeat: expr
-        repeat-expr: num_words
-
-  rxm_rawx:
-    seq:
-      - id: rcv_tow
-        type: f8
-      - id: week
-        type: u2
-      - id: leap_s
-        type: s1
-      - id: num_meas
-        type: u1
-      - id: rec_stat
-        type: u1
-      - id: reserved1
-        size: 3
-      - id: meas
-        type: measurement
-        size: 32
-        repeat: expr
-        repeat-expr: num_meas
-    types:
-      measurement:
-        seq:
-          - id: pr_mes
-            type: f8
-          - id: cp_mes
-            type: f8
-          - id: do_mes
-            type: f4
-          - id: gnss_id
-            type: u1
-            enum: gnss_type
-          - id: sv_id
-            type: u1
-          - id: reserved2
-            size: 1
-          - id: freq_id
-            type: u1
-          - id: lock_time
-            type: u2
-          - id: cno
-            type: u1
-          - id: pr_stdev
-            type: u1
-          - id: cp_stdev
-            type: u1
-          - id: do_stdev
-            type: u1
-          - id: trk_stat
-            type: u1
-          - id: reserved3
-            size: 1
-  nav_sat:
-    seq:
-      - id: itow
-        type: u4
-      - id: version
-        type: u1
-      - id: num_svs
-        type: u1
-      - id: reserved
-        size: 2
-      - id: svs
-        type: nav
-        size: 12
-        repeat: expr
-        repeat-expr: num_svs
-    types:
-      nav:
-        seq:
-          - id: gnss_id
-            type: u1
-            enum: gnss_type
-          - id: sv_id
-            type: u1
-          - id: cno
-            type: u1
-          - id: elev
-            type: s1
-          - id: azim
-            type: s2
-          - id: pr_res
-            type: s2
-          - id: flags
-            type: u4
-
-  nav_pvt:
-    seq:
-      - id: i_tow
-        type: u4
-      - id: year
-        type: u2
-      - id: month
-        type: u1
-      - id: day
-        type: u1
-      - id: hour
-        type: u1
-      - id: min
-        type: u1
-      - id: sec
-        type: u1
-      - id: valid
-        type: u1
-      - id: t_acc
-        type: u4
-      - id: nano
-        type: s4
-      - id: fix_type
-        type: u1
-      - id: flags
-        type: u1
-      - id: flags2
-        type: u1
-      - id: num_sv
-        type: u1
-      - id: lon
-        type: s4
-      - id: lat
-        type: s4
-      - id: height
-        type: s4
-      - id: h_msl
-        type: s4
-      - id: h_acc
-        type: u4
-      - id: v_acc
-        type: u4
-      - id: vel_n
-        type: s4
-      - id: vel_e
-        type: s4
-      - id: vel_d
-        type: s4
-      - id: g_speed
-        type: s4
-      - id: head_mot
-        type: s4
-      - id: s_acc
-        type: s4
-      - id: head_acc
-        type: u4
-      - id: p_dop
-        type: u2
-      - id: flags3
-        type: u1
-      - id: reserved1
-        size: 5
-      - id: head_veh
-        type: s4
-      - id: mag_dec
-        type: s2
-      - id: mag_acc
-        type: u2
-enums:
-  gnss_type:
-    0: gps
-    1: sbas
-    2: galileo
-    3: beidou
-    4: imes
-    5: qzss
-    6: glonass
diff --git a/system/ubloxd/ubx.py b/system/ubloxd/ubx.py
new file mode 100644
index 0000000000..857498ebf1
--- /dev/null
+++ b/system/ubloxd/ubx.py
@@ -0,0 +1,180 @@
+"""
+UBX protocol parser
+"""
+
+from enum import IntEnum
+from typing import Annotated
+
+from openpilot.system.ubloxd import binary_struct as bs
+
+
+class GnssType(IntEnum):
+  gps = 0
+  sbas = 1
+  galileo = 2
+  beidou = 3
+  imes = 4
+  qzss = 5
+  glonass = 6
+
+
+class Ubx(bs.BinaryStruct):
+  GnssType = GnssType
+
+  class RxmRawx(bs.BinaryStruct):
+    class Measurement(bs.BinaryStruct):
+      pr_mes: Annotated[float, bs.f64]
+      cp_mes: Annotated[float, bs.f64]
+      do_mes: Annotated[float, bs.f32]
+      gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)]
+      sv_id: Annotated[int, bs.u8]
+      reserved2: Annotated[bytes, bs.bytes_field(1)]
+      freq_id: Annotated[int, bs.u8]
+      lock_time: Annotated[int, bs.u16]
+      cno: Annotated[int, bs.u8]
+      pr_stdev: Annotated[int, bs.u8]
+      cp_stdev: Annotated[int, bs.u8]
+      do_stdev: Annotated[int, bs.u8]
+      trk_stat: Annotated[int, bs.u8]
+      reserved3: Annotated[bytes, bs.bytes_field(1)]
+
+    rcv_tow: Annotated[float, bs.f64]
+    week: Annotated[int, bs.u16]
+    leap_s: Annotated[int, bs.s8]
+    num_meas: Annotated[int, bs.u8]
+    rec_stat: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(3)]
+    meas: Annotated[list[Measurement], bs.array(Measurement, count_field='num_meas')]
+
+  class RxmSfrbx(bs.BinaryStruct):
+    gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)]
+    sv_id: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(1)]
+    freq_id: Annotated[int, bs.u8]
+    num_words: Annotated[int, bs.u8]
+    reserved2: Annotated[bytes, bs.bytes_field(1)]
+    version: Annotated[int, bs.u8]
+    reserved3: Annotated[bytes, bs.bytes_field(1)]
+    body: Annotated[list[int], bs.array(bs.u32, count_field='num_words')]
+
+  class NavSat(bs.BinaryStruct):
+    class Nav(bs.BinaryStruct):
+      gnss_id: Annotated[GnssType | int, bs.enum(bs.u8, GnssType)]
+      sv_id: Annotated[int, bs.u8]
+      cno: Annotated[int, bs.u8]
+      elev: Annotated[int, bs.s8]
+      azim: Annotated[int, bs.s16]
+      pr_res: Annotated[int, bs.s16]
+      flags: Annotated[int, bs.u32]
+
+    itow: Annotated[int, bs.u32]
+    version: Annotated[int, bs.u8]
+    num_svs: Annotated[int, bs.u8]
+    reserved: Annotated[bytes, bs.bytes_field(2)]
+    svs: Annotated[list[Nav], bs.array(Nav, count_field='num_svs')]
+
+  class NavPvt(bs.BinaryStruct):
+    i_tow: Annotated[int, bs.u32]
+    year: Annotated[int, bs.u16]
+    month: Annotated[int, bs.u8]
+    day: Annotated[int, bs.u8]
+    hour: Annotated[int, bs.u8]
+    min: Annotated[int, bs.u8]
+    sec: Annotated[int, bs.u8]
+    valid: Annotated[int, bs.u8]
+    t_acc: Annotated[int, bs.u32]
+    nano: Annotated[int, bs.s32]
+    fix_type: Annotated[int, bs.u8]
+    flags: Annotated[int, bs.u8]
+    flags2: Annotated[int, bs.u8]
+    num_sv: Annotated[int, bs.u8]
+    lon: Annotated[int, bs.s32]
+    lat: Annotated[int, bs.s32]
+    height: Annotated[int, bs.s32]
+    h_msl: Annotated[int, bs.s32]
+    h_acc: Annotated[int, bs.u32]
+    v_acc: Annotated[int, bs.u32]
+    vel_n: Annotated[int, bs.s32]
+    vel_e: Annotated[int, bs.s32]
+    vel_d: Annotated[int, bs.s32]
+    g_speed: Annotated[int, bs.s32]
+    head_mot: Annotated[int, bs.s32]
+    s_acc: Annotated[int, bs.s32]
+    head_acc: Annotated[int, bs.u32]
+    p_dop: Annotated[int, bs.u16]
+    flags3: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(5)]
+    head_veh: Annotated[int, bs.s32]
+    mag_dec: Annotated[int, bs.s16]
+    mag_acc: Annotated[int, bs.u16]
+
+  class MonHw2(bs.BinaryStruct):
+    class ConfigSource(IntEnum):
+      flash = 102
+      otp = 111
+      config_pins = 112
+      rom = 113
+
+    ofs_i: Annotated[int, bs.s8]
+    mag_i: Annotated[int, bs.u8]
+    ofs_q: Annotated[int, bs.s8]
+    mag_q: Annotated[int, bs.u8]
+    cfg_source: Annotated[ConfigSource | int, bs.enum(bs.u8, ConfigSource)]
+    reserved1: Annotated[bytes, bs.bytes_field(3)]
+    low_lev_cfg: Annotated[int, bs.u32]
+    reserved2: Annotated[bytes, bs.bytes_field(8)]
+    post_status: Annotated[int, bs.u32]
+    reserved3: Annotated[bytes, bs.bytes_field(4)]
+
+  class MonHw(bs.BinaryStruct):
+    class AntennaStatus(IntEnum):
+      init = 0
+      dontknow = 1
+      ok = 2
+      short = 3
+      open = 4
+
+    class AntennaPower(IntEnum):
+      false = 0
+      true = 1
+      dontknow = 2
+
+    pin_sel: Annotated[int, bs.u32]
+    pin_bank: Annotated[int, bs.u32]
+    pin_dir: Annotated[int, bs.u32]
+    pin_val: Annotated[int, bs.u32]
+    noise_per_ms: Annotated[int, bs.u16]
+    agc_cnt: Annotated[int, bs.u16]
+    a_status: Annotated[AntennaStatus | int, bs.enum(bs.u8, AntennaStatus)]
+    a_power: Annotated[AntennaPower | int, bs.enum(bs.u8, AntennaPower)]
+    flags: Annotated[int, bs.u8]
+    reserved1: Annotated[bytes, bs.bytes_field(1)]
+    used_mask: Annotated[int, bs.u32]
+    vp: Annotated[bytes, bs.bytes_field(17)]
+    jam_ind: Annotated[int, bs.u8]
+    reserved2: Annotated[bytes, bs.bytes_field(2)]
+    pin_irq: Annotated[int, bs.u32]
+    pull_h: Annotated[int, bs.u32]
+    pull_l: Annotated[int, bs.u32]
+
+  magic: Annotated[bytes, bs.const(bs.bytes_field(2), b"\xb5\x62")]
+  msg_type: Annotated[int, bs.u16be]
+  length: Annotated[int, bs.u16]
+  body: Annotated[
+    object,
+    bs.substream(
+      'length',
+      bs.switch(
+        'msg_type',
+        {
+          0x0107: NavPvt,
+          0x0213: RxmSfrbx,
+          0x0215: RxmRawx,
+          0x0A09: MonHw,
+          0x0A0B: MonHw2,
+          0x0135: NavSat,
+        },
+      ),
+    ),
+  ]
+  checksum: Annotated[int, bs.u16]
diff --git a/system/ui/README.md b/system/ui/README.md
index 5f47961a51..54697dada8 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -3,7 +3,19 @@
 The user interfaces here are built with [raylib](https://www.raylib.com/).
 
 Quick start:
-* set `DEBUG_FPS=1` to show the FPS
+* set `BIG=1` to run the comma 3X UI (comma four UI runs by default)
+* set `SHOW_FPS=1` to show the FPS
 * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps
+* set `SCALE=1.5` to scale the entire UI by 1.5x
+* set `BURN_IN=1` to get a burn-in heatmap version of the UI
+* set `GRID=50` to show a 50-pixel alignment grid overlay
+* set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
+* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
+* set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
+
+Style guide:
+* All graphical elements should subclass [`Widget`](/system/ui/widgets/__init__.py).
+  * Prefer a stateful widget over a function for easy migration from QT
+* All internal class variables and functions should be prefixed with `_`
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index eae5962277..35aa6ff379 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -1,106 +1,653 @@
 import atexit
+import cffi
 import os
+import queue
 import time
+import signal
+import sys
 import pyray as rl
-from enum import IntEnum
-from openpilot.common.basedir import BASEDIR
+import threading
+import platform
+import subprocess
+from contextlib import contextmanager
+from collections.abc import Callable
+from collections import deque
+from enum import StrEnum
+from pathlib import Path
+from typing import NamedTuple
+from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.ui.lib.multilang import multilang
+from openpilot.common.realtime import Ratekeeper
 
-DEFAULT_FPS = 60
+from openpilot.system.ui.sunnypilot.lib.application import GuiApplicationExt
+
+_DEFAULT_FPS = int(os.getenv("FPS", {'tizi': 20}.get(HARDWARE.get_device_type(), 60)))
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
+MOUSE_THREAD_RATE = 140  # touch controller runs at 140Hz
+MAX_TOUCH_SLOTS = 2
+TOUCH_HISTORY_TIMEOUT = 3.0  # Seconds before touch points fade out
 
-DEBUG_FPS = os.getenv("DEBUG_FPS") == '1'
-STRICT_MODE = os.getenv("STRICT_MODE") == '1'
+BIG_UI = os.getenv("BIG", "0") == "1"
+ENABLE_VSYNC = os.getenv("ENABLE_VSYNC", "0") == "1"
+SHOW_FPS = os.getenv("SHOW_FPS") == "1"
+SHOW_TOUCHES = os.getenv("SHOW_TOUCHES") == "1"
+STRICT_MODE = os.getenv("STRICT_MODE") == "1"
+SCALE = float(os.getenv("SCALE", "1.0"))
+GRID_SIZE = int(os.getenv("GRID", "0"))
+PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
+PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
+RECORD = os.getenv("RECORD") == "1"
+RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
+RECORD_QUALITY = int(os.getenv("RECORD_QUALITY", "23"))  # Dynamic bitrate quality level (CRF); 0 is lossless (bigger size), max is 51, default is 23 for x264
+RECORD_BITRATE = os.getenv("RECORD_BITRATE", "")  # Target bitrate e.g. "2000k" (overrides RECORD_QUALITY when set)
+RECORD_SPEED = int(os.getenv("RECORD_SPEED", "1"))  # Speed multiplier
+OFFSCREEN = os.getenv("OFFSCREEN") == "1"  # Disable FPS limiting for fast offline rendering
+
+GL_VERSION = """
+#version 300 es
+precision highp float;
+"""
+if platform.system() == "Darwin":
+  GL_VERSION = """
+    #version 330 core
+  """
+
+BURN_IN_MODE = "BURN_IN" in os.environ
+BURN_IN_VERTEX_SHADER = GL_VERSION + """
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+uniform mat4 mvp;
+out vec2 fragTexCoord;
+void main() {
+  fragTexCoord = vertexTexCoord;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+BURN_IN_FRAGMENT_SHADER = GL_VERSION + """
+in vec2 fragTexCoord;
+uniform sampler2D texture0;
+out vec4 fragColor;
+void main() {
+  vec4 sampled = texture(texture0, fragTexCoord);
+  float intensity = sampled.b;
+  // Map blue intensity to green -> yellow -> red to highlight burn-in risk.
+  vec3 start = vec3(0.0, 1.0, 0.0);
+  vec3 middle = vec3(1.0, 1.0, 0.0);
+  vec3 end = vec3(1.0, 0.0, 0.0);
+  vec3 gradient = mix(start, middle, clamp(intensity * 2.0, 0.0, 1.0));
+  gradient = mix(gradient, end, clamp((intensity - 0.5) * 2.0, 0.0, 1.0));
+  fragColor = vec4(gradient, sampled.a);
+}
+"""
 
 DEFAULT_TEXT_SIZE = 60
-DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255)
-FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+DEFAULT_TEXT_COLOR = rl.Color(255, 255, 255, int(255 * 0.9))
+
+# Qt draws fonts accounting for ascent/descent differently, so compensate to match old styles
+# The real scales for the fonts below range from 1.212 to 1.266
+FONT_SCALE = 1.242 if BIG_UI else 1.16
+
+ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
+FONT_DIR = ASSETS_DIR.joinpath("fonts")
 
 
-class FontWeight(IntEnum):
-  BLACK = 0
-  BOLD = 1
-  EXTRA_BOLD = 2
-  EXTRA_LIGHT = 3
-  MEDIUM = 4
-  NORMAL = 5
-  SEMI_BOLD = 6
-  THIN = 7
+class FontWeight(StrEnum):
+  LIGHT = "Inter-Light.fnt"
+  NORMAL = "Inter-Regular.fnt" if BIG_UI else "Inter-Medium.fnt"
+  MEDIUM = "Inter-Medium.fnt"
+  BOLD = "Inter-Bold.fnt"
+  SEMI_BOLD = "Inter-SemiBold.fnt"
+  UNIFONT = "unifont.fnt"
+  AUDIOWIDE = "Audiowide-Regular.fnt"
+
+  # Small UI fonts
+  DISPLAY_REGULAR = "Inter-Regular.fnt"
+  ROMAN = "Inter-Regular.fnt"
+  DISPLAY = "Inter-Bold.fnt"
 
 
-class GuiApplication:
-  def __init__(self, width: int, height: int):
+def font_fallback(font: rl.Font) -> rl.Font:
+  """Fall back to unifont for languages that require it."""
+  if multilang.requires_unifont():
+    return gui_app.font(FontWeight.UNIFONT)
+  return font
+
+
+class MousePos(NamedTuple):
+  x: float
+  y: float
+
+
+class MousePosWithTime(NamedTuple):
+  x: float
+  y: float
+  t: float
+
+
+class MouseEvent(NamedTuple):
+  pos: MousePos
+  slot: int
+  left_pressed: bool
+  left_released: bool
+  left_down: bool
+  t: float
+
+
+class MouseState:
+  def __init__(self, scale: float = 1.0):
+    self._scale = scale
+    self._events: deque[MouseEvent] = deque(maxlen=MOUSE_THREAD_RATE)  # bound event list
+    self._prev_mouse_event: list[MouseEvent | None] = [None] * MAX_TOUCH_SLOTS
+
+    self._rk = Ratekeeper(MOUSE_THREAD_RATE, print_delay_threshold=None)
+    self._lock = threading.Lock()
+    self._exit_event = threading.Event()
+    self._thread = None
+
+  def get_events(self) -> list[MouseEvent]:
+    with self._lock:
+      events = list(self._events)
+      self._events.clear()
+    return events
+
+  def start(self):
+    self._exit_event.clear()
+    if self._thread is None or not self._thread.is_alive():
+      self._thread = threading.Thread(target=self._run_thread, daemon=True)
+      self._thread.start()
+
+  def stop(self):
+    self._exit_event.set()
+    if self._thread is not None and self._thread.is_alive():
+      self._thread.join()
+
+  def _run_thread(self):
+    while not self._exit_event.is_set():
+      rl.poll_input_events()
+      self._handle_mouse_event()
+      self._rk.keep_time()
+
+  def _handle_mouse_event(self):
+    for slot in range(MAX_TOUCH_SLOTS):
+      mouse_pos = rl.get_touch_position(slot)
+      x = mouse_pos.x / self._scale if self._scale != 1.0 else mouse_pos.x
+      y = mouse_pos.y / self._scale if self._scale != 1.0 else mouse_pos.y
+      ev = MouseEvent(
+        MousePos(x, y),
+        slot,
+        rl.is_mouse_button_pressed(slot),  # noqa: TID251
+        rl.is_mouse_button_released(slot),  # noqa: TID251
+        rl.is_mouse_button_down(slot),
+        time.monotonic(),
+      )
+      # Only add changes
+      prev = self._prev_mouse_event[slot]
+      if prev is None or ev[:-1] != prev[:-1]:
+        with self._lock:
+          self._events.append(ev)
+        self._prev_mouse_event[slot] = ev
+
+
+class GuiApplication(GuiApplicationExt):
+  def __init__(self, width: int | None = None, height: int | None = None):
+    self._set_log_callback()
+
     self._fonts: dict[FontWeight, rl.Font] = {}
-    self._width = width
-    self._height = height
-    self._textures: list[rl.Texture] = []
-    self._target_fps: int = DEFAULT_FPS
+    self._width = width if width is not None else GuiApplication._default_width()
+    self._height = height if height is not None else GuiApplication._default_height()
+
+    if PC and os.getenv("SCALE") is None:
+      self._scale = self._calculate_auto_scale()
+    else:
+      self._scale = SCALE
+
+    # Scale, then ensure dimensions are even
+    self._scaled_width = int(self._width * self._scale)
+    self._scaled_height = int(self._height * self._scale)
+    self._scaled_width += self._scaled_width % 2
+    self._scaled_height += self._scaled_height % 2
+
+    self._render_texture: rl.RenderTexture | None = None
+    self._burn_in_shader: rl.Shader | None = None
+    self._ffmpeg_proc: subprocess.Popen | None = None
+    self._ffmpeg_queue: queue.Queue | None = None
+    self._ffmpeg_thread: threading.Thread | None = None
+    self._ffmpeg_stop_event: threading.Event | None = None
+    self._textures: dict[str, rl.Texture] = {}
+    self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
+    self._frame = 0
     self._window_close_requested = False
+    self._nav_stack: list[object] = []
+    self._nav_stack_ticks: list[Callable[[], None]] = []
+    self._nav_stack_widgets_to_render = 1 if self.big_ui() else 2
+
+    self._mouse = MouseState(self._scale)
+    self._mouse_events: list[MouseEvent] = []
+    self._last_mouse_event: MouseEvent = MouseEvent(MousePos(0, 0), 0, False, False, False, 0.0)
+
+    self._should_render = True
+
+    # Debug variables
+    self._mouse_history: deque[MousePosWithTime] = deque(maxlen=MOUSE_THREAD_RATE)
+    self._show_touches = SHOW_TOUCHES
+    self._show_fps = SHOW_FPS
+    self._grid_size = GRID_SIZE
+    self._profile_render_frames = PROFILE_RENDER
+    self._render_profiler = None
+    self._render_profile_start_time = None
+
+    GuiApplicationExt.__init__(self)
+
+  @property
+  def frame(self):
+    return self._frame
+
+  def set_show_touches(self, show: bool):
+    self._show_touches = show
+
+  def set_show_fps(self, show: bool):
+    self._show_fps = show
+
+  @property
+  def show_touches(self) -> bool:
+    return self._show_touches
+
+  @property
+  def target_fps(self):
+    return self._target_fps
 
   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
+  def init_window(self, title: str, fps: int = _DEFAULT_FPS):
+    with self._startup_profile_context():
+      def _close(sig, frame):
+        self.close()
+        sys.exit(0)
+      signal.signal(signal.SIGINT, _close)
+      atexit.register(self.close)
 
-    HARDWARE.set_display_power(True)
-    HARDWARE.set_screen_brightness(65)
+      flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT
+      if ENABLE_VSYNC:
+        flags |= rl.ConfigFlags.FLAG_VSYNC_HINT
+      rl.set_config_flags(flags)
 
-    rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT)
-    rl.init_window(self._width, self._height, title)
-    rl.set_target_fps(fps)
+      rl.init_window(self._scaled_width, self._scaled_height, title)
 
-    self._target_fps = fps
-    self._set_styles()
-    self._load_fonts()
+      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD
+      if self._scale != 1.0:
+        rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
+      if needs_render_texture:
+        self._render_texture = rl.load_render_texture(self._width, self._height)
+        rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+
+      if RECORD:
+        output_fps = fps * RECORD_SPEED
+        ffmpeg_args = [
+          'ffmpeg',
+          '-v', 'warning',          # Reduce ffmpeg log spam
+          '-nostats',               # Suppress encoding progress
+          '-f', 'rawvideo',         # Input format
+          '-pix_fmt', 'rgba',       # Input pixel format
+          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-r', str(fps),           # Input frame rate
+          '-i', 'pipe:0',           # Input from stdin
+          '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert to yuv420p
+          '-r', str(output_fps),    # Output frame rate (for speed multiplier)
+          '-c:v', 'libx264',
+          '-preset', 'ultrafast',
+          '-crf', str(RECORD_QUALITY)
+        ]
+        if RECORD_BITRATE:
+          # NOTE: custom bitrate overrides crf setting
+          ffmpeg_args += ['-b:v', RECORD_BITRATE, '-maxrate', RECORD_BITRATE, '-bufsize', RECORD_BITRATE]
+        ffmpeg_args += [
+          '-y',                     # Overwrite existing file
+          '-f', 'mp4',              # Output format
+          RECORD_OUTPUT,            # Output file path
+        ]
+        self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
+        self._ffmpeg_queue = queue.Queue(maxsize=60)  # Buffer up to 60 frames
+        self._ffmpeg_stop_event = threading.Event()
+        self._ffmpeg_thread = threading.Thread(target=self._ffmpeg_writer_thread, daemon=True)
+        self._ffmpeg_thread.start()
+
+      # OFFSCREEN disables FPS limiting for fast offline rendering (e.g. clips)
+      rl.set_target_fps(0 if OFFSCREEN else fps)
+
+      self._target_fps = fps
+      self._set_styles()
+      self._load_fonts()
+      self._patch_text_functions()
+      if BURN_IN_MODE and self._burn_in_shader is None:
+        self._burn_in_shader = rl.load_shader_from_memory(BURN_IN_VERTEX_SHADER, BURN_IN_FRAGMENT_SHADER)
+
+      if not PC:
+        self._mouse.start()
+
+  @contextmanager
+  def _startup_profile_context(self):
+    if "PROFILE_STARTUP" not in os.environ:
+      yield
+      return
+
+    import cProfile
+    import io
+    import pstats
+
+    profiler = cProfile.Profile()
+    start_time = time.monotonic()
+    profiler.enable()
+
+    # do the init
+    yield
+
+    profiler.disable()
+    elapsed_ms = (time.monotonic() - start_time) * 1e3
+
+    stats_stream = io.StringIO()
+    pstats.Stats(profiler, stream=stats_stream).sort_stats("cumtime").print_stats(25)
+    print("\n=== Startup profile ===")
+    print(stats_stream.getvalue().rstrip())
+
+    green = "\033[92m"
+    reset = "\033[0m"
+    print(f"{green}UI window ready in {elapsed_ms:.1f} ms{reset}")
+    sys.exit(0)
+
+  def _ffmpeg_writer_thread(self):
+    """Background thread that writes frames to ffmpeg."""
+    while True:
+      try:
+        data = self._ffmpeg_queue.get(timeout=1.0)
+        if data is None:  # Sentinel to stop
+          break
+        self._ffmpeg_proc.stdin.write(data)
+      except queue.Empty:
+        if self._ffmpeg_stop_event.is_set():
+          break
+        continue
+      except Exception:
+        break
+
+  def push_widget(self, widget: object):
+    if widget in self._nav_stack:
+      cloudlog.warning("Widget already in stack, cannot push again!")
+      return
+
+    # disable previous widget to prevent input processing
+    if len(self._nav_stack) > 0:
+      prev_widget = self._nav_stack[-1]
+      # TODO: change these to touch_valid
+      prev_widget.set_enabled(False)
+
+    self._nav_stack.append(widget)
+    widget.show_event()
+    widget.set_enabled(True)
+
+  def pop_widget(self, idx: int | None = None):
+    # Pops widget instantly without animation
+    if len(self._nav_stack) < 2:
+      cloudlog.warning("At least one widget should remain on the stack, ignoring pop!")
+      return
+
+    idx_to_pop = len(self._nav_stack) - 1 if idx is None else idx
+    if idx_to_pop <= 0 or idx_to_pop >= len(self._nav_stack):
+      cloudlog.warning(f"Invalid index {idx_to_pop} to pop, ignoring!")
+      return
+
+    # only re-enable previous widget if popping top widget
+    if idx_to_pop == len(self._nav_stack) - 1:
+      prev_widget = self._nav_stack[idx_to_pop - 1]
+      prev_widget.set_enabled(True)
+
+    widget = self._nav_stack.pop(idx_to_pop)
+    widget.hide_event()
+
+  def pop_widgets_to(self, widget: object, callback: Callable[[], None] | None = None, instant: bool = False):
+    # Pops middle widgets instantly without animation then dismisses top, animated out if NavWidget
+    if widget not in self._nav_stack:
+      cloudlog.warning("Widget not in stack, cannot pop to it!")
+      return
+
+    # Nothing to pop, ensure we still run callback
+    top_widget = self._nav_stack[-1]
+    if top_widget == widget:
+      if callback:
+        callback()
+      return
+
+    # instantly pop widgets in between, then dismiss top widget for animation
+    while len(self._nav_stack) > 1 and self._nav_stack[-2] != widget:
+      self.pop_widget(len(self._nav_stack) - 2)
+
+    if not instant:
+      top_widget.dismiss(callback)
+    else:
+      self.pop_widget()
+
+  def get_active_widget(self):
+    if len(self._nav_stack) > 0:
+      return self._nav_stack[-1]
+    return None
+
+  def widget_in_stack(self, widget: object) -> bool:
+    return widget in self._nav_stack
+
+  def add_nav_stack_tick(self, tick_function: Callable[[], None]):
+    if tick_function not in self._nav_stack_ticks:
+      self._nav_stack_ticks.append(tick_function)
+
+  def remove_nav_stack_tick(self, tick_function: Callable[[], None]):
+    if tick_function in self._nav_stack_ticks:
+      self._nav_stack_ticks.remove(tick_function)
+
+  def set_should_render(self, should_render: bool):
+    self._should_render = should_render
+
+  def texture(self, asset_path: str, width: int | None = None, height: int | None = None,
+              alpha_premultiply=False, keep_aspect_ratio=True, flip_x: bool = False) -> rl.Texture:
+    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}_{keep_aspect_ratio}_{flip_x}"
+    if cache_key in self._textures:
+      return self._textures[cache_key]
+
+    with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath:
+      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio, flip_x)
+      texture_obj = self._load_texture_from_image(image_obj)
+    self._textures[cache_key] = texture_obj
+    return texture_obj
+
+  def _load_image_from_path(self, image_path: str, width: int | None = None, height: int | None = None,
+                            alpha_premultiply: bool = False, keep_aspect_ratio: bool = True, flip_x: bool = False) -> rl.Image:
+    """Load and resize an image, storing it for later automatic unloading."""
+    image = rl.load_image(image_path)
 
-  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)
+
+    if width is not None and height is not None:
+      same_dimensions = image.width == width and image.height == height
+
+      # Resize with aspect ratio preservation if requested
+      if not same_dimensions:
+        if keep_aspect_ratio:
+          orig_width = image.width
+          orig_height = image.height
+
+          scale_width = width / orig_width
+          scale_height = height / orig_height
+
+          # Calculate new dimensions
+          scale = min(scale_width, scale_height)
+          new_width = int(orig_width * scale)
+          new_height = int(orig_height * scale)
+
+          rl.image_resize(image, new_width, new_height)
+        else:
+          rl.image_resize(image, width, height)
+    else:
+      assert keep_aspect_ratio, "Cannot resize without specifying width and height"
+
+    if flip_x:
+      rl.image_flip_horizontal(image)
+
+    return image
+
+  def _load_texture_from_image(self, image: rl.Image) -> rl.Texture:
+    """Send image to GPU and unload original image."""
     texture = rl.load_texture_from_image(image)
     # Set texture filtering to smooth the result
     rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+    # prevent artifacts from wrapping coordinates
+    rl.set_texture_wrap(texture, rl.TextureWrap.TEXTURE_WRAP_CLAMP)
 
     rl.unload_image(image)
-
-    self._textures.append(texture)
     return texture
 
+  def close_ffmpeg(self):
+    if self._ffmpeg_thread is not None:
+      # Signal thread to stop, send sentinel, then wait for it to drain
+      self._ffmpeg_stop_event.set()
+      self._ffmpeg_queue.put(None)
+      self._ffmpeg_thread.join(timeout=30)
+
+    if self._ffmpeg_proc is not None:
+      self._ffmpeg_proc.stdin.flush()
+      self._ffmpeg_proc.stdin.close()
+      try:
+        self._ffmpeg_proc.wait(timeout=30)
+      except subprocess.TimeoutExpired:
+        self._ffmpeg_proc.terminate()
+        self._ffmpeg_proc.wait()
+
   def close(self):
     if not rl.is_window_ready():
       return
 
-    for texture in self._textures:
+    for texture in self._textures.values():
       rl.unload_texture(texture)
-    self._textures = []
+    self._textures = {}
 
     for font in self._fonts.values():
       rl.unload_font(font)
     self._fonts = {}
 
+    if self._render_texture is not None:
+      rl.unload_render_texture(self._render_texture)
+      self._render_texture = None
+
+    if self._burn_in_shader:
+      rl.unload_shader(self._burn_in_shader)
+      self._burn_in_shader = None
+
+    if not PC:
+      self._mouse.stop()
+
+    self.close_ffmpeg()
+
     rl.close_window()
 
+  @property
+  def mouse_events(self) -> list[MouseEvent]:
+    return self._mouse_events
+
+  @property
+  def last_mouse_event(self) -> MouseEvent:
+    return self._last_mouse_event
+
   def render(self):
-    while not (self._window_close_requested or rl.window_should_close()):
-      rl.begin_drawing()
-      rl.clear_background(rl.BLACK)
+    try:
+      if self._profile_render_frames > 0:
+        import cProfile
+        self._render_profiler = cProfile.Profile()
+        self._render_profile_start_time = time.monotonic()
+        self._render_profiler.enable()
 
-      yield
+      while not (self._window_close_requested or rl.window_should_close()):
+        if PC:
+          # Thread is not used on PC, need to manually add mouse events
+          self._mouse._handle_mouse_event()
 
-      if DEBUG_FPS:
-        rl.draw_fps(10, 10)
+        # Store all mouse events for the current frame
+        self._mouse_events = self._mouse.get_events()
+        if len(self._mouse_events) > 0:
+          self._last_mouse_event = self._mouse_events[-1]
 
-      rl.end_drawing()
-      self._monitor_fps()
+        # Skip rendering when screen is off
+        if not self._should_render:
+          if PC:
+            rl.poll_input_events()
+          time.sleep(1 / self._target_fps)
+          yield False
+          continue
 
-  def font(self, font_weight: FontWeight=FontWeight.NORMAL):
+        if self._render_texture:
+          rl.begin_texture_mode(self._render_texture)
+          rl.clear_background(rl.BLACK)
+        else:
+          rl.begin_drawing()
+          rl.clear_background(rl.BLACK)
+
+        # Allow a Widget to still run a function regardless of the stack depth
+        for tick in self._nav_stack_ticks:
+          tick()
+
+        # Only render top widgets
+        for widget in self._nav_stack[-self._nav_stack_widgets_to_render:]:
+          widget.render(rl.Rectangle(0, 0, self.width, self.height))
+
+        yield True
+
+        if self._render_texture:
+          rl.end_texture_mode()
+          rl.begin_drawing()
+          rl.clear_background(rl.BLACK)
+          src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
+          dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
+          texture = self._render_texture.texture
+          if texture:
+            if BURN_IN_MODE and self._burn_in_shader:
+              rl.begin_shader_mode(self._burn_in_shader)
+              rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+              rl.end_shader_mode()
+            else:
+              rl.draw_texture_pro(texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+
+        if self._show_fps:
+          rl.draw_fps(10, 10)
+
+        if self._show_touches:
+          self._draw_touch_points()
+
+        if self._show_mouse_coords:
+          self._draw_mouse_coordinates(gui_app.font(FontWeight.SEMI_BOLD))
+
+        if self._grid_size > 0:
+          self._draw_grid()
+
+        rl.end_drawing()
+
+        if RECORD:
+          image = rl.load_image_from_texture(self._render_texture.texture)
+          data_size = image.width * image.height * 4
+          data = bytes(rl.ffi.buffer(image.data, data_size))
+          self._ffmpeg_queue.put(data)  # Async write via background thread
+          rl.unload_image(image)
+
+        self._monitor_fps()
+        self._frame += 1
+
+        if self._profile_render_frames > 0 and self._frame >= self._profile_render_frames:
+          self._output_render_profile()
+    except KeyboardInterrupt:
+      pass
+
+  def font(self, font_weight: FontWeight = FontWeight.NORMAL) -> rl.Font:
     return self._fonts[font_weight]
 
   @property
@@ -112,22 +659,13 @@ class GuiApplication:
     return self._height
 
   def _load_fonts(self):
-    font_files = (
-      "Inter-Black.ttf",
-      "Inter-Bold.ttf",
-      "Inter-ExtraBold.ttf",
-      "Inter-ExtraLight.ttf",
-      "Inter-Medium.ttf",
-      "Inter-Regular.ttf",
-      "Inter-SemiBold.ttf",
-      "Inter-Thin.ttf"
-      )
-
-    for index, font_file in enumerate(font_files):
-      font = rl.load_font_ex(os.path.join(FONT_DIR, font_file), 120, None, 0)
-      rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
-      self._fonts[index] = font
-
+    for font_weight_file in FontWeight:
+      with as_file(FONT_DIR) as fspath:
+        fnt_path = fspath / font_weight_file
+        font = rl.load_font(fnt_path.as_posix())
+        if font_weight_file != FontWeight.UNIFONT:
+          rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+        self._fonts[font_weight_file] = font
     rl.gui_set_font(self._fonts[FontWeight.NORMAL])
 
   def _set_styles(self):
@@ -137,6 +675,60 @@ class GuiApplication:
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
 
+  def _patch_text_functions(self):
+    # Wrap pyray text APIs to apply a global text size scale so our px sizes match Qt
+    if not hasattr(rl, "_orig_draw_text_ex"):
+      rl._orig_draw_text_ex = rl.draw_text_ex
+
+    def _draw_text_ex_scaled(font, text, position, font_size, spacing, tint):
+      font = font_fallback(font)
+      return rl._orig_draw_text_ex(font, text, position, font_size * FONT_SCALE, spacing, tint)
+
+    rl.draw_text_ex = _draw_text_ex_scaled
+
+  def _set_log_callback(self):
+    ffi_libc = cffi.FFI()
+    ffi_libc.cdef("""
+      int vasprintf(char **strp, const char *fmt, void *ap);
+      void free(void *ptr);
+    """)
+    libc = ffi_libc.dlopen(None)
+
+    @rl.ffi.callback("void(int, char *, void *)")
+    def trace_log_callback(log_level, text, args):
+      try:
+        text_addr = int(rl.ffi.cast("uintptr_t", text))
+        args_addr = int(rl.ffi.cast("uintptr_t", args))
+        text_libc = ffi_libc.cast("char *", text_addr)
+        args_libc = ffi_libc.cast("void *", args_addr)
+
+        out = ffi_libc.new("char **")
+        if libc.vasprintf(out, text_libc, args_libc) >= 0 and out[0] != ffi_libc.NULL:
+          text_str = ffi_libc.string(out[0]).decode("utf-8", "replace")
+          libc.free(out[0])
+        else:
+          text_str = rl.ffi.string(text).decode("utf-8", "replace")
+      except Exception as e:
+        text_str = f"[Log decode error: {e}]"
+
+      if log_level == rl.TraceLogLevel.LOG_ERROR:
+        cloudlog.error(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_WARNING:
+        cloudlog.warning(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_INFO:
+        cloudlog.info(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_DEBUG:
+        cloudlog.debug(f"raylib: {text_str}")
+      else:
+        cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}")
+
+    # ensure we get all the logs forwarded to us
+    rl.set_trace_log_level(rl.TraceLogLevel.LOG_DEBUG)
+
+    # Store callback reference
+    self._trace_log_callback = trace_log_callback
+    rl.set_trace_log_callback(self._trace_log_callback)
+
   def _monitor_fps(self):
     fps = rl.get_fps()
 
@@ -150,7 +742,84 @@ class GuiApplication:
     # Strict mode: terminate UI if FPS drops too much
     if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
       cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
+      self.close_ffmpeg()
       os._exit(1)
 
+  def _draw_touch_points(self):
+    current_time = time.monotonic()
 
-gui_app = GuiApplication(2160, 1080)
+    for mouse_event in self._mouse_events:
+      if mouse_event.left_pressed:
+        self._mouse_history.clear()
+      self._mouse_history.append(MousePosWithTime(mouse_event.pos.x * self._scale, mouse_event.pos.y * self._scale, current_time))
+
+    # Remove old touch points that exceed the timeout
+    while self._mouse_history and (current_time - self._mouse_history[0].t) > TOUCH_HISTORY_TIMEOUT:
+      self._mouse_history.popleft()
+
+    if self._mouse_history:
+      mouse_pos = self._mouse_history[-1]
+      rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 15, rl.RED)
+      for idx, mouse_pos in enumerate(self._mouse_history):
+        perc = idx / len(self._mouse_history)
+        color = rl.Color(min(int(255 * (1.5 - perc)), 255), int(min(255 * (perc + 0.5), 255)), 50, 255)
+        rl.draw_circle(int(mouse_pos.x), int(mouse_pos.y), 5, color)
+
+  def _draw_grid(self):
+    grid_color = rl.Color(60, 60, 60, 255)
+    # Draw vertical lines
+    x = 0
+    while x <= self._scaled_width:
+      rl.draw_line(x, 0, x, self._scaled_height, grid_color)
+      x += self._grid_size
+    # Draw horizontal lines
+    y = 0
+    while y <= self._scaled_height:
+      rl.draw_line(0, y, self._scaled_width, y, grid_color)
+      y += self._grid_size
+
+  def _output_render_profile(self):
+    import io
+    import pstats
+
+    self._render_profiler.disable()
+    elapsed_ms = (time.monotonic() - self._render_profile_start_time) * 1e3
+    avg_frame_time = elapsed_ms / self._frame if self._frame > 0 else 0
+
+    stats_stream = io.StringIO()
+    pstats.Stats(self._render_profiler, stream=stats_stream).sort_stats("cumtime").print_stats(PROFILE_STATS)
+    print("\n=== Render loop profile ===")
+    print(stats_stream.getvalue().rstrip())
+
+    green = "\033[92m"
+    reset = "\033[0m"
+    print(f"\n{green}Rendered {self._frame} frames in {elapsed_ms:.1f} ms{reset}")
+    print(f"{green}Average frame time: {avg_frame_time:.2f} ms ({1000/avg_frame_time:.1f} FPS){reset}")
+    sys.exit(0)
+
+  def _calculate_auto_scale(self) -> float:
+     # Create temporary window to query monitor info
+    rl.init_window(1, 1, "")
+    w, h = rl.get_monitor_width(0), rl.get_monitor_height(0)
+    rl.close_window()
+
+    if w == 0 or h == 0 or (w >= self._width and h >= self._height):
+      return 1.0
+
+    # Apply 0.95 factor for window decorations/taskbar margin
+    return max(0.3, min(w / self._width, h / self._height) * 0.95)
+
+  @staticmethod
+  def _default_width() -> int:
+    return 2160 if GuiApplication.big_ui() else 536
+
+  @staticmethod
+  def _default_height() -> int:
+    return 1080 if GuiApplication.big_ui() else 240
+
+  @staticmethod
+  def big_ui() -> bool:
+    return HARDWARE.get_device_type() in ('tici', 'tizi') or BIG_UI
+
+
+gui_app = GuiApplication()
diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py
deleted file mode 100644
index 034189275f..0000000000
--- a/system/ui/lib/button.py
+++ /dev/null
@@ -1,71 +0,0 @@
-import pyray as rl
-from enum import IntEnum
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-
-
-class ButtonStyle(IntEnum):
-  NORMAL = 0  # Most common, neutral buttons
-  PRIMARY = 1  # For main actions
-  DANGER = 2  # For critical actions, like reboot or delete
-  TRANSPARENT = 3  # For buttons with transparent background and border
-
-
-DEFAULT_BUTTON_FONT_SIZE = 60
-BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255)
-BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51)
-
-
-BUTTON_BACKGROUND_COLORS = {
-  ButtonStyle.NORMAL: rl.Color(51, 51, 51, 255),
-  ButtonStyle.PRIMARY: rl.Color(70, 91, 234, 255),
-  ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
-  ButtonStyle.TRANSPARENT: rl.BLACK,
-}
-
-BUTTON_PRESSED_BACKGROUND_COLORS = {
-  ButtonStyle.NORMAL: rl.Color(74, 74, 74, 255),
-  ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255),
-  ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
-  ButtonStyle.TRANSPARENT: rl.BLACK,
-}
-
-
-def gui_button(
-  rect: rl.Rectangle,
-  text: str,
-  font_size: int = DEFAULT_BUTTON_FONT_SIZE,
-  font_weight: FontWeight = FontWeight.MEDIUM,
-  button_style: ButtonStyle = ButtonStyle.NORMAL,
-  is_enabled: bool = True,
-  border_radius: int = 10,  # Corner rounding in pixels
-) -> int:
-  result = 0
-
-  # Set background color based on button type
-  bg_color = BUTTON_BACKGROUND_COLORS[button_style]
-  if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect):
-    if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style]
-    elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      result = 1
-
-  # Draw the button with rounded corners
-  roundness = border_radius / (min(rect.width, rect.height) / 2)
-  if button_style != ButtonStyle.TRANSPARENT:
-    rl.draw_rectangle_rounded(rect, roundness, 20, bg_color)
-  else:
-    rl.draw_rectangle_rounded(rect, roundness, 20, rl.BLACK)
-    rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE)
-
-  font = gui_app.font(font_weight)
-  # Center text in the button
-  text_size = rl.measure_text_ex(font, text, font_size, 0)
-  text_pos = rl.Vector2(
-    rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2
-  )
-
-  # Draw the button text
-  text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR
-  rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color)
-
-  return result
diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py
new file mode 100644
index 0000000000..69236482b0
--- /dev/null
+++ b/system/ui/lib/egl.py
@@ -0,0 +1,181 @@
+import os
+import cffi
+from dataclasses import dataclass
+from typing import Any
+from openpilot.common.swaglog import cloudlog
+
+# EGL constants
+EGL_LINUX_DMA_BUF_EXT = 0x3270
+EGL_WIDTH = 0x3057
+EGL_HEIGHT = 0x3056
+EGL_LINUX_DRM_FOURCC_EXT = 0x3271
+EGL_DMA_BUF_PLANE0_FD_EXT = 0x3272
+EGL_DMA_BUF_PLANE0_OFFSET_EXT = 0x3273
+EGL_DMA_BUF_PLANE0_PITCH_EXT = 0x3274
+EGL_DMA_BUF_PLANE1_FD_EXT = 0x3275
+EGL_DMA_BUF_PLANE1_OFFSET_EXT = 0x3276
+EGL_DMA_BUF_PLANE1_PITCH_EXT = 0x3277
+EGL_NONE = 0x3038
+GL_TEXTURE0 = 0x84C0
+GL_TEXTURE_EXTERNAL_OES = 0x8D65
+
+# DRM Format for NV12
+DRM_FORMAT_NV12 = 842094158
+
+
+@dataclass
+class EGLImage:
+  """Container for EGL image and associated resources"""
+
+  egl_image: Any
+  fd: int
+
+
+@dataclass
+class EGLState:
+  """Container for all EGL-related state"""
+
+  initialized: bool = False
+  ffi: Any = None
+  egl_lib: Any = None
+  gles_lib: Any = None
+
+  # EGL display connection - shared across all users
+  display: Any = None
+
+  # Constants
+  NO_CONTEXT: Any = None
+  NO_DISPLAY: Any = None
+  NO_IMAGE_KHR: Any = None
+
+  # Function pointers
+  get_current_display: Any = None
+  create_image_khr: Any = None
+  destroy_image_khr: Any = None
+  image_target_texture: Any = None
+  get_error: Any = None
+  bind_texture: Any = None
+  active_texture: Any = None
+
+
+# Create a single instance of the state
+_egl = EGLState()
+
+
+def init_egl() -> bool:
+  """Initialize EGL and load necessary functions"""
+  global _egl
+
+  # Don't re-initialize if already done
+  if _egl.initialized:
+    return True
+
+  try:
+    _egl.ffi = cffi.FFI()
+    _egl.ffi.cdef("""
+      typedef int EGLint;
+      typedef unsigned int EGLBoolean;
+      typedef unsigned int EGLenum;
+      typedef unsigned int GLenum;
+      typedef void *EGLContext;
+      typedef void *EGLDisplay;
+      typedef void *EGLClientBuffer;
+      typedef void *EGLImageKHR;
+      typedef void *GLeglImageOES;
+
+      EGLDisplay eglGetCurrentDisplay(void);
+      EGLint eglGetError(void);
+      EGLImageKHR eglCreateImageKHR(EGLDisplay dpy, EGLContext ctx,
+                                  EGLenum target, EGLClientBuffer buffer,
+                                  const EGLint *attrib_list);
+      EGLBoolean eglDestroyImageKHR(EGLDisplay dpy, EGLImageKHR image);
+      void glEGLImageTargetTexture2DOES(GLenum target, GLeglImageOES image);
+      void glBindTexture(GLenum target, unsigned int texture);
+      void glActiveTexture(GLenum texture);
+    """)
+
+    # Load libraries
+    _egl.egl_lib = _egl.ffi.dlopen("libEGL.so")
+    _egl.gles_lib = _egl.ffi.dlopen("libGLESv2.so")
+
+    # Cast NULL pointers
+    _egl.NO_CONTEXT = _egl.ffi.cast("void *", 0)
+    _egl.NO_DISPLAY = _egl.ffi.cast("void *", 0)
+    _egl.NO_IMAGE_KHR = _egl.ffi.cast("void *", 0)
+
+    # Bind functions
+    _egl.get_current_display = _egl.egl_lib.eglGetCurrentDisplay
+    _egl.create_image_khr = _egl.egl_lib.eglCreateImageKHR
+    _egl.destroy_image_khr = _egl.egl_lib.eglDestroyImageKHR
+    _egl.image_target_texture = _egl.gles_lib.glEGLImageTargetTexture2DOES
+    _egl.get_error = _egl.egl_lib.eglGetError
+    _egl.bind_texture = _egl.gles_lib.glBindTexture
+    _egl.active_texture = _egl.gles_lib.glActiveTexture
+
+    # Initialize EGL display once here
+    _egl.display = _egl.get_current_display()
+    if _egl.display == _egl.NO_DISPLAY:
+      raise RuntimeError("Failed to get EGL display")
+
+    _egl.initialized = True
+    return True
+  except Exception as e:
+    cloudlog.exception(f"EGL initialization failed: {e}")
+    _egl.initialized = False
+    return False
+
+
+def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
+  assert _egl.initialized, "EGL not initialized"
+
+  try:
+    # Duplicate fd since EGL needs it
+    dup_fd = os.dup(fd)
+  except OSError as e:
+    cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
+    return None
+
+  # Create image attributes for EGL
+  img_attrs = [
+    EGL_WIDTH, width,
+    EGL_HEIGHT, height,
+    EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12,
+    EGL_DMA_BUF_PLANE0_FD_EXT, dup_fd,
+    EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
+    EGL_DMA_BUF_PLANE0_PITCH_EXT, stride,
+    EGL_DMA_BUF_PLANE1_FD_EXT, dup_fd,
+    EGL_DMA_BUF_PLANE1_OFFSET_EXT, uv_offset,
+    EGL_DMA_BUF_PLANE1_PITCH_EXT, stride,
+    EGL_NONE
+  ]
+
+  attr_array = _egl.ffi.new("int[]", img_attrs)
+  egl_image = _egl.create_image_khr(_egl.display, _egl.NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, _egl.ffi.NULL, attr_array)
+
+  if egl_image == _egl.NO_IMAGE_KHR:
+    cloudlog.error(f"Failed to create EGL image: {_egl.get_error()}")
+    os.close(dup_fd)
+    return None
+
+  return EGLImage(egl_image=egl_image, fd=dup_fd)
+
+
+def destroy_egl_image(egl_image: EGLImage) -> None:
+  assert _egl.initialized, "EGL not initialized"
+
+  _egl.destroy_image_khr(_egl.display, egl_image.egl_image)
+
+  # Close the duplicated fd we created in create_egl_image()
+  # We need to handle OSError since the fd might already be closed
+  try:
+    os.close(egl_image.fd)
+  except OSError:
+    pass
+
+
+def bind_egl_image_to_texture(texture_id: int, egl_image: EGLImage) -> None:
+  assert _egl.initialized, "EGL not initialized"
+
+  _egl.active_texture(GL_TEXTURE0)
+  _egl.bind_texture(GL_TEXTURE_EXTERNAL_OES, texture_id)
+  _egl.image_target_texture(GL_TEXTURE_EXTERNAL_OES, egl_image.egl_image)
diff --git a/system/ui/lib/emoji.py b/system/ui/lib/emoji.py
new file mode 100644
index 0000000000..ad4c272c8d
--- /dev/null
+++ b/system/ui/lib/emoji.py
@@ -0,0 +1,55 @@
+import io
+import re
+import functools
+from importlib.resources import as_file
+
+from PIL import Image, ImageDraw, ImageFont
+import pyray as rl
+
+from openpilot.system.ui.lib.application import FONT_DIR
+
+_cache: dict[str, rl.Texture] = {}
+
+EMOJI_REGEX = re.compile(
+"""[\U0001F600-\U0001F64F
+\U0001F300-\U0001F5FF
+\U0001F680-\U0001F6FF
+\U0001F1E0-\U0001F1FF
+\U00002700-\U000027BF
+\U0001F900-\U0001F9FF
+\U00002600-\U000026FF
+\U00002300-\U000023FF
+\U00002B00-\U00002BFF
+\U0001FA70-\U0001FAFF
+\U0001F700-\U0001F77F
+\u2640-\u2642
+\u2600-\u2B55
+\u200d
+\u23cf
+\u23e9
+\u231a
+\ufe0f
+\u3030
+]+""".replace("\n", ""),
+  flags=re.UNICODE
+)
+
+@functools.cache
+def _load_emoji_font() -> ImageFont.FreeTypeFont:
+  with as_file(FONT_DIR.joinpath("NotoColorEmoji.ttf")) as font_path:
+    return ImageFont.truetype(io.BytesIO(font_path.read_bytes()), 109)
+
+def find_emoji(text):
+  return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)]
+
+def emoji_tex(emoji):
+  if emoji not in _cache:
+    img = Image.new("RGBA", (128, 128), (0, 0, 0, 0))
+    draw = ImageDraw.Draw(img)
+    draw.text((0, 0), emoji, font=_load_emoji_font(), embedded_color=True)
+    with io.BytesIO() as buffer:
+      img.save(buffer, format="PNG")
+      l = buffer.tell()
+      buffer.seek(0)
+      _cache[emoji] = rl.load_texture_from_image(rl.load_image_from_memory(".png", buffer.getvalue(), l))
+  return _cache[emoji]
diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py
deleted file mode 100644
index ccfd89a2ec..0000000000
--- a/system/ui/lib/label.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import pyray as rl
-from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR
-from openpilot.system.ui.lib.utils import GuiStyleContext
-
-
-def gui_label(
-  rect: rl.Rectangle,
-  text: str,
-  font_size: int = DEFAULT_TEXT_SIZE,
-  color: rl.Color = DEFAULT_TEXT_COLOR,
-  font_weight: FontWeight = FontWeight.NORMAL,
-  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE
-):
-  # Set font based on the provided weight
-  font = gui_app.font(font_weight)
-
-  # Measure text size
-  text_size = rl.measure_text_ex(font, text, font_size, 0)
-
-  # Calculate horizontal position based on alignment
-  text_x = rect.x + {
-    rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
-    rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
-    rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
-  }.get(alignment, 0)
-
-  # Calculate vertical position based on alignment
-  text_y = rect.y + {
-    rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
-    rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
-    rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
-  }.get(alignment_vertical, 0)
-
-  # Draw the text in the specified rectangle
-  rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color)
-
-
-def gui_text_box(
-  rect: rl.Rectangle,
-  text: str,
-  font_size: int = DEFAULT_TEXT_SIZE,
-  color: rl.Color = DEFAULT_TEXT_COLOR,
-  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP
-):
-  styles = [
-    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, font_size),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, font_size),
-    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_ALIGNMENT, alignment),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical),
-    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD)
-  ]
-
-  with GuiStyleContext(styles):
-    rl.gui_label(rect, text)
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
new file mode 100644
index 0000000000..9d25427867
--- /dev/null
+++ b/system/ui/lib/multilang.py
@@ -0,0 +1,214 @@
+from importlib.resources import files
+import json
+import os
+import re
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.swaglog import cloudlog
+
+try:
+  from openpilot.common.params import Params
+except ImportError:
+  Params = None
+
+SYSTEM_UI_DIR = os.path.join(BASEDIR, "system", "ui")
+UI_DIR = files("openpilot.selfdrive.ui")
+TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
+LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
+
+UNIFONT_LANGUAGES = [
+  "th",
+  "zh-CHT",
+  "zh-CHS",
+  "ko",
+  "ja",
+]
+
+# Plural form selectors for supported languages
+PLURAL_SELECTORS = {
+  'en': lambda n: 0 if n == 1 else 1,
+  'de': lambda n: 0 if n == 1 else 1,
+  'fr': lambda n: 0 if n <= 1 else 1,
+  'pt-BR': lambda n: 0 if n <= 1 else 1,
+  'es': lambda n: 0 if n == 1 else 1,
+  'tr': lambda n: 0 if n == 1 else 1,
+  'uk': lambda n: 0 if n % 10 == 1 and n % 100 != 11 else (1 if 2 <= n % 10 <= 4 and not 12 <= n % 100 <= 14 else 2),
+  'th': lambda n: 0,
+  'zh-CHT': lambda n: 0,
+  'zh-CHS': lambda n: 0,
+  'ko': lambda n: 0,
+  'ja': lambda n: 0,
+}
+
+
+def _parse_quoted(s: str) -> str:
+  """Parse a PO-format quoted string."""
+  s = s.strip()
+  if not (s.startswith('"') and s.endswith('"')):
+    raise ValueError(f"Expected quoted string: {s!r}")
+  s = s[1:-1]
+  result: list[str] = []
+  i = 0
+  while i < len(s):
+    if s[i] == '\\' and i + 1 < len(s):
+      c = s[i + 1]
+      if c == 'n':
+        result.append('\n')
+      elif c == 't':
+        result.append('\t')
+      elif c == '"':
+        result.append('"')
+      elif c == '\\':
+        result.append('\\')
+      else:
+        result.append(s[i:i + 2])
+      i += 2
+    else:
+      result.append(s[i])
+      i += 1
+  return ''.join(result)
+
+
+def load_translations(path) -> tuple[dict[str, str], dict[str, list[str]]]:
+  """Parse a .po file and return (translations, plurals) dicts.
+
+  translations: msgid -> msgstr
+  plurals: msgid -> [msgstr[0], msgstr[1], ...]
+  """
+  with path.open(encoding='utf-8') as f:
+    lines = f.readlines()
+
+  translations: dict[str, str] = {}
+  plurals: dict[str, list[str]] = {}
+
+  # Parser state
+  msgid = msgid_plural = msgstr = ""
+  msgstr_plurals: dict[int, str] = {}
+  field: str | None = None
+  plural_idx = 0
+
+  def finish():
+    nonlocal msgid, msgid_plural, msgstr, msgstr_plurals, field
+    if msgid:  # skip header (empty msgid)
+      if msgid_plural:
+        max_idx = max(msgstr_plurals.keys()) if msgstr_plurals else 0
+        plurals[msgid] = [msgstr_plurals.get(i, '') for i in range(max_idx + 1)]
+      else:
+        if msgstr:
+          translations[msgid] = msgstr
+    msgid = msgid_plural = msgstr = ""
+    msgstr_plurals = {}
+    field = None
+
+  for raw in lines:
+    line = raw.strip()
+
+    if not line:
+      finish()
+      continue
+
+    if line.startswith('#'):
+      continue
+
+    if line.startswith('msgid_plural '):
+      msgid_plural = _parse_quoted(line[len('msgid_plural '):])
+      field = 'msgid_plural'
+      continue
+
+    if line.startswith('msgid '):
+      msgid = _parse_quoted(line[len('msgid '):])
+      field = 'msgid'
+      continue
+
+    m = re.match(r'msgstr\[(\d+)]\s+(.*)', line)
+    if m:
+      plural_idx = int(m.group(1))
+      msgstr_plurals[plural_idx] = _parse_quoted(m.group(2))
+      field = 'msgstr_plural'
+      continue
+
+    if line.startswith('msgstr '):
+      msgstr = _parse_quoted(line[len('msgstr '):])
+      field = 'msgstr'
+      continue
+
+    if line.startswith('"'):
+      val = _parse_quoted(line)
+      if field == 'msgid':
+        msgid += val
+      elif field == 'msgid_plural':
+        msgid_plural += val
+      elif field == 'msgstr':
+        msgstr += val
+      elif field == 'msgstr_plural':
+        msgstr_plurals[plural_idx] += val
+
+  finish()
+  return translations, plurals
+
+
+class Multilang:
+  def __init__(self):
+    self._params = Params() if Params is not None else None
+    self._language: str = "en"
+    self.languages: dict[str, str] = {}
+    self.codes: dict[str, str] = {}
+    self._translations: dict[str, str] = {}
+    self._plurals: dict[str, list[str]] = {}
+    self._plural_selector = PLURAL_SELECTORS.get('en', lambda n: 0)
+    self._load_languages()
+
+  @property
+  def language(self) -> str:
+    return self._language
+
+  def requires_unifont(self) -> bool:
+    """Certain languages require unifont to render their glyphs."""
+    return self._language in UNIFONT_LANGUAGES
+
+  def setup(self):
+    try:
+      po_path = TRANSLATIONS_DIR.joinpath(f'app_{self._language}.po')
+      self._translations, self._plurals = load_translations(po_path)
+      self._plural_selector = PLURAL_SELECTORS.get(self._language, lambda n: 0)
+      cloudlog.debug(f"Loaded translations for language: {self._language}")
+    except FileNotFoundError:
+      cloudlog.error(f"No translation file found for language: {self._language}, using default.")
+      self._translations = {}
+      self._plurals = {}
+
+  def change_language(self, language_code: str) -> None:
+    self._params.put("LanguageSetting", language_code)
+    self._language = language_code
+    self.setup()
+
+  def tr(self, text: str) -> str:
+    return self._translations.get(text, text) or text
+
+  def trn(self, singular: str, plural: str, n: int) -> str:
+    if singular in self._plurals:
+      idx = self._plural_selector(n)
+      forms = self._plurals[singular]
+      if idx < len(forms) and forms[idx]:
+        return forms[idx]
+    return singular if n == 1 else plural
+
+  def _load_languages(self):
+    with LANGUAGES_FILE.open(encoding='utf-8') as f:
+      self.languages = json.load(f)
+    self.codes = {v: k for k, v in self.languages.items()}
+
+    if self._params is not None:
+      lang = str(self._params.get("LanguageSetting")).removeprefix("main_")
+      if lang in self.codes:
+        self._language = lang
+
+
+multilang = Multilang()
+multilang.setup()
+
+tr, trn = multilang.tr, multilang.trn
+
+
+# no-op marker for static strings translated later
+def tr_noop(s: str) -> str:
+  return s
diff --git a/system/ui/lib/networkmanager.py b/system/ui/lib/networkmanager.py
new file mode 100644
index 0000000000..d2d6b30b10
--- /dev/null
+++ b/system/ui/lib/networkmanager.py
@@ -0,0 +1,64 @@
+from enum import IntEnum
+
+
+# NetworkManager device states
+class NMDeviceState(IntEnum):
+  # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceState
+  UNKNOWN = 0
+  UNMANAGED = 10
+  UNAVAILABLE = 20
+  DISCONNECTED = 30
+  PREPARE = 40
+  CONFIG = 50
+  NEED_AUTH = 60
+  IP_CONFIG = 70
+  IP_CHECK = 80
+  SECONDARIES = 90
+  ACTIVATED = 100
+  DEACTIVATING = 110
+  FAILED = 120
+
+
+class NMDeviceStateReason(IntEnum):
+  # https://networkmanager.dev/docs/api/1.46/nm-dbus-types.html#NMDeviceStateReason
+  NONE = 0
+  UNKNOWN = 1
+  IP_CONFIG_UNAVAILABLE = 5
+  NO_SECRETS = 7
+  SUPPLICANT_DISCONNECT = 8
+  SUPPLICANT_TIMEOUT = 11
+  CONNECTION_REMOVED = 38
+  USER_REQUESTED = 39
+  SSID_NOT_FOUND = 53
+  NEW_ACTIVATION = 60
+
+
+# NetworkManager constants
+NM = "org.freedesktop.NetworkManager"
+NM_PATH = '/org/freedesktop/NetworkManager'
+NM_IFACE = 'org.freedesktop.NetworkManager'
+NM_ACCESS_POINT_IFACE = 'org.freedesktop.NetworkManager.AccessPoint'
+NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings'
+NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings'
+NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection'
+NM_ACTIVE_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Connection.Active'
+NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless'
+NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties'
+NM_DEVICE_IFACE = 'org.freedesktop.NetworkManager.Device'
+NM_IP4_CONFIG_IFACE = 'org.freedesktop.NetworkManager.IP4Config'
+
+NM_DEVICE_TYPE_WIFI = 2
+NM_DEVICE_TYPE_MODEM = 8
+
+# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags
+NM_802_11_AP_FLAGS_NONE = 0x0
+NM_802_11_AP_FLAGS_PRIVACY = 0x1
+NM_802_11_AP_FLAGS_WPS = 0x2
+
+# https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags
+NM_802_11_AP_SEC_PAIR_WEP40 = 0x00000001
+NM_802_11_AP_SEC_PAIR_WEP104 = 0x00000002
+NM_802_11_AP_SEC_GROUP_WEP40 = 0x00000010
+NM_802_11_AP_SEC_GROUP_WEP104 = 0x00000020
+NM_802_11_AP_SEC_KEY_MGMT_PSK = 0x00000100
+NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200
diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py
index 7dc2fdb917..6dd9ceaadc 100644
--- a/system/ui/lib/scroll_panel.py
+++ b/system/ui/lib/scroll_panel.py
@@ -1,88 +1,138 @@
+import math
 import pyray as rl
 from enum import IntEnum
+from openpilot.system.ui.lib.application import gui_app, MouseEvent
+from openpilot.common.filter_simple import FirstOrderFilter
 
-MOUSE_WHEEL_SCROLL_SPEED = 30
-INERTIA_FRICTION = 0.95  # The rate at which the inertia slows down
-MIN_VELOCITY = 0.1  # Minimum velocity before stopping the inertia
-DRAG_THRESHOLD = 5  # Pixels of movement to consider it a drag, not a click
+# Scroll constants for smooth scrolling behavior
+MOUSE_WHEEL_SCROLL_SPEED = 50
+BOUNCE_RETURN_RATE = 5              # ~0.92 at 60fps
+MIN_VELOCITY = 2                    # px/s, changes from auto scroll to steady state
+MIN_VELOCITY_FOR_CLICKING = 2 * 60  # px/s, accepts clicks while auto scrolling below this velocity
+DRAG_THRESHOLD = 12                 # pixels of movement to consider it a drag, not a click
+
+DEBUG = False
 
 
 class ScrollState(IntEnum):
-  IDLE = 0
-  DRAGGING_CONTENT = 1
-  DRAGGING_SCROLLBAR = 2
+  IDLE = 0              # Not dragging, content may be bouncing or scrolling with inertia
+  DRAGGING_CONTENT = 1  # User is actively dragging the content
 
 
 class GuiScrollPanel:
-  def __init__(self, show_vertical_scroll_bar: bool = False):
+  def __init__(self):
     self._scroll_state: ScrollState = ScrollState.IDLE
     self._last_mouse_y: float = 0.0
     self._start_mouse_y: float = 0.0  # Track the initial mouse position for drag detection
-    self._offset = rl.Vector2(0, 0)
-    self._view = rl.Rectangle(0, 0, 0, 0)
-    self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar
-    self._velocity_y = 0.0  # Velocity for inertia
-    self._is_dragging = False
+    self._offset_filter_y = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    self._velocity_filter_y = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._last_drag_time: float = 0.0
 
-  def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
-    mouse_pos = rl.get_mouse_position()
+  def update(self, bounds: rl.Rectangle, content: rl.Rectangle) -> float:
+    for mouse_event in gui_app.mouse_events:
+      if mouse_event.slot == 0:
+        self._handle_mouse_event(mouse_event, bounds, content)
 
-    # Handle dragging logic
-    if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      if self._scroll_state == ScrollState.IDLE:
-        self._scroll_state = ScrollState.DRAGGING_CONTENT
-        if self._show_vertical_scroll_bar:
-          scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH)
-          scrollbar_x = bounds.x + bounds.width - scrollbar_width
-          if mouse_pos.x >= scrollbar_x:
-            self._scroll_state = ScrollState.DRAGGING_SCROLLBAR
+    self._update_state(bounds, content)
 
-        self._last_mouse_y = mouse_pos.y
-        self._start_mouse_y = mouse_pos.y  # Record starting position
-        self._velocity_y = 0.0  # Reset velocity when drag starts
-        self._is_dragging = False  # Reset dragging flag
+    return float(self._offset_filter_y.x)
 
-    if self._scroll_state != ScrollState.IDLE:
-      if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
-        delta_y = mouse_pos.y - self._last_mouse_y
+  def _update_state(self, bounds: rl.Rectangle, content: rl.Rectangle):
+    if DEBUG:
+      rl.draw_rectangle_lines(0, 0, abs(int(self._velocity_filter_y.x)), 10, rl.RED)
 
-        # Check if movement exceeds the drag threshold
-        total_drag = abs(mouse_pos.y - self._start_mouse_y)
-        if total_drag > DRAG_THRESHOLD:
-          self._is_dragging = True
+    # Handle mouse wheel only when the mouse cursor is over this panel
+    mouse_wheel = rl.get_mouse_wheel_move()
+    if mouse_wheel != 0:
+      mouse_pos = rl.get_mouse_position()
+      if rl.check_collision_point_rec(mouse_pos, bounds):
+        self._offset_filter_y.x += mouse_wheel * MOUSE_WHEEL_SCROLL_SPEED
 
-        if self._scroll_state == ScrollState.DRAGGING_CONTENT:
-          self._offset.y += delta_y
-        elif self._scroll_state == ScrollState.DRAGGING_SCROLLBAR:
-          delta_y = -delta_y
-
-        self._last_mouse_y = mouse_pos.y
-        self._velocity_y = delta_y  # Update velocity during drag
-      elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
-        self._scroll_state = ScrollState.IDLE
-
-    # Handle mouse wheel scrolling
-    wheel_move = rl.get_mouse_wheel_move()
-    if self._show_vertical_scroll_bar:
-      self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20)
-      rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view)
-    else:
-      self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED
-
-    # Apply inertia (continue scrolling after mouse release)
+    max_scroll_distance = max(0, content.height - bounds.height)
     if self._scroll_state == ScrollState.IDLE:
-      self._offset.y += self._velocity_y
-      self._velocity_y *= INERTIA_FRICTION  # Slow down velocity over time
+      above_bounds, below_bounds = self._check_bounds(bounds, content)
 
-      # Stop scrolling when velocity is low
-      if abs(self._velocity_y) < MIN_VELOCITY:
-        self._velocity_y = 0.0
+      # Decay velocity when idle
+      if abs(self._velocity_filter_y.x) > MIN_VELOCITY:
+        # Faster decay if bouncing back from out of bounds
+        friction = math.exp(-BOUNCE_RETURN_RATE * 1 / gui_app.target_fps)
+        self._velocity_filter_y.x *= friction ** 2 if (above_bounds or below_bounds) else friction
+      else:
+        self._velocity_filter_y.x = 0.0
 
-    # Ensure scrolling doesn't go beyond bounds
-    max_scroll_y = max(content.height - bounds.height, 0)
-    self._offset.y = max(min(self._offset.y, 0), -max_scroll_y)
+      if above_bounds or below_bounds:
+        if above_bounds:
+          self._offset_filter_y.update(0)
+        else:
+          self._offset_filter_y.update(-max_scroll_distance)
 
-    return self._offset
+      self._offset_filter_y.x += self._velocity_filter_y.x / gui_app.target_fps
 
-  def is_click_valid(self) -> bool:
-    return self._scroll_state == ScrollState.IDLE and not self._is_dragging and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT)
+    elif self._scroll_state == ScrollState.DRAGGING_CONTENT:
+      # Mouse not moving, decay velocity
+      if not len(gui_app.mouse_events):
+        self._velocity_filter_y.update(0.0)
+
+    # Settle to exact bounds
+    if abs(self._offset_filter_y.x) < 1e-2:
+      self._offset_filter_y.x = 0.0
+    elif abs(self._offset_filter_y.x + max_scroll_distance) < 1e-2:
+      self._offset_filter_y.x = -max_scroll_distance
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, content: rl.Rectangle):
+    if self._scroll_state == ScrollState.IDLE:
+      if rl.check_collision_point_rec(mouse_event.pos, bounds):
+        if mouse_event.left_pressed:
+          self._start_mouse_y = mouse_event.pos.y
+          # Interrupt scrolling with new drag
+          # TODO: stop scrolling with any tap, need to fix is_touch_valid
+          if abs(self._velocity_filter_y.x) > MIN_VELOCITY_FOR_CLICKING:
+            self._scroll_state = ScrollState.DRAGGING_CONTENT
+            # Start velocity at initial measurement for more immediate response
+            self._velocity_filter_y.initialized = False
+
+        if mouse_event.left_down:
+          if abs(mouse_event.pos.y - self._start_mouse_y) > DRAG_THRESHOLD:
+            self._scroll_state = ScrollState.DRAGGING_CONTENT
+            # Start velocity at initial measurement for more immediate response
+            self._velocity_filter_y.initialized = False
+
+    elif self._scroll_state == ScrollState.DRAGGING_CONTENT:
+      if mouse_event.left_released:
+        self._scroll_state = ScrollState.IDLE
+      else:
+        delta_y = mouse_event.pos.y - self._last_mouse_y
+        above_bounds, below_bounds = self._check_bounds(bounds, content)
+        # Rubber banding effect when out of bands
+        if above_bounds or below_bounds:
+          delta_y /= 3
+
+        self._offset_filter_y.x += delta_y
+
+        # Track velocity for inertia
+        dt = mouse_event.t - self._last_drag_time
+        if dt > 0:
+          drag_velocity = delta_y / dt
+          self._velocity_filter_y.update(drag_velocity)
+
+        # TODO: just store last mouse event!
+    self._last_drag_time = mouse_event.t
+    self._last_mouse_y = mouse_event.pos.y
+
+  def _check_bounds(self, bounds: rl.Rectangle, content: rl.Rectangle) -> tuple[bool, bool]:
+    max_scroll_distance = max(0, content.height - bounds.height)
+    above_bounds = self._offset_filter_y.x > 0
+    below_bounds = self._offset_filter_y.x < -max_scroll_distance
+    return above_bounds, below_bounds
+
+  def is_touch_valid(self):
+    return self._scroll_state == ScrollState.IDLE and abs(self._velocity_filter_y.x) < MIN_VELOCITY_FOR_CLICKING
+
+  def set_offset(self, position: float) -> None:
+    self._offset_filter_y.x = position
+    self._velocity_filter_y.x = 0.0
+    self._scroll_state = ScrollState.IDLE
+
+  @property
+  def offset(self) -> float:
+    return float(self._offset_filter_y.x)
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
new file mode 100644
index 0000000000..e2a548ba26
--- /dev/null
+++ b/system/ui/lib/scroll_panel2.py
@@ -0,0 +1,231 @@
+import os
+import math
+import pyray as rl
+from collections.abc import Callable
+from enum import Enum
+from typing import cast
+from openpilot.system.ui.lib.application import gui_app, MouseEvent
+from openpilot.system.hardware import TICI
+from collections import deque
+
+MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
+MIN_VELOCITY_FOR_CLICKING = 2 * 60  # px/s, accepts clicks while auto scrolling below this velocity
+MIN_DRAG_PIXELS = 12
+AUTO_SCROLL_TC_SNAP = 0.025
+AUTO_SCROLL_TC = 0.18
+BOUNCE_RETURN_RATE = 10.0
+REJECT_DECELERATION_FACTOR = 3
+MAX_SPEED = 10000.0  # px/s
+
+DEBUG = os.getenv("DEBUG_SCROLL", "0") == "1"
+
+
+# from https://ariya.io/2011/10/flick-list-with-its-momentum-scrolling-and-deceleration
+class ScrollState(Enum):
+  STEADY = 0
+  PRESSED = 1
+  MANUAL_SCROLL = 2
+  AUTO_SCROLL = 3
+
+
+class GuiScrollPanel2:
+  def __init__(self, horizontal: bool = True, handle_out_of_bounds: bool = True) -> None:
+    self._horizontal = horizontal
+    self._handle_out_of_bounds = handle_out_of_bounds
+    self._AUTO_SCROLL_TC = AUTO_SCROLL_TC_SNAP if not self._handle_out_of_bounds else AUTO_SCROLL_TC
+    self._state = ScrollState.STEADY
+    self._offset: rl.Vector2 = rl.Vector2(0, 0)
+    self._initial_click_event: MouseEvent | None = None
+    self._previous_mouse_event: MouseEvent | None = None
+    self._velocity = 0.0  # pixels per second
+    self._velocity_buffer: deque[float] = deque(maxlen=12 if TICI else 6)
+    self._enabled: bool | Callable[[], bool] = True
+
+  def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    self._enabled = enabled
+
+  @property
+  def enabled(self) -> bool:
+    return self._enabled() if callable(self._enabled) else self._enabled
+
+  def update(self, bounds: rl.Rectangle, content_size: float) -> float:
+    if DEBUG:
+      print('Old state:', self._state)
+
+    bounds_size = bounds.width if self._horizontal else bounds.height
+
+    for mouse_event in gui_app.mouse_events:
+      self._handle_mouse_event(mouse_event, bounds, bounds_size, content_size)
+      self._previous_mouse_event = mouse_event
+
+    self._update_state(bounds_size, content_size)
+
+    if DEBUG:
+      print('Velocity:', self._velocity)
+      print('Offset X:', self._offset.x, 'Y:', self._offset.y)
+      print('New state:', self._state)
+      print()
+    return self.get_offset()
+
+  def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]:
+    """Returns (max_offset, min_offset) for the given bounds and content size."""
+    return 0.0, min(0.0, bounds_size - content_size)
+
+  def _update_state(self, bounds_size: float, content_size: float) -> None:
+    """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+
+    if self._state == ScrollState.STEADY:
+      # if we find ourselves out of bounds, scroll back in (from external layout dimension changes, etc.)
+      if self.get_offset() > max_offset or self.get_offset() < min_offset:
+        self._state = ScrollState.AUTO_SCROLL
+
+    elif self._state == ScrollState.AUTO_SCROLL:
+      # simple exponential return if out of bounds
+      out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
+      if out_of_bounds and self._handle_out_of_bounds:
+        target = max_offset if self.get_offset() > max_offset else min_offset
+
+        dt = rl.get_frame_time() or 1e-6
+        factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
+
+        dist = target - self.get_offset()
+        self.set_offset(self.get_offset() + dist * factor)  # ease toward the edge
+        self._velocity *= (1.0 - factor)  # damp any leftover fling
+
+        # Steady once we are close enough to the target
+        if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
+          self.set_offset(target)
+          self._velocity = 0.0
+          self._state = ScrollState.STEADY
+
+      elif abs(self._velocity) < MIN_VELOCITY:
+        self._velocity = 0.0
+        self._state = ScrollState.STEADY
+
+      # Update the offset based on the current velocity
+      dt = rl.get_frame_time()
+      self.set_offset(self.get_offset() + self._velocity * dt)  # Adjust the offset based on velocity
+      alpha = 1 - (dt / (self._AUTO_SCROLL_TC + dt))
+      self._velocity *= alpha
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
+                          content_size: float) -> None:
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    # simple exponential return if out of bounds
+    out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
+    if DEBUG:
+      print('Mouse event:', mouse_event)
+
+    mouse_pos = self._get_mouse_pos(mouse_event)
+
+    if not self.enabled:
+      # Reset state if not enabled
+      self._state = ScrollState.STEADY
+      self._velocity = 0.0
+      self._velocity_buffer.clear()
+
+    elif self._state == ScrollState.STEADY:
+      if rl.check_collision_point_rec(mouse_event.pos, bounds):
+        if mouse_event.left_pressed:
+          self._state = ScrollState.PRESSED
+          self._initial_click_event = mouse_event
+
+    elif self._state == ScrollState.PRESSED:
+      initial_click_pos = self._get_mouse_pos(cast(MouseEvent, self._initial_click_event))
+      diff = abs(mouse_pos - initial_click_pos)
+      if mouse_event.left_released:
+        # Special handling for down and up clicks across two frames
+        # TODO: not sure what that means or if it's accurate anymore
+        if out_of_bounds:
+          self._state = ScrollState.AUTO_SCROLL
+        elif diff <= MIN_DRAG_PIXELS:
+          self._state = ScrollState.STEADY
+        else:
+          self._state = ScrollState.MANUAL_SCROLL
+      elif diff > MIN_DRAG_PIXELS:
+        self._state = ScrollState.MANUAL_SCROLL
+
+    elif self._state == ScrollState.MANUAL_SCROLL:
+      if mouse_event.left_released:
+        # Touch rejection: when releasing finger after swiping and stopping, panel
+        # reports a few erroneous touch events with high velocity, try to ignore.
+
+        # If velocity decelerates very quickly, assume user doesn't intend to auto scroll
+        high_decel = False
+        if len(self._velocity_buffer) > 2:
+          # We limit max to first half since final few velocities can surpass first few
+          abs_velocity_buffer = [(abs(v), i) for i, v in enumerate(self._velocity_buffer)]
+          max_idx = max(abs_velocity_buffer[:len(abs_velocity_buffer) // 2])[1]
+          min_idx = min(abs_velocity_buffer)[1]
+          if DEBUG:
+            print('min_idx:', min_idx, 'max_idx:', max_idx, 'velocity buffer:', self._velocity_buffer)
+          if (abs(self._velocity_buffer[min_idx]) * REJECT_DECELERATION_FACTOR < abs(self._velocity_buffer[max_idx]) and
+              max_idx < min_idx):
+            if DEBUG:
+              print('deceleration too high, going to STEADY')
+            high_decel = True
+
+        # If final velocity is below some threshold, switch to steady state too
+        low_speed = abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING * 1.5  # plus some margin
+
+        if out_of_bounds or not (high_decel or low_speed):
+          self._state = ScrollState.AUTO_SCROLL
+        else:
+          # TODO: we should just set velocity and let autoscroll go back to steady. delays one frame but who cares
+          self._velocity = 0.0
+          self._state = ScrollState.STEADY
+        self._velocity_buffer.clear()
+      else:
+        # Update velocity for when we release the mouse button.
+        # Do not update velocity on the same frame the mouse was released
+        previous_mouse_pos = self._get_mouse_pos(cast(MouseEvent, self._previous_mouse_event))
+        delta_x = mouse_pos - previous_mouse_pos
+        delta_t = max((mouse_event.t - cast(MouseEvent, self._previous_mouse_event).t), 1e-6)
+        self._velocity = delta_x / delta_t
+        self._velocity = max(-MAX_SPEED, min(MAX_SPEED, self._velocity))
+        self._velocity_buffer.append(self._velocity)
+
+        # rubber-banding: reduce dragging when out of bounds
+        # TODO: this drifts when dragging quickly
+        if out_of_bounds:
+          delta_x *= 0.25
+
+        # Update the offset based on the mouse movement
+        # Use internal _offset directly to preserve precision (don't round via get_offset())
+        # TODO: make get_offset return float
+        current_offset = self._offset.x if self._horizontal else self._offset.y
+        self.set_offset(current_offset + delta_x)
+
+    elif self._state == ScrollState.AUTO_SCROLL:
+      if mouse_event.left_pressed:
+        # Decide whether to click or scroll (block click if moving too fast)
+        if abs(self._velocity) <= MIN_VELOCITY_FOR_CLICKING:
+          # Traveling slow enough, click
+          self._state = ScrollState.PRESSED
+          self._initial_click_event = mouse_event
+        else:
+          # Go straight into manual scrolling to block erroneous input
+          self._state = ScrollState.MANUAL_SCROLL
+          # Reset velocity for touch down and up events that happen in back-to-back frames
+          self._velocity = 0.0
+
+  def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
+    return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
+
+  def get_offset(self) -> float:
+    return self._offset.x if self._horizontal else self._offset.y
+
+  def set_offset(self, value: float) -> None:
+    if self._horizontal:
+      self._offset.x = value
+    else:
+      self._offset.y = value
+
+  @property
+  def state(self) -> ScrollState:
+    return self._state
+
+  def is_touch_valid(self) -> bool:
+    # MIN_VELOCITY_FOR_CLICKING is checked in auto-scroll state
+    return bool(self._state != ScrollState.MANUAL_SCROLL)
diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py
new file mode 100644
index 0000000000..94af35e157
--- /dev/null
+++ b/system/ui/lib/shader_polygon.py
@@ -0,0 +1,238 @@
+import pyray as rl
+import numpy as np
+from dataclasses import dataclass
+from typing import Any, Optional, cast
+from openpilot.system.ui.lib.application import gui_app, GL_VERSION
+
+MAX_GRADIENT_COLORS = 20  # includes stops as well
+
+
+@dataclass
+class Gradient:
+  start: tuple[float, float]
+  end: tuple[float, float]
+  colors: list[rl.Color]
+  stops: list[float]
+
+  def __post_init__(self):
+    if len(self.colors) > MAX_GRADIENT_COLORS:
+      self.colors = self.colors[:MAX_GRADIENT_COLORS]
+      print(f"Warning: Gradient colors truncated to {MAX_GRADIENT_COLORS} entries")
+
+    if len(self.stops) > MAX_GRADIENT_COLORS:
+      self.stops = self.stops[:MAX_GRADIENT_COLORS]
+      print(f"Warning: Gradient stops truncated to {MAX_GRADIENT_COLORS} entries")
+
+    if not len(self.stops):
+      color_count = min(len(self.colors), MAX_GRADIENT_COLORS)
+      self.stops = [i / max(1, color_count - 1) for i in range(color_count)]
+
+
+FRAGMENT_SHADER = GL_VERSION + """
+in vec2 fragTexCoord;
+out vec4 finalColor;
+
+uniform vec4 fillColor;
+
+// Gradient line defined in *screen pixels*
+uniform int useGradient;
+uniform vec2 gradientStart;  // e.g. vec2(0, 0)
+uniform vec2 gradientEnd;    // e.g. vec2(0, screenHeight)
+uniform vec4 gradientColors[20];
+uniform float gradientStops[20];
+uniform int gradientColorCount;
+
+vec4 getGradientColor(vec2 p) {
+  // Compute t from screen-space position
+  vec2 d = gradientStart - gradientEnd;
+  float len2 = max(dot(d, d), 1e-6);
+  float t = clamp(dot(p - gradientEnd, d) / len2, 0.0, 1.0);
+
+  // Clamp to range
+  float t0 = gradientStops[0];
+  float tn = gradientStops[gradientColorCount-1];
+  if (t <= t0) return gradientColors[0];
+  if (t >= tn) return gradientColors[gradientColorCount-1];
+
+  for (int i = 0; i < gradientColorCount - 1; i++) {
+    float a = gradientStops[i];
+    float b = gradientStops[i+1];
+    if (t >= a && t <= b) {
+      float k = (t - a) / max(b - a, 1e-6);
+      return mix(gradientColors[i], gradientColors[i+1], k);
+    }
+  }
+
+  return gradientColors[gradientColorCount-1];
+}
+
+void main() {
+  // TODO: do proper antialiasing
+  finalColor = useGradient == 1 ? getGradientColor(gl_FragCoord.xy) : fillColor;
+}
+"""
+
+# Default vertex shader
+VERTEX_SHADER = GL_VERSION + """
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+out vec2 fragTexCoord;
+uniform mat4 mvp;
+
+void main() {
+  fragTexCoord = vertexTexCoord;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+
+UNIFORM_INT = rl.ShaderUniformDataType.SHADER_UNIFORM_INT
+UNIFORM_FLOAT = rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT
+UNIFORM_VEC2 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2
+UNIFORM_VEC4 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4
+
+
+class ShaderState:
+  _instance: Any = None
+
+  @classmethod
+  def get_instance(cls):
+    if cls._instance is None:
+      cls._instance = cls()
+    return cls._instance
+
+  def __init__(self):
+    if ShaderState._instance is not None:
+      raise Exception("This class is a singleton. Use get_instance() instead.")
+
+    self.initialized = False
+    self.shader = None
+
+    # Shader uniform locations
+    self.locations = {
+      'fillColor': None,
+      'useGradient': None,
+      'gradientStart': None,
+      'gradientEnd': None,
+      'gradientColors': None,
+      'gradientStops': None,
+      'gradientColorCount': None,
+      'mvp': None,
+    }
+
+    # Pre-allocated FFI objects
+    self.fill_color_ptr = rl.ffi.new("float[]", [0.0, 0.0, 0.0, 0.0])
+    self.use_gradient_ptr = rl.ffi.new("int[]", [0])
+    self.color_count_ptr = rl.ffi.new("int[]", [0])
+    self.gradient_colors_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS * 4)
+    self.gradient_stops_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS)
+
+  def initialize(self):
+    if self.initialized:
+      return
+
+    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAGMENT_SHADER)
+
+    # Cache all uniform locations
+    for uniform in self.locations.keys():
+      self.locations[uniform] = rl.get_shader_location(self.shader, uniform)
+
+    # Orthographic MVP (origin top-left)
+    proj = rl.matrix_ortho(0, gui_app.width, gui_app.height, 0, -1, 1)
+    rl.set_shader_value_matrix(self.shader, self.locations['mvp'], proj)
+
+    self.initialized = True
+
+  def cleanup(self):
+    if not self.initialized:
+      return
+    if self.shader:
+      rl.unload_shader(self.shader)
+      self.shader = None
+
+    self.initialized = False
+
+
+def _configure_shader_color(state: ShaderState, color: Optional[rl.Color],
+                            gradient: Gradient | None, origin_rect: rl.Rectangle):
+  assert (color is not None) != (gradient is not None), "Either color or gradient must be provided"
+
+  use_gradient = 1 if (gradient is not None and len(gradient.colors) >= 1) else 0
+  state.use_gradient_ptr[0] = use_gradient
+  rl.set_shader_value(state.shader, state.locations['useGradient'], state.use_gradient_ptr, UNIFORM_INT)
+
+  if use_gradient:
+    gradient = cast(Gradient, gradient)
+    state.color_count_ptr[0] = len(gradient.colors)
+    for i in range(len(gradient.colors)):
+      c = gradient.colors[i]
+      base = i * 4
+      state.gradient_colors_ptr[base:base + 4] = [c.r / 255.0, c.g / 255.0, c.b / 255.0, c.a / 255.0]
+    rl.set_shader_value_v(state.shader, state.locations['gradientColors'], state.gradient_colors_ptr, UNIFORM_VEC4, len(gradient.colors))
+
+    for i in range(len(gradient.stops)):
+      s = float(gradient.stops[i])
+      state.gradient_stops_ptr[i] = 0.0 if s < 0.0 else 1.0 if s > 1.0 else s
+    rl.set_shader_value_v(state.shader, state.locations['gradientStops'], state.gradient_stops_ptr, UNIFORM_FLOAT, len(gradient.stops))
+    rl.set_shader_value(state.shader, state.locations['gradientColorCount'], state.color_count_ptr, UNIFORM_INT)
+
+    # Map normalized start/end to screen pixels
+    start_vec = rl.Vector2(origin_rect.x + gradient.start[0] * origin_rect.width, origin_rect.y + gradient.start[1] * origin_rect.height)
+    end_vec = rl.Vector2(origin_rect.x + gradient.end[0] * origin_rect.width, origin_rect.y + gradient.end[1] * origin_rect.height)
+    rl.set_shader_value(state.shader, state.locations['gradientStart'], start_vec, UNIFORM_VEC2)
+    rl.set_shader_value(state.shader, state.locations['gradientEnd'], end_vec, UNIFORM_VEC2)
+  else:
+    color = color or rl.WHITE
+    state.fill_color_ptr[0:4] = [color.r / 255.0, color.g / 255.0, color.b / 255.0, color.a / 255.0]
+    rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4)
+
+
+def triangulate(pts: np.ndarray) -> list[tuple[float, float]]:
+  """Only supports simple polygons with two chains (ribbon)."""
+
+  # TODO: consider deduping close screenspace points
+  # interleave points to produce a triangle strip
+  # assert len(pts) % 2 == 0, "Interleaving expects even number of points"
+  if len(pts) % 2 != 0:
+    pts = pts[:-1]
+
+  tri_strip = []
+  for i in range(len(pts) // 2):
+    tri_strip.append(pts[i])
+    tri_strip.append(pts[-i - 1])
+
+  return cast(list, np.array(tri_strip).tolist())
+
+
+def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray,
+                 color: Optional[rl.Color] = None, gradient: Gradient | None = None):
+
+  """
+  Draw a ribbon polygon (two chains) with a triangle strip and gradient.
+  - Input must be [L0..Lk-1, Rk-1..R0], even count, no crossings/holes.
+  """
+  if len(points) < 3:
+    return
+
+  # Initialize shader on-demand
+  state = ShaderState.get_instance()
+  state.initialize()
+
+  # Ensure (N,2) float32 contiguous array
+  pts = np.ascontiguousarray(points, dtype=np.float32)
+  assert pts.ndim == 2 and pts.shape[1] == 2, "points must be (N,2)"
+
+  # Configure gradient shader
+  _configure_shader_color(state, color, gradient, origin_rect)
+
+  # Triangulate via interleaving
+  tri_strip = triangulate(pts)
+
+  # Draw strip, color here doesn't matter
+  rl.begin_shader_mode(state.shader)
+  rl.draw_triangle_strip(tri_strip, len(tri_strip), rl.WHITE)
+  rl.end_shader_mode()
+
+
+def cleanup_shader_resources():
+  state = ShaderState.get_instance()
+  state.cleanup()
diff --git a/system/ui/lib/tests/test_handle_state_change.py b/system/ui/lib/tests/test_handle_state_change.py
new file mode 100644
index 0000000000..69aae6fdf3
--- /dev/null
+++ b/system/ui/lib/tests/test_handle_state_change.py
@@ -0,0 +1,906 @@
+"""Tests for WifiManager._handle_state_change.
+
+Tests the state machine in isolation by constructing a WifiManager with mocked
+DBus, then calling _handle_state_change directly with NM state transitions.
+"""
+import pytest
+from jeepney.low_level import MessageType
+from pytest_mock import MockerFixture
+
+from openpilot.system.ui.lib.networkmanager import NMDeviceState, NMDeviceStateReason
+from openpilot.system.ui.lib.wifi_manager import WifiManager, WifiState, ConnectStatus
+
+
+def _make_wm(mocker: MockerFixture, connections=None):
+  """Create a WifiManager with only the fields _handle_state_change touches."""
+  mocker.patch.object(WifiManager, '_initialize')
+  wm = WifiManager.__new__(WifiManager)
+  wm._exit = True  # prevent stop() from doing anything in __del__
+  wm._conn_monitor = mocker.MagicMock()
+  wm._connections = dict(connections or {})
+  wm._wifi_state = WifiState()
+  wm._user_epoch = 0
+  wm._callback_queue = []
+  wm._need_auth = []
+  wm._activated = []
+  wm._update_networks = mocker.MagicMock()
+  wm._update_active_connection_info = mocker.MagicMock()
+  wm._get_active_wifi_connection = mocker.MagicMock(return_value=(None, None))
+  return wm
+
+
+def fire(wm: WifiManager, new_state: int, prev_state: int = NMDeviceState.UNKNOWN,
+         reason: int = NMDeviceStateReason.NONE) -> None:
+  """Feed a state change into the handler."""
+  wm._handle_state_change(new_state, prev_state, reason)
+
+
+def fire_wpa_connect(wm: WifiManager) -> None:
+  """WPA handshake then IP negotiation through ACTIVATED, as seen on device."""
+  fire(wm, NMDeviceState.NEED_AUTH)
+  fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+  fire(wm, NMDeviceState.CONFIG)
+  fire(wm, NMDeviceState.IP_CONFIG)
+  fire(wm, NMDeviceState.IP_CHECK)
+  fire(wm, NMDeviceState.SECONDARIES)
+  fire(wm, NMDeviceState.ACTIVATED)
+
+
+# ---------------------------------------------------------------------------
+# Basic transitions
+# ---------------------------------------------------------------------------
+
+class TestDisconnected:
+  def test_generic_disconnect_clears_state(self, mocker):
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.UNKNOWN)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    wm._update_networks.assert_not_called()
+
+  def test_new_activation_is_noop(self, mocker):
+    """NEW_ACTIVATION means NM is about to connect to another network — don't clear."""
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="OldNet", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.NEW_ACTIVATION)
+
+    assert wm._wifi_state.ssid == "OldNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_connection_removed_keeps_other_connecting(self, mocker):
+    """Forget A while connecting to B: CONNECTION_REMOVED for A must not clear B."""
+    wm = _make_wm(mocker, connections={"B": "/path/B"})
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_connection_removed_clears_when_forgotten(self, mocker):
+    """Forget A: A is no longer in _connections, so state should clear."""
+    wm = _make_wm(mocker, connections={})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+
+class TestDeactivating:
+  def test_deactivating_noop_for_non_connection_removed(self, mocker):
+    """DEACTIVATING with non-CONNECTION_REMOVED reason is a no-op."""
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="Net", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.USER_REQUESTED)
+
+    assert wm._wifi_state.ssid == "Net"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  @pytest.mark.parametrize("status, expected_clears", [
+    (ConnectStatus.CONNECTED, True),
+    (ConnectStatus.CONNECTING, False),
+  ])
+  def test_deactivating_connection_removed(self, mocker, status, expected_clears):
+    """DEACTIVATING(CONNECTION_REMOVED) clears CONNECTED but preserves CONNECTING.
+
+    CONNECTED: forgetting the current network. The forgotten callback fires between
+    DEACTIVATING and DISCONNECTED — must clear here so the UI doesn't flash "connected"
+    after the eager _network_forgetting flag resets.
+
+    CONNECTING: forget A while connecting to B. DEACTIVATING fires for A's removal,
+    but B's CONNECTING state must be preserved.
+    """
+    wm = _make_wm(mocker, connections={"B": "/path/B"})
+    wm._wifi_state = WifiState(ssid="B" if status == ConnectStatus.CONNECTING else "A", status=status)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.CONNECTION_REMOVED)
+
+    if expected_clears:
+      assert wm._wifi_state.ssid is None
+      assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    else:
+      assert wm._wifi_state.ssid == "B"
+      assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+class TestPrepareConfig:
+  def test_user_initiated_skips_dbus_lookup(self, mocker):
+    """User called _set_connecting('B') — PREPARE must not overwrite via DBus.
+
+    Reproduced on device: rapidly tap A then B. PREPARE's DBus lookup returns A's
+    stale conn_path, overwriting ssid to A for 1-2 frames. UI shows the "connecting"
+    indicator briefly jump to the wrong network row then back.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._set_connecting("B")
+    wm._get_active_wifi_connection.return_value = ("/path/A", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    wm._get_active_wifi_connection.assert_not_called()
+
+  @pytest.mark.parametrize("state", [NMDeviceState.PREPARE, NMDeviceState.CONFIG])
+  def test_auto_connect_looks_up_ssid(self, mocker, state):
+    """Auto-connection (ssid=None): PREPARE and CONFIG must look up ssid from NM."""
+    wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
+    wm._get_active_wifi_connection.return_value = ("/path/auto", {})
+
+    fire(wm, state)
+
+    assert wm._wifi_state.ssid == "AutoNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_auto_connect_dbus_fails(self, mocker):
+    """Auto-connection but DBus returns None: ssid stays None, status CONNECTING."""
+    wm = _make_wm(mocker)
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_auto_connect_conn_path_not_in_connections(self, mocker):
+    """DBus returns a conn_path that doesn't match any known connection."""
+    wm = _make_wm(mocker, connections={"Other": "/path/other"})
+    wm._get_active_wifi_connection.return_value = ("/path/unknown", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+class TestNeedAuth:
+  def test_wrong_password_fires_callback(self, mocker):
+    """NEED_AUTH+SUPPLICANT_DISCONNECT from CONFIG = real wrong password."""
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("SecNet")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once_with("SecNet")
+
+  def test_failed_no_secrets_fires_callback(self, mocker):
+    """FAILED+NO_SECRETS = wrong password (weak/gone network).
+
+    Confirmed on device: also fires when a hotspot turns off during connection.
+    NM can't complete the WPA handshake (AP vanished) and reports NO_SECRETS
+    rather than SSID_NOT_FOUND. The need_auth callback fires, so the UI shows
+    "wrong password" — a false positive, but same signal path.
+
+    Real device sequence (new connection, hotspot turned off immediately):
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → FAILED(NEED_AUTH, NO_SECRETS) → DISCONNECTED(FAILED, NONE)
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("WeakNet")
+
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NO_SECRETS)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once_with("WeakNet")
+
+  def test_need_auth_then_failed_no_double_fire(self, mocker):
+    """Real device sends NEED_AUTH(SUPPLICANT_DISCONNECT) then FAILED(NO_SECRETS) back-to-back.
+
+    The first clears ssid, so the second must not fire a duplicate callback.
+    Real device sequence: NEED_AUTH(CONFIG, SUPPLICANT_DISCONNECT) → FAILED(NEED_AUTH, NO_SECRETS)
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("BadPass")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.FAILED, prev_state=NMDeviceState.NEED_AUTH,
+         reason=NMDeviceStateReason.NO_SECRETS)
+    assert len(wm._callback_queue) == 1  # no duplicate
+
+    wm.process_callbacks()
+    cb.assert_called_once_with("BadPass")
+
+  def test_no_ssid_no_callback(self, mocker):
+    """If ssid is None when NEED_AUTH fires, no callback enqueued."""
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    fire(wm, NMDeviceState.NEED_AUTH, reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert len(wm._callback_queue) == 0
+
+  def test_interrupted_auth_ignored(self, mocker):
+    """Switching A->B: NEED_AUTH from A (prev=DISCONNECTED) must not fire callback.
+
+    Reproduced on device: rapidly switching between two saved networks can trigger a
+    rare false "wrong password" dialog for the previous network, even though both have
+    correct passwords. The stale NEED_AUTH has prev_state=DISCONNECTED (not CONFIG).
+    """
+    wm = _make_wm(mocker)
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._set_connecting("A")
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.DISCONNECTED,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+
+class TestPassthroughStates:
+  """NEED_AUTH (generic), IP_CONFIG, IP_CHECK, SECONDARIES, FAILED (generic) are no-ops."""
+
+  @pytest.mark.parametrize("state", [
+    NMDeviceState.NEED_AUTH,
+    NMDeviceState.IP_CONFIG,
+    NMDeviceState.IP_CHECK,
+    NMDeviceState.SECONDARIES,
+    NMDeviceState.FAILED,
+  ])
+  def test_passthrough_is_noop(self, mocker, state):
+    wm = _make_wm(mocker)
+    wm._set_connecting("Net")
+
+    fire(wm, state, reason=NMDeviceStateReason.NONE)
+
+    assert wm._wifi_state.ssid == "Net"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+
+class TestActivated:
+  def test_sets_connected(self, mocker):
+    """ACTIVATED sets status to CONNECTED and fires callback."""
+    wm = _make_wm(mocker, connections={"MyNet": "/path/mynet"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(activated=cb)
+    wm._set_connecting("MyNet")
+    wm._get_active_wifi_connection.return_value = ("/path/mynet", {})
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "MyNet"
+    assert len(wm._callback_queue) == 1
+    wm.process_callbacks()
+    cb.assert_called_once()
+
+  def test_conn_path_none_still_connected(self, mocker):
+    """ACTIVATED but DBus returns None: status CONNECTED, ssid unchanged."""
+    wm = _make_wm(mocker)
+    wm._set_connecting("MyNet")
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "MyNet"
+
+  def test_activated_side_effects(self, mocker):
+    """ACTIVATED persists the volatile connection to disk and updates active connection info."""
+    wm = _make_wm(mocker, connections={"Net": "/path/net"})
+    wm._set_connecting("Net")
+    wm._get_active_wifi_connection.return_value = ("/path/net", {})
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    wm._conn_monitor.send_and_get_reply.assert_called_once()
+    wm._update_active_connection_info.assert_called_once()
+    wm._update_networks.assert_not_called()
+
+
+# ---------------------------------------------------------------------------
+# Thread races: _set_connecting on main thread vs _handle_state_change on monitor thread.
+# Uses side_effect on the DBus mock to simulate _set_connecting running mid-handler.
+# The epoch counter detects that a user action occurred during the slow DBus call
+# and discards the stale update.
+# ---------------------------------------------------------------------------
+# The deterministic fixes (skip DBus lookup when ssid already set, prev_state guard
+# on NEED_AUTH, DEACTIVATING clears CONNECTED on CONNECTION_REMOVED, CONNECTION_REMOVED
+# guard) shrink these race windows significantly. The epoch counter closes the
+# remaining gaps.
+
+class TestThreadRaces:
+  def test_prepare_race_user_tap_during_dbus(self, mocker):
+    """User taps B while PREPARE's DBus call is in flight for auto-connect.
+
+    Monitor thread reads wifi_state (ssid=None), starts DBus call.
+    Main thread: _set_connecting("B"). Monitor thread writes back stale ssid from DBus.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    fire(wm, NMDeviceState.PREPARE)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_activated_race_user_tap_during_dbus(self, mocker):
+    """User taps B right as A finishes connecting (ACTIVATED handler running).
+
+    Monitor thread reads wifi_state (A, CONNECTING), starts DBus call.
+    Main thread: _set_connecting("B"). Monitor thread writes (A, CONNECTED), losing B.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._set_connecting("A")
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+  def test_init_wifi_state_race_user_tap_during_dbus(self, mocker):
+    """User taps B while _init_wifi_state's DBus calls are in flight.
+
+    _init_wifi_state runs from set_active(True) or worker error paths. It does
+    2 DBus calls (device State property + _get_active_wifi_connection) then
+    unconditionally writes _wifi_state. If the user taps a network during those
+    calls, _set_connecting("B") is overwritten with stale NM ground truth.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._router_main = mocker.MagicMock()
+
+    state_reply = mocker.MagicMock()
+    state_reply.body = [('u', NMDeviceState.ACTIVATED)]
+    wm._router_main.send_and_get_reply.return_value = state_reply
+
+    def user_taps_b_during_dbus(*args, **kwargs):
+      wm._set_connecting("B")
+      return ("/path/A", {})
+
+    wm._get_active_wifi_connection.side_effect = user_taps_b_during_dbus
+
+    wm._init_wifi_state()
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+
+# ---------------------------------------------------------------------------
+# Full sequences (NM signal order from real devices)
+# ---------------------------------------------------------------------------
+
+class TestFullSequences:
+  def test_normal_connect(self, mocker):
+    """User connects to saved network: full happy path.
+
+    Real device sequence (switching from another connected network):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"Home": "/path/home"})
+    wm._get_active_wifi_connection.return_value = ("/path/home", {})
+
+    wm._set_connecting("Home")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.IP_CONFIG)
+    fire(wm, NMDeviceState.IP_CHECK)
+    fire(wm, NMDeviceState.SECONDARIES)
+    fire(wm, NMDeviceState.ACTIVATED)
+
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "Home"
+
+  def test_wrong_password_then_retry(self, mocker):
+    """Wrong password → NEED_AUTH → FAILED → NM auto-reconnects to saved network.
+
+    Confirmed on device: wrong password for Shane's iPhone, NM auto-connected to unifi.
+
+    Real device sequence (switching from a connected network):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE)              ← WPA handshake
+      → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → NEED_AUTH(CONFIG, SUPPLICANT_DISCONNECT)                 ← wrong password
+      → FAILED(NEED_AUTH, NO_SECRETS)                            ← NM gives up
+      → DISCONNECTED(FAILED, NONE)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED          ← auto-reconnect to other saved network
+    """
+    wm = _make_wm(mocker, connections={"Sec": "/path/sec"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("Sec")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+
+    # FAILED(NO_SECRETS) follows but ssid is already cleared — no double-fire
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NO_SECRETS)
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.FAILED)
+
+    # Retry
+    wm._callback_queue.clear()
+    wm._set_connecting("Sec")
+    wm._get_active_wifi_connection.return_value = ("/path/sec", {})
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_switch_saved_networks(self, mocker):
+    """Switch from A to B (both saved): NM signal sequence from real device.
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_rapid_switch_no_false_wrong_password(self, mocker):
+    """Switch A→B quickly: A's interrupted NEED_AUTH must NOT show wrong password.
+
+    NOTE: The late NEED_AUTH(DISCONNECTED, SUPPLICANT_DISCONNECT) is common when rapidly
+    switching between networks with wrong/new passwords. Less common when switching between
+    saved networks with correct passwords. Not guaranteed — some switches skip it and go
+    straight from DISCONNECTED to PREPARE. The prev_state is consistently DISCONNECTED
+    for stale signals, so the prev_state guard reliably distinguishes them.
+
+    Worst-case signal sequence this protects against:
+      DEACTIVATING(NEW_ACTIVATION) → DISCONNECTED(NEW_ACTIVATION)
+      → NEED_AUTH(DISCONNECTED, SUPPLICANT_DISCONNECT)  ← A's stale auth failure
+      → PREPARE → CONFIG → ... → ACTIVATED  ← B connects
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    wm._set_connecting("B")
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.NEW_ACTIVATION)
+    fire(wm, NMDeviceState.NEED_AUTH, prev_state=NMDeviceState.DISCONNECTED,
+         reason=NMDeviceStateReason.SUPPLICANT_DISCONNECT)
+
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+    assert len(wm._callback_queue) == 0
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_forget_while_connecting(self, mocker):
+    """Forget the network we're currently connecting to (not yet ACTIVATED).
+
+    Confirmed on device: connected to unifi, tapped Shane's iPhone, then forgot
+    Shane's iPhone while at CONFIG. NM auto-connected to unifi afterward.
+
+    Real device sequence (switching then forgetting mid-connection):
+      DEACTIVATING(ACTIVATED, NEW_ACTIVATION) → DISCONNECTED(DEACTIVATING, NEW_ACTIVATION)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → DEACTIVATING(CONFIG, CONNECTION_REMOVED)                ← forget at CONFIG
+      → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+      → PREPARE → CONFIG → ... → ACTIVATED                     ← NM auto-connects to other saved network
+
+    Note: DEACTIVATING fires from CONFIG (not ACTIVATED). wifi_state.status is
+    CONNECTING, so the DEACTIVATING handler is a no-op. DISCONNECTED clears state
+    (ssid removed from _connections by ConnectionRemoved), then PREPARE recovers
+    via DBus lookup for the auto-connect.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "Other": "/path/other"})
+    wm._get_active_wifi_connection.return_value = ("/path/other", {})
+
+    wm._set_connecting("A")
+
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # User forgets A: ConnectionRemoved processed first, then state changes
+    del wm._connections["A"]
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.CONFIG,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING  # DEACTIVATING preserves CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # NM auto-connects to another saved network
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "Other"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "Other"
+
+  def test_forget_connected_network(self, mocker):
+    """Forget the currently connected network (not switching to another).
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, CONNECTION_REMOVED) → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+
+    ConnectionRemoved signal may or may not have been processed before state changes.
+    Either way, state must clear — we're forgetting what we're connected to, not switching.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # DISCONNECTED follows — harmless since state is already cleared
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+  def test_forget_A_connect_B(self, mocker):
+    """Forget A while connecting to B: full signal sequence.
+
+    Real device sequence:
+      DEACTIVATING(ACTIVATED, CONNECTION_REMOVED) → DISCONNECTED(DEACTIVATING, CONNECTION_REMOVED)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH, NONE) → CONFIG
+      → IP_CONFIG → IP_CHECK → SECONDARIES → ACTIVATED
+
+    Signal order:
+      1. User: _set_connecting("B"), forget("A") removes A from _connections
+      2. NewConnection for B arrives → _connections["B"] = ...
+      3. DEACTIVATING(CONNECTION_REMOVED) — no-op
+      4. DISCONNECTED(CONNECTION_REMOVED) — B is in _connections, must not clear
+      5. PREPARE → CONFIG → NEED_AUTH → PREPARE → CONFIG → ... → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    wm._set_connecting("B")
+    del wm._connections["A"]
+    wm._connections["B"] = "/path/B"
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_forget_A_connect_B_late_new_connection(self, mocker):
+    """Forget A, connect B: NewConnection for B arrives AFTER DISCONNECTED.
+
+    This is the worst-case race: B isn't in _connections when DISCONNECTED fires,
+    so the guard can't protect it and state clears. PREPARE must recover by doing
+    the DBus lookup (ssid is None at that point).
+
+    Signal order:
+      1. User: _set_connecting("B"), forget("A") removes A from _connections
+      2. DEACTIVATING(CONNECTION_REMOVED) — B NOT in _connections, should be no-op
+      3. DISCONNECTED(CONNECTION_REMOVED) — B STILL NOT in _connections, clears state
+      4. NewConnection for B arrives late → _connections["B"] = ...
+      5. PREPARE (ssid=None, so DBus lookup recovers) → CONFIG → ACTIVATED
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+
+    wm._set_connecting("B")
+    del wm._connections["A"]
+
+    fire(wm, NMDeviceState.DEACTIVATING, prev_state=NMDeviceState.ACTIVATED,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.DEACTIVATING,
+         reason=NMDeviceStateReason.CONNECTION_REMOVED)
+    # B not in _connections yet, so state clears — this is the known edge case
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    # NewConnection arrives late
+    wm._connections["B"] = "/path/B"
+    wm._get_active_wifi_connection.return_value = ("/path/B", {})
+
+    # PREPARE recovers: ssid is None so it looks up from DBus
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "B"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "B"
+
+  def test_auto_connect(self, mocker):
+    """NM auto-connects (no user action, ssid starts None)."""
+    wm = _make_wm(mocker, connections={"AutoNet": "/path/auto"})
+    wm._get_active_wifi_connection.return_value = ("/path/auto", {})
+
+    fire(wm, NMDeviceState.PREPARE)
+    assert wm._wifi_state.ssid == "AutoNet"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    fire(wm, NMDeviceState.CONFIG)
+    fire_wpa_connect(wm)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+    assert wm._wifi_state.ssid == "AutoNet"
+
+  def test_network_lost_during_connection(self, mocker):
+    """Hotspot turned off while connecting (before ACTIVATED).
+
+    Confirmed on device: started new connection to Shane's iPhone, immediately
+    turned off the hotspot. NM can't complete WPA handshake and reports
+    FAILED(NO_SECRETS) — same signal as wrong password (false positive).
+
+    Real device sequence:
+      PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → FAILED(NEED_AUTH, NO_SECRETS) → DISCONNECTED(FAILED, NONE)
+
+    Note: no DEACTIVATING, no SUPPLICANT_DISCONNECT. The NEED_AUTH(CONFIG, NONE) is the
+    normal WPA handshake (not an error). NM gives up with NO_SECRETS because the AP
+    vanished mid-handshake.
+    """
+    wm = _make_wm(mocker, connections={"Hotspot": "/path/hs"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("Hotspot")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.NEED_AUTH)  # WPA handshake (reason=NONE)
+    fire(wm, NMDeviceState.PREPARE, prev_state=NMDeviceState.NEED_AUTH)
+    fire(wm, NMDeviceState.CONFIG)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # Second NEED_AUTH(CONFIG, NONE) — NM retries handshake, AP vanishing
+    fire(wm, NMDeviceState.NEED_AUTH)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING
+
+    # NM gives up — reports NO_SECRETS (same as wrong password)
+    fire(wm, NMDeviceState.FAILED, prev_state=NMDeviceState.NEED_AUTH,
+         reason=NMDeviceStateReason.NO_SECRETS)
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert len(wm._callback_queue) == 1
+
+    fire(wm, NMDeviceState.DISCONNECTED, prev_state=NMDeviceState.FAILED)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+    wm.process_callbacks()
+    cb.assert_called_once_with("Hotspot")
+
+  @pytest.mark.xfail(reason="TODO: FAILED(SSID_NOT_FOUND) should emit error for UI")
+  def test_ssid_not_found(self, mocker):
+    """Network drops off while connected — hotspot turned off.
+
+    NM docs: SSID_NOT_FOUND (53) = "The WiFi network could not be found"
+
+    Confirmed on device: connected to Shane's iPhone, then turned off the hotspot.
+    No DEACTIVATING fires — NM goes straight from ACTIVATED to FAILED(SSID_NOT_FOUND).
+    NM retries connecting (PREPARE → CONFIG → ... → FAILED(CONFIG, SSID_NOT_FOUND))
+    before finally giving up with DISCONNECTED.
+
+    NOTE: turning off a hotspot during initial connection (before ACTIVATED) typically
+    produces FAILED(NO_SECRETS) instead of SSID_NOT_FOUND (see test_failed_no_secrets).
+
+    Real device sequence (hotspot turned off while connected):
+      FAILED(ACTIVATED, SSID_NOT_FOUND) → DISCONNECTED(FAILED, NONE)
+      → PREPARE → CONFIG → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → NEED_AUTH(CONFIG, NONE) → PREPARE(NEED_AUTH) → CONFIG
+      → FAILED(CONFIG, SSID_NOT_FOUND) → DISCONNECTED(FAILED, NONE)
+
+    The UI error callback mechanism is intentionally deferred — for now just clear state.
+    """
+    wm = _make_wm(mocker, connections={"GoneNet": "/path/gone"})
+    cb = mocker.MagicMock()
+    wm.add_callbacks(need_auth=cb)
+
+    wm._set_connecting("GoneNet")
+    fire(wm, NMDeviceState.PREPARE)
+    fire(wm, NMDeviceState.CONFIG)
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.SSID_NOT_FOUND)
+
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+    assert wm._wifi_state.ssid is None
+
+  def test_failed_then_disconnected_clears_state(self, mocker):
+    """After FAILED, NM always transitions to DISCONNECTED to clean up.
+
+    NM docs: FAILED (120) = "failed to connect, cleaning up the connection request"
+    Full sequence: ... → FAILED(reason) → DISCONNECTED(NONE)
+    """
+    wm = _make_wm(mocker)
+    wm._set_connecting("Net")
+
+    fire(wm, NMDeviceState.FAILED, reason=NMDeviceStateReason.NONE)
+    assert wm._wifi_state.status == ConnectStatus.CONNECTING  # FAILED(NONE) is a no-op
+
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.NONE)
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+  def test_user_requested_disconnect(self, mocker):
+    """User explicitly disconnects from the network.
+
+    NM docs: USER_REQUESTED (39) = "Device disconnected by user or client"
+    Expected sequence: DEACTIVATING(USER_REQUESTED) → DISCONNECTED(USER_REQUESTED)
+    """
+    wm = _make_wm(mocker)
+    wm._wifi_state = WifiState(ssid="MyNet", status=ConnectStatus.CONNECTED)
+
+    fire(wm, NMDeviceState.DEACTIVATING, reason=NMDeviceStateReason.USER_REQUESTED)
+    fire(wm, NMDeviceState.DISCONNECTED, reason=NMDeviceStateReason.USER_REQUESTED)
+
+    assert wm._wifi_state.ssid is None
+    assert wm._wifi_state.status == ConnectStatus.DISCONNECTED
+
+
+# ---------------------------------------------------------------------------
+# Worker error recovery: DBus errors in activate/connect re-sync with NM
+# ---------------------------------------------------------------------------
+# Verified on device: when ActivateConnection returns UnknownConnection error,
+# NM emits no state signals. The worker error path is the only recovery point.
+
+class TestWorkerErrorRecovery:
+  """Worker threads re-sync with NM via _init_wifi_state on DBus errors,
+  preserving actual NM state instead of blindly clearing to DISCONNECTED."""
+
+  def _mock_init_restores(self, wm, mocker, ssid, status):
+    """Replace _init_wifi_state with a mock that simulates NM reporting the given state."""
+    mock = mocker.MagicMock(
+      side_effect=lambda: setattr(wm, '_wifi_state', WifiState(ssid=ssid, status=status))
+    )
+    wm._init_wifi_state = mock
+    return mock
+
+  def test_activate_dbus_error_resyncs(self, mocker):
+    """ActivateConnection returns DBus error while A is connected.
+    NM rejects the request — no state signals emitted. Worker must re-read NM
+    state to discover A is still connected, not clear to DISCONNECTED.
+    """
+    wm = _make_wm(mocker, connections={"A": "/path/A", "B": "/path/B"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._nm = mocker.MagicMock()
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._router_main = mocker.MagicMock()
+
+    error_reply = mocker.MagicMock()
+    error_reply.header.message_type = MessageType.error
+    wm._router_main.send_and_get_reply.return_value = error_reply
+
+    mock_init = self._mock_init_restores(wm, mocker, "A", ConnectStatus.CONNECTED)
+
+    wm.activate_connection("B", block=True)
+
+    mock_init.assert_called_once()
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
+
+  def test_connect_to_network_dbus_error_resyncs(self, mocker):
+    """AddAndActivateConnection2 returns DBus error while A is connected."""
+    wm = _make_wm(mocker, connections={"A": "/path/A"})
+    wm._wifi_device = "/dev/wifi0"
+    wm._nm = mocker.MagicMock()
+    wm._wifi_state = WifiState(ssid="A", status=ConnectStatus.CONNECTED)
+    wm._router_main = mocker.MagicMock()
+    wm._forgotten = []
+
+    error_reply = mocker.MagicMock()
+    error_reply.header.message_type = MessageType.error
+    wm._router_main.send_and_get_reply.return_value = error_reply
+
+    mock_init = self._mock_init_restores(wm, mocker, "A", ConnectStatus.CONNECTED)
+
+    # Run worker thread synchronously
+    workers = []
+    mocker.patch('openpilot.system.ui.lib.wifi_manager.threading.Thread',
+                 side_effect=lambda target, **kw: type('T', (), {'start': lambda self: workers.append(target)})())
+
+    wm.connect_to_network("B", "password123")
+    workers[-1]()
+
+    mock_init.assert_called_once()
+    assert wm._wifi_state.ssid == "A"
+    assert wm._wifi_state.status == ConnectStatus.CONNECTED
diff --git a/system/ui/lib/text_measure.py b/system/ui/lib/text_measure.py
new file mode 100644
index 0000000000..dee4b419ff
--- /dev/null
+++ b/system/ui/lib/text_measure.py
@@ -0,0 +1,36 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import FONT_SCALE, font_fallback
+from openpilot.system.ui.lib.emoji import find_emoji
+
+_cache: dict[int, rl.Vector2] = {}
+
+
+def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: float = 0) -> rl.Vector2:
+  """Caches text measurements to avoid redundant calculations."""
+  font = font_fallback(font)
+  spacing = round(spacing, 4)
+  key = hash((font.texture.id, text, font_size, spacing))
+  if key in _cache:
+    return _cache[key]
+
+  # Measure normal characters without emojis, then add standard width for each found emoji
+  emoji = find_emoji(text)
+  if emoji:
+    non_emoji_text = ""
+    last_index = 0
+    for start, end, _ in emoji:
+      non_emoji_text += text[last_index:start]
+      last_index = end
+    non_emoji_text += text[last_index:]
+  else:
+    non_emoji_text = text
+
+  result = rl.measure_text_ex(font, non_emoji_text, font_size * FONT_SCALE, spacing)  # noqa: TID251
+  if emoji:
+    result.x += len(emoji) * font_size * FONT_SCALE
+    # If just emoji assume a single line height
+    if result.y == 0:
+      result.y = font_size * FONT_SCALE
+
+  _cache[key] = result
+  return result
diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py
deleted file mode 100644
index e72faef11c..0000000000
--- a/system/ui/lib/toggle.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import pyray as rl
-
-ON_COLOR = rl.GREEN
-OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
-KNOB_COLOR = rl.WHITE
-BG_HEIGHT = 60
-KNOB_HEIGHT = 80
-WIDTH = 160
-
-
-class Toggle:
-  def __init__(self, x, y, initial_state=False):
-    self._state = initial_state
-    self._rect = rl.Rectangle(x, y, WIDTH, KNOB_HEIGHT)
-
-  def handle_input(self):
-    if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON):
-      mouse_pos = rl.get_mouse_position()
-      if rl.check_collision_point_rec(mouse_pos, self._rect):
-        self._state = not self._state
-
-  def get_state(self):
-    return self._state
-
-  def render(self):
-    self._draw_background()
-    self._draw_knob()
-
-  def _draw_background(self):
-    bg_rect = rl.Rectangle(
-      self._rect.x + 5,
-      self._rect.y + (KNOB_HEIGHT - BG_HEIGHT) / 2,
-      self._rect.width - 10,
-      BG_HEIGHT,
-    )
-    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, ON_COLOR if self._state else OFF_COLOR)
-
-  def _draw_knob(self):
-    knob_radius = KNOB_HEIGHT / 2
-    knob_x = self._rect.x + knob_radius if not self._state else self._rect.x + self._rect.width - knob_radius
-    knob_y = self._rect.y + knob_radius
-    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, KNOB_COLOR)
-
-
-if __name__ == "__main__":
-  from openpilot.system.ui.lib.application import gui_app
-
-  gui_app.init_window("Text toggle example")
-  toggle = Toggle(100, 100)
-  for _ in gui_app.render():
-    toggle.handle_input()
-    toggle.render()
-
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index af533e9a2a..1084e9e533 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -1,37 +1,62 @@
-import asyncio
+import atexit
 import threading
 import time
 import uuid
+import subprocess
 from collections.abc import Callable
-from dataclasses import dataclass
+from dataclasses import dataclass, replace
 from enum import IntEnum
+from typing import Any
+
+from jeepney import DBusAddress, new_method_call
+from jeepney.bus_messages import MatchRule, message_bus
+from jeepney.io.blocking import DBusConnection, open_dbus_connection as open_dbus_connection_blocking
+from jeepney.io.threading import DBusRouter, open_dbus_connection as open_dbus_connection_threading
+from jeepney.low_level import MessageType
+from jeepney.wrappers import Properties
 
-from dbus_next.aio import MessageBus
-from dbus_next import BusType, Variant, Message
-from dbus_next.errors import DBusError
-from dbus_next.constants import MessageType
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.networkmanager import (NM, NM_WIRELESS_IFACE, NM_802_11_AP_SEC_PAIR_WEP40,
+                                                    NM_802_11_AP_SEC_PAIR_WEP104, NM_802_11_AP_SEC_GROUP_WEP40,
+                                                    NM_802_11_AP_SEC_GROUP_WEP104, NM_802_11_AP_SEC_KEY_MGMT_PSK,
+                                                    NM_802_11_AP_SEC_KEY_MGMT_802_1X, NM_802_11_AP_FLAGS_NONE,
+                                                    NM_802_11_AP_FLAGS_PRIVACY, NM_802_11_AP_FLAGS_WPS,
+                                                    NM_PATH, NM_IFACE, NM_ACCESS_POINT_IFACE, NM_SETTINGS_PATH,
+                                                    NM_SETTINGS_IFACE, NM_CONNECTION_IFACE, NM_DEVICE_IFACE,
+                                                    NM_DEVICE_TYPE_WIFI, NM_DEVICE_TYPE_MODEM, NM_ACTIVE_CONNECTION_IFACE,
+                                                    NM_IP4_CONFIG_IFACE, NM_PROPERTIES_IFACE, NMDeviceState, NMDeviceStateReason)
 
-# NetworkManager constants
-NM = "org.freedesktop.NetworkManager"
-NM_PATH = '/org/freedesktop/NetworkManager'
-NM_IFACE = 'org.freedesktop.NetworkManager'
-NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings'
-NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings'
-NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection'
-NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless'
-NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties'
-NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
+try:
+  from openpilot.common.params import Params
+except Exception:
+  Params = None
 
-NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
+TETHERING_IP_ADDRESS = "192.168.43.1"
+DEFAULT_TETHERING_PASSWORD = "swagswagcomma"
+SIGNAL_QUEUE_SIZE = 10
+SCAN_PERIOD_SECONDS = 5
+
+DEBUG = False
+_dbus_call_idx = 0
+
+
+def normalize_ssid(ssid: str) -> str:
+  return ssid.replace("’", "'")  # for iPhone hotspots
+
+
+def _wrap_router(router):
+  def _wrap(orig):
+    def wrapper(msg, **kw):
+      global _dbus_call_idx
+      _dbus_call_idx += 1
+      if DEBUG:
+        h = msg.header.fields
+        print(f"[DBUS #{_dbus_call_idx}] {h.get(6, '?')} {h.get(3, '?')} {msg.body}")
+      return orig(msg, **kw)
+    return wrapper
+  router.send_and_get_reply = _wrap(router.send_and_get_reply)
+  router.send = _wrap(router.send)
 
-# NetworkManager device states
-class NMDeviceState(IntEnum):
-  DISCONNECTED = 30
-  PREPARE = 40
-  NEED_AUTH = 60
-  IP_CONFIG = 70
-  ACTIVATED = 100
 
 class SecurityType(IntEnum):
   OPEN = 0
@@ -40,442 +65,960 @@ class SecurityType(IntEnum):
   WPA3 = 3
   UNSUPPORTED = 4
 
-@dataclass
-class NetworkInfo:
-  ssid: str
-  strength: int
-  is_connected: bool
-  security_type: SecurityType
-  path: str
-  bssid: str
-  # saved_path: str
+
+class MeteredType(IntEnum):
+  UNKNOWN = 0
+  YES = 1
+  NO = 2
 
 
-@dataclass
-class WifiManagerCallbacks:
-  need_auth: Callable[[], None] | None = None
-  activated: Callable[[], None] | None = None
-  forgotten: Callable[[], None] | None = None
+def get_security_type(flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
+  wpa_props = wpa_flags | rsn_flags
 
+  # obtained by looking at flags of networks in the office as reported by an Android phone
+  supports_wpa = (NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 |
+                  NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK)
 
-class WifiManager:
-  def __init__(self, callbacks):
-    self.callbacks: WifiManagerCallbacks = callbacks
-    self.networks: list[NetworkInfo] = []
-    self.bus: MessageBus = None
-    self.device_path: str = ""
-    self.device_proxy = None
-    self.saved_connections: dict[str, str] = {}
-    self.active_ap_path: str = ""
-    self.scan_task: asyncio.Task | None = None
-    self.running: bool = True
-
-  async def connect(self) -> None:
-    """Connect to the DBus system bus."""
-    try:
-      self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
-      if not await self._find_wifi_device():
-        raise ValueError("No Wi-Fi device found")
-      await self._setup_signals(self.device_path)
-
-      self.active_ap_path = await self.get_active_access_point()
-      self.saved_connections = await self._get_saved_connections()
-      self.scan_task = asyncio.create_task(self._periodic_scan())
-    except DBusError as e:
-      cloudlog.error(f"Failed to connect to DBus: {e}")
-      raise
-    except Exception as e:
-      cloudlog.error(f"Unexpected error during connect: {e}")
-      raise
-
-  async def shutdown(self) -> None:
-    self.running = False
-    if self.scan_task:
-      self.scan_task.cancel()
-      try:
-        await self.scan_task
-      except asyncio.CancelledError:
-        pass
-    if self.bus:
-      await self.bus.disconnect()
-
-  async def request_scan(self) -> None:
-    try:
-      interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
-      await interface.call_request_scan({})
-    except DBusError as e:
-      cloudlog.warning(f"Scan request failed: {str(e)}")
-
-  async def get_active_access_point(self):
-    try:
-      props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE)
-      ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint')
-      return ap_path.value
-    except DBusError as e:
-      cloudlog.error(f"Error fetching active access point: {str(e)}")
-      return ''
-
-  async def forget_connection(self, ssid: str) -> bool:
-    path = self.saved_connections.get(ssid)
-    if not path:
-      return False
-
-    try:
-      nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE)
-      await nm_iface.call_delete()
-      return True
-    except DBusError as e:
-      cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}")
-      return False
-
-  async def activate_connection(self, ssid: str) -> bool:
-    connection_path = self.saved_connections.get(ssid)
-    if not connection_path:
-      return False
-    try:
-      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
-      await nm_iface.call_activate_connection(connection_path, self.device_path, "/")
-      return True
-    except DBusError as e:
-      cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}")
-      return False
-
-  async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None:
-    """Connect to a selected Wi-Fi network."""
-    try:
-      connection = {
-        'connection': {
-          'type': Variant('s', '802-11-wireless'),
-          'uuid': Variant('s', str(uuid.uuid4())),
-          'id': Variant('s', ssid),
-          'autoconnect-retries': Variant('i', 0),
-        },
-        '802-11-wireless': {
-          'ssid': Variant('ay', ssid.encode('utf-8')),
-          'hidden': Variant('b', is_hidden),
-          'mode': Variant('s', 'infrastructure'),
-        },
-        'ipv4': {'method': Variant('s', 'auto')},
-        'ipv6': {'method': Variant('s', 'ignore')},
-      }
-
-      if bssid:
-        connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8'))
-
-      if password:
-        connection['802-11-wireless-security'] = {
-          'key-mgmt': Variant('s', 'wpa-psk'),
-          'auth-alg': Variant('s', 'open'),
-          'psk': Variant('s', password),
-        }
-
-      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
-      await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/")
-      await self._update_connection_status()
-
-    except DBusError as e:
-      cloudlog.error(f"Error connecting to network: {e}")
-
-  def is_saved(self, ssid: str) -> bool:
-    return ssid in self.saved_connections
-
-  async def _find_wifi_device(self) -> bool:
-    nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
-    devices = await nm_iface.get_devices()
-
-    for device_path in devices:
-      device = await self.bus.introspect(NM, device_path)
-      device_proxy = self.bus.get_proxy_object(NM, device_path, device)
-      device_interface = device_proxy.get_interface(NM_DEVICE_IFACE)
-      device_type = await device_interface.get_device_type()  # type: ignore[attr-defined]
-      if device_type == 2:  # Wi-Fi device
-        self.device_path = device_path
-        self.device_proxy = device_proxy
-        return True
-
-    return False
-
-  async def _periodic_scan(self):
-    while self.running:
-      try:
-        await self.request_scan()
-        await self._get_available_networks()
-        await asyncio.sleep(30)
-      except asyncio.CancelledError:
-        break
-      except DBusError as e:
-        cloudlog.error(f"Scan failed: {e}")
-        await asyncio.sleep(5)
-
-  async def _setup_signals(self, device_path: str) -> None:
-    rules = [
-      f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'",
-      f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'",
-      f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'",
-      f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'",
-    ]
-    for rule in rules:
-      await self._add_match_rule(rule)
-
-    # Set up signal handlers
-    self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed)
-    self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed)
-
-    settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
-    settings_iface.on_new_connection(self._on_new_connection)
-    settings_iface.on_connection_removed(self._on_connection_removed)
-
-  def _on_properties_changed(self, interface: str, changed: dict, invalidated: list):
-    # print("property changed", interface, changed, invalidated)
-    if 'LastScan' in changed:
-      asyncio.create_task(self._get_available_networks())
-    elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed:
-      self.active_ap_path = changed["ActiveAccessPoint"].value
-      asyncio.create_task(self._get_available_networks())
-
-  def _on_state_changed(self, new_state: int, old_state: int, reason: int):
-    print(f"State changed: {old_state} -> {new_state}, reason: {reason}")
-    if new_state == NMDeviceState.ACTIVATED:
-      if self.callbacks.activated:
-        self.callbacks.activated()
-      asyncio.create_task(self._update_connection_status())
-    elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH):
-      for network in self.networks:
-        network.is_connected = False
-      if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth:
-        self.callbacks.need_auth()
-
-  def _on_new_connection(self, path: str) -> None:
-    """Callback for NewConnection signal."""
-    print(f"New connection added: {path}")
-    asyncio.create_task(self._add_saved_connection(path))
-
-  def _on_connection_removed(self, path: str) -> None:
-    """Callback for ConnectionRemoved signal."""
-    print(f"Connection removed: {path}")
-    for ssid, p in list(self.saved_connections.items()):
-      if path == p:
-        del self.saved_connections[ssid]
-        if self.callbacks.forgotten:
-          self.callbacks.forgotten()
-        break
-
-  async def _add_saved_connection(self, path: str) -> None:
-    """Add a new saved connection to the dictionary."""
-    try:
-      settings = await self._get_connection_settings(path)
-      if ssid := self._extract_ssid(settings):
-        self.saved_connections[ssid] = path
-    except DBusError as e:
-      cloudlog.error(f"Failed to add connection {path}: {e}")
-
-  def _extract_ssid(self, settings: dict) -> str | None:
-    """Extract SSID from connection settings."""
-    ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value
-    return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None
-
-  async def _update_connection_status(self):
-    self.active_ap_path = await self.get_active_access_point()
-    await self._get_available_networks()
-
-  async def _add_match_rule(self, rule):
-    """Add a match rule on the bus."""
-    reply = await self.bus.call(
-      Message(
-        message_type=MessageType.METHOD_CALL,
-        destination='org.freedesktop.DBus',
-        interface="org.freedesktop.DBus",
-        path='/org/freedesktop/DBus',
-        member='AddMatch',
-        signature='s',
-        body=[rule],
-      )
-    )
-
-    assert reply.message_type == MessageType.METHOD_RETURN
-    return reply
-
-  async def _get_available_networks(self):
-    """Get a list of available networks via NetworkManager."""
-    wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
-    access_points = await wifi_iface.get_access_points()
-    network_dict = {}
-    for ap_path in access_points:
-      try:
-        props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE)
-        properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint')
-        ssid_variant = properties['Ssid'].value
-        ssid = ''.join(chr(byte) for byte in ssid_variant)
-        if not ssid:
-          continue
-
-        bssid = properties.get('HwAddress', Variant('s', '')).value
-        strength = properties['Strength'].value
-        flags = properties['Flags'].value
-        wpa_flags = properties['WpaFlags'].value
-        rsn_flags = properties['RsnFlags'].value
-        existing_network = network_dict.get(ssid)
-        if not existing_network or ((not existing_network.bssid and bssid) or (existing_network.strength < strength)):
-          network_dict[ssid] = NetworkInfo(
-            ssid=ssid,
-            strength=strength,
-            security_type=self._get_security_type(flags, wpa_flags, rsn_flags),
-            path=ap_path,
-            bssid=bssid,
-            is_connected=self.active_ap_path == ap_path,
-          )
-
-      except DBusError as e:
-        cloudlog.error(f"Error fetching networks: {e}")
-      except Exception as e:
-        cloudlog.error({e})
-
-    self.networks = sorted(
-      network_dict.values(),
-      key=lambda network: (
-        not network.is_connected,
-        -network.strength,  # Higher signal strength first
-        network.ssid.lower(),
-      ),
-    )
-
-  async def _get_connection_settings(self, path):
-    """Fetch connection settings for a specific connection path."""
-    try:
-      connection_proxy = await self.bus.introspect(NM, path)
-      connection = self.bus.get_proxy_object(NM, path, connection_proxy)
-      settings = connection.get_interface(NM_CONNECTION_IFACE)
-      return await settings.call_get_settings()
-    except DBusError as e:
-      cloudlog.error(f"Failed to get settings for {path}: {str(e)}")
-      return {}
-
-  async def _process_chunk(self, paths_chunk):
-    """Process a chunk of connection paths."""
-    tasks = [self._get_connection_settings(path) for path in paths_chunk]
-    return await asyncio.gather(*tasks, return_exceptions=True)
-
-  async def _get_saved_connections(self) -> dict[str, str]:
-    try:
-      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
-      connection_paths = await settings_iface.call_list_connections()
-      saved_ssids: dict[str, str] = {}
-      batch_size = 20
-      for i in range(0, len(connection_paths), batch_size):
-        chunk = connection_paths[i : i + batch_size]
-        results = await self._process_chunk(chunk)
-        for path, config in zip(chunk, results, strict=True):
-          if isinstance(config, dict) and '802-11-wireless' in config:
-            if ssid := self._extract_ssid(config):
-              saved_ssids[ssid] = path
-      return saved_ssids
-    except DBusError as e:
-      cloudlog.error(f"Error fetching saved connections: {str(e)}")
-      return {}
-
-  async def _get_interface(self, bus_name: str, path: str, name: str):
-    introspection = await self.bus.introspect(bus_name, path)
-    proxy = self.bus.get_proxy_object(bus_name, path, introspection)
-    return proxy.get_interface(name)
-
-  def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
-    """Determine the security type based on flags."""
-    if flags == 0 and not (wpa_flags or rsn_flags):
-      return SecurityType.OPEN
-    if rsn_flags & 0x200:  # SAE (WPA3 Personal)
-      return SecurityType.WPA3
-    if rsn_flags:  # RSN indicates WPA2 or higher
-      return SecurityType.WPA2
-    if wpa_flags:  # WPA flags indicate WPA
-      return SecurityType.WPA
+  if (flags == NM_802_11_AP_FLAGS_NONE) or ((flags & NM_802_11_AP_FLAGS_WPS) and not (wpa_props & supports_wpa)):
+    return SecurityType.OPEN
+  elif (flags & NM_802_11_AP_FLAGS_PRIVACY) and (wpa_props & supports_wpa) and not (wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X):
+    return SecurityType.WPA
+  else:
+    cloudlog.warning(f"Unsupported network! flags: {flags}, wpa_flags: {wpa_flags}, rsn_flags: {rsn_flags}")
     return SecurityType.UNSUPPORTED
 
 
-class WifiManagerWrapper:
+@dataclass(frozen=True)
+class Network:
+  ssid: str
+  strength: int
+  security_type: SecurityType
+  is_tethering: bool
+
+  @classmethod
+  def from_dbus(cls, ssid: str, aps: list["AccessPoint"], is_tethering: bool) -> "Network":
+    # we only want to show the strongest AP for each Network/SSID
+    strongest_ap = max(aps, key=lambda ap: ap.strength)
+    security_type = get_security_type(strongest_ap.flags, strongest_ap.wpa_flags, strongest_ap.rsn_flags)
+
+    return cls(
+      ssid=ssid,
+      strength=100 if is_tethering else strongest_ap.strength,
+      security_type=security_type,
+      is_tethering=is_tethering,
+    )
+
+
+@dataclass(frozen=True)
+class AccessPoint:
+  ssid: str
+  bssid: str
+  strength: int
+  flags: int
+  wpa_flags: int
+  rsn_flags: int
+  ap_path: str
+
+  @classmethod
+  def from_dbus(cls, ap_props: dict[str, tuple[str, Any]], ap_path: str) -> "AccessPoint":
+    ssid = bytes(ap_props['Ssid'][1]).decode("utf-8", "replace")
+    bssid = str(ap_props['HwAddress'][1])
+    strength = int(ap_props['Strength'][1])
+    flags = int(ap_props['Flags'][1])
+    wpa_flags = int(ap_props['WpaFlags'][1])
+    rsn_flags = int(ap_props['RsnFlags'][1])
+
+    return cls(
+      ssid=ssid,
+      bssid=bssid,
+      strength=strength,
+      flags=flags,
+      wpa_flags=wpa_flags,
+      rsn_flags=rsn_flags,
+      ap_path=ap_path,
+    )
+
+
+class ConnectStatus(IntEnum):
+  DISCONNECTED = 0
+  CONNECTING = 1
+  CONNECTED = 2
+
+
+@dataclass(frozen=True)
+class WifiState:
+  ssid: str | None = None
+  status: ConnectStatus = ConnectStatus.DISCONNECTED
+
+
+class WifiManager:
   def __init__(self):
-    self._manager: WifiManager | None = None
-    self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks()
-
-    self._thread = threading.Thread(target=self._run, daemon=True)
-    self._loop: asyncio.EventLoop | None = None
-    self._running = False
-
-  def set_callbacks(self, callbacks: WifiManagerCallbacks):
-    self._callbacks = callbacks
-
-  def start(self) -> None:
-    if not self._running:
-      self._thread.start()
-      while self._thread is not None and not self._running:
-        time.sleep(0.1)
-
-  def _run(self):
-    self._loop = asyncio.new_event_loop()
-    asyncio.set_event_loop(self._loop)
+    self._networks: list[Network] = []  # an unsorted list of available Networks. a Network can be comprised of multiple APs
+    self._active = True  # used to not run when not in settings
+    self._exit = False
 
+    # DBus connections
     try:
-      self._manager = WifiManager(self._callbacks)
-      self._running = True
-      self._loop.run_forever()
-    except Exception as e:
-      cloudlog.error(f"Error in WifiManagerWrapper thread: {e}")
-    finally:
-      if self._loop.is_running():
-        self._loop.stop()
-      self._running = False
+      self._router_main = DBusRouter(open_dbus_connection_threading(bus="SYSTEM"))  # used by scanner / general method calls
+      _wrap_router(self._router_main)
+      self._conn_monitor = open_dbus_connection_blocking(bus="SYSTEM")  # used by state monitor thread
+      self._nm = DBusAddress(NM_PATH, bus_name=NM, interface=NM_IFACE)
+    except FileNotFoundError:
+      cloudlog.exception("Failed to connect to system D-Bus")
+      self._router_main = None
+      self._conn_monitor = None
+      self._exit = True
 
-  def shutdown(self) -> None:
-    if self._running:
-      if self._manager is not None:
-        self._run_coroutine(self._manager.shutdown())
-      if self._loop and self._loop.is_running():
-        self._loop.call_soon_threadsafe(self._loop.stop)
-      if self._thread and self._thread.is_alive():
-        self._thread.join(timeout=2.0)
-      self._running = False
+    # Store wifi device path
+    self._wifi_device: str | None = None
+
+    # State
+    self._connections: dict[str, str] = {}  # ssid -> connection path, updated via NM signals
+    self._wifi_state: WifiState = WifiState()
+    self._user_epoch: int = 0
+    self._ipv4_address: str = ""
+    self._current_network_metered: MeteredType = MeteredType.UNKNOWN
+    self._tethering_password: str = ""
+    self._ipv4_forward = False
+
+    self._last_network_scan: float = 0.0
+    self._callback_queue: list[Callable] = []
+
+    self._tethering_ssid = "weedle"
+    if Params is not None:
+      dongle_id = Params().get("DongleId")
+      if dongle_id:
+        self._tethering_ssid += "-" + dongle_id[:4]
+
+    # Callbacks
+    self._need_auth: list[Callable[[str], None]] = []
+    self._activated: list[Callable[[], None]] = []
+    self._forgotten: list[Callable[[str | None], None]] = []
+    self._networks_updated: list[Callable[[list[Network]], None]] = []
+    self._disconnected: list[Callable[[], None]] = []
+
+    self._scan_lock = threading.Lock()
+    self._scan_thread = threading.Thread(target=self._network_scanner, daemon=True)
+    self._state_thread = threading.Thread(target=self._monitor_state, daemon=True)
+    self._initialize()
+    atexit.register(self.stop)
+
+  def _initialize(self):
+    def worker():
+      self._wait_for_wifi_device()
+
+      self._init_connections()
+      if Params is not None and self._tethering_ssid not in self._connections:
+        self._add_tethering_connection()
+
+      self._init_wifi_state()
+
+      self._scan_thread.start()
+      self._state_thread.start()
+
+      self._tethering_password = self._get_tethering_password()
+      cloudlog.debug("WifiManager initialized")
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _init_wifi_state(self, block: bool = True):
+    def worker():
+      if self._wifi_device is None:
+        cloudlog.warning("No WiFi device found")
+        return
+
+      epoch = self._user_epoch
+
+      dev_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_DEVICE_IFACE)
+      dev_state = self._router_main.send_and_get_reply(Properties(dev_addr).get('State')).body[0][1]
+
+      ssid: str | None = None
+      status = ConnectStatus.DISCONNECTED
+      if NMDeviceState.PREPARE <= dev_state <= NMDeviceState.SECONDARIES and dev_state != NMDeviceState.NEED_AUTH:
+        status = ConnectStatus.CONNECTING
+      elif dev_state == NMDeviceState.ACTIVATED:
+        status = ConnectStatus.CONNECTED
+
+      conn_path, _ = self._get_active_wifi_connection()
+      if conn_path:
+        ssid = next((s for s, p in self._connections.items() if p == conn_path), None)
+
+      # Discard if user acted during DBus calls
+      if self._user_epoch != epoch:
+        return
+
+      self._wifi_state = WifiState(ssid=ssid, status=status)
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
+                    activated: Callable[[], None] | None = None,
+                    forgotten: Callable[[str], None] | None = None,
+                    networks_updated: Callable[[list[Network]], None] | None = None,
+                    disconnected: Callable[[], None] | None = None):
+    if need_auth is not None:
+      self._need_auth.append(need_auth)
+    if activated is not None:
+      self._activated.append(activated)
+    if forgotten is not None:
+      self._forgotten.append(forgotten)
+    if networks_updated is not None:
+      self._networks_updated.append(networks_updated)
+    if disconnected is not None:
+      self._disconnected.append(disconnected)
 
   @property
-  def networks(self) -> list[NetworkInfo]:
-    """Get the current list of networks."""
-    return self._manager.networks if self._manager else []
+  def networks(self) -> list[Network]:
+    # Sort by connected/connecting, then known, then strength, then alphabetically. This is a pure UI ordering and should not affect underlying state.
+    return sorted(self._networks, key=lambda n: (n.ssid != self._wifi_state.ssid, not self.is_connection_saved(n.ssid), -n.strength, n.ssid.lower()))
 
-  def is_saved(self, ssid: str) -> bool:
-    """Check if a network is saved."""
-    return self._manager.is_saved(ssid) if self._manager else False
+  @property
+  def wifi_state(self) -> WifiState:
+    return self._wifi_state
 
-  def connect(self):
-    """Connect to DBus and start Wi-Fi scanning."""
-    if not self._manager:
+  @property
+  def ipv4_address(self) -> str:
+    return self._ipv4_address
+
+  @property
+  def current_network_metered(self) -> MeteredType:
+    return self._current_network_metered
+
+  @property
+  def connecting_to_ssid(self) -> str | None:
+    wifi_state = self._wifi_state
+    return wifi_state.ssid if wifi_state.status == ConnectStatus.CONNECTING else None
+
+  @property
+  def connected_ssid(self) -> str | None:
+    wifi_state = self._wifi_state
+    return wifi_state.ssid if wifi_state.status == ConnectStatus.CONNECTED else None
+
+  @property
+  def tethering_password(self) -> str:
+    return self._tethering_password
+
+  def _set_connecting(self, ssid: str | None):
+    # Called by user action, or sequentially from state change handler
+    self._user_epoch += 1
+    self._wifi_state = WifiState(ssid=ssid, status=ConnectStatus.DISCONNECTED if ssid is None else ConnectStatus.CONNECTING)
+
+  def _enqueue_callbacks(self, cbs: list[Callable], *args):
+    for cb in cbs:
+      self._callback_queue.append(lambda _cb=cb: _cb(*args))
+
+  def process_callbacks(self):
+    # Call from UI thread to run any pending callbacks
+    to_run, self._callback_queue = self._callback_queue, []
+    for cb in to_run:
+      cb()
+
+  def set_active(self, active: bool):
+    self._active = active
+
+    # Update networks and WiFi state (to self-heal) immediately when activating for UI
+    if active:
+      self._init_wifi_state(block=False)
+      self._update_networks(block=False)
+
+  def _monitor_state(self):
+    # Filter for signals
+    rules = (
+      MatchRule(
+        type="signal",
+        interface=NM_DEVICE_IFACE,
+        member="StateChanged",
+        path=self._wifi_device,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_SETTINGS_IFACE,
+        member="NewConnection",
+        path=NM_SETTINGS_PATH,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_SETTINGS_IFACE,
+        member="ConnectionRemoved",
+        path=NM_SETTINGS_PATH,
+      ),
+      MatchRule(
+        type="signal",
+        interface=NM_PROPERTIES_IFACE,
+        member="PropertiesChanged",
+        path=self._wifi_device,
+      ),
+    )
+
+    for rule in rules:
+      self._conn_monitor.send_and_get_reply(message_bus.AddMatch(rule))
+
+    with (self._conn_monitor.filter(rules[0], bufsize=SIGNAL_QUEUE_SIZE) as state_q,
+          self._conn_monitor.filter(rules[1], bufsize=SIGNAL_QUEUE_SIZE) as new_conn_q,
+          self._conn_monitor.filter(rules[2], bufsize=SIGNAL_QUEUE_SIZE) as removed_conn_q,
+          self._conn_monitor.filter(rules[3], bufsize=SIGNAL_QUEUE_SIZE) as props_q):
+      while not self._exit:
+        try:
+          self._conn_monitor.recv_messages(timeout=1)
+        except TimeoutError:
+          continue
+
+        # Connection added/removed
+        while len(removed_conn_q):
+          conn_path = removed_conn_q.popleft().body[0]
+          self._connection_removed(conn_path)
+        while len(new_conn_q):
+          conn_path = new_conn_q.popleft().body[0]
+          self._new_connection(conn_path)
+
+        # PropertiesChanged on wifi device (LastScan = scan complete)
+        while len(props_q):
+          iface, changed, _ = props_q.popleft().body
+          if iface == NM_WIRELESS_IFACE and 'LastScan' in changed:
+            self._update_networks()
+
+        # Device state changes
+        while len(state_q):
+          new_state, previous_state, change_reason = state_q.popleft().body
+
+          self._handle_state_change(new_state, previous_state, change_reason)
+
+  def _handle_state_change(self, new_state: int, prev_state: int, change_reason: int):
+    # Thread safety: _wifi_state is read/written by both the monitor thread (this handler)
+    # and the main thread (_set_connecting via connect/activate). PREPARE/CONFIG and ACTIVATED
+    # have a read-then-write pattern with a slow DBus call in between — if _set_connecting
+    # runs mid-call, the handler would overwrite the user's newer state with stale data.
+    #
+    # The _user_epoch counter solves this without locks. _set_connecting increments the epoch
+    # on every user action. Handlers snapshot the epoch before their DBus call and compare
+    # after: if it changed, a user action occurred during the call and the stale result is
+    # discarded. Combined with deterministic fixes (skip DBus lookup when ssid already set,
+    # DEACTIVATING clears CONNECTED on CONNECTION_REMOVED, CONNECTION_REMOVED guard),
+    # all known race windows are closed.
+
+    # TODO: Handle (FAILED, SSID_NOT_FOUND) and emit for UI to show error
+    #  Happens when network drops off after starting connection
+
+    if new_state == NMDeviceState.DISCONNECTED:
+      if change_reason == NMDeviceStateReason.NEW_ACTIVATION:
+        return
+
+      # Guard: forget A while connecting to B fires CONNECTION_REMOVED. Don't clear B's state
+      # if B is still a known connection. If B hasn't arrived in _connections yet (late
+      # NewConnection), state clears here but PREPARE recovers via DBus lookup.
+      if (change_reason == NMDeviceStateReason.CONNECTION_REMOVED and self._wifi_state.ssid and
+        self._wifi_state.ssid in self._connections):
+        return
+
+      self._set_connecting(None)
+
+    elif new_state in (NMDeviceState.PREPARE, NMDeviceState.CONFIG):
+      epoch = self._user_epoch
+
+      if self._wifi_state.ssid is not None:
+        self._wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING)
+        return
+
+      # Auto-connection when NetworkManager connects to known networks on its own (ssid=None): look up ssid from NM
+      wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTING)
+
+      conn_path, _ = self._get_active_wifi_connection(self._conn_monitor)
+
+      # Discard if user acted during DBus call
+      if self._user_epoch != epoch:
+        return
+
+      if conn_path is None:
+        cloudlog.warning("Failed to get active wifi connection during PREPARE/CONFIG state")
+      else:
+        wifi_state = replace(wifi_state, ssid=next((s for s, p in self._connections.items() if p == conn_path), None))
+
+      self._wifi_state = wifi_state
+
+    # BAD PASSWORD
+    # - strong network rejects with NEED_AUTH+SUPPLICANT_DISCONNECT
+    # - weak/gone network fails with FAILED+NO_SECRETS
+    # TODO: sometimes on PC it's observed no future signals are fired if mouse is held down blocking wrong password dialog
+    elif ((new_state == NMDeviceState.NEED_AUTH and change_reason == NMDeviceStateReason.SUPPLICANT_DISCONNECT
+           and prev_state == NMDeviceState.CONFIG) or
+          (new_state == NMDeviceState.FAILED and change_reason == NMDeviceStateReason.NO_SECRETS)):
+
+      # prev_state guard: real auth failures come from CONFIG (supplicant handshake).
+      # Stale NEED_AUTH from a prior connection during network switching arrives with
+      # prev_state=DISCONNECTED and must be ignored to avoid a false wrong-password callback.
+      if self._wifi_state.ssid:
+        self._enqueue_callbacks(self._need_auth, self._wifi_state.ssid)
+        self._set_connecting(None)
+
+    elif new_state in (NMDeviceState.NEED_AUTH, NMDeviceState.IP_CONFIG, NMDeviceState.IP_CHECK,
+                       NMDeviceState.SECONDARIES, NMDeviceState.FAILED):
+      pass
+
+    elif new_state == NMDeviceState.ACTIVATED:
+      # Note that IP address from Ip4Config may not be propagated immediately and could take until the next scan results
+      epoch = self._user_epoch
+      wifi_state = replace(self._wifi_state, status=ConnectStatus.CONNECTED)
+
+      conn_path, _ = self._get_active_wifi_connection(self._conn_monitor)
+
+      # Discard if user acted during DBus call
+      if self._user_epoch != epoch:
+        return
+
+      if conn_path is None:
+        cloudlog.warning("Failed to get active wifi connection during ACTIVATED state")
+      else:
+        wifi_state = replace(wifi_state, ssid=next((s for s, p in self._connections.items() if p == conn_path), None))
+
+      self._wifi_state = wifi_state
+      self._enqueue_callbacks(self._activated)
+      self._update_active_connection_info()
+
+      # Persist volatile connections (created by AddAndActivateConnection2) to disk
+      if conn_path is not None:
+        conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        save_reply = self._conn_monitor.send_and_get_reply(new_method_call(conn_addr, 'Save'))
+        if save_reply.header.message_type == MessageType.error:
+          cloudlog.warning(f"Failed to persist connection to disk: {save_reply}")
+
+    elif new_state == NMDeviceState.DEACTIVATING:
+      # Must clear state when forgetting the currently connected network so the UI
+      # doesn't flash "connected" after the eager "forgetting..." state resets
+      # (the forgotten callback fires between DEACTIVATING and DISCONNECTED).
+      # Only clear CONNECTED — CONNECTING must be preserved for forget-A-connect-B.
+      if change_reason == NMDeviceStateReason.CONNECTION_REMOVED and self._wifi_state.status == ConnectStatus.CONNECTED:
+        self._set_connecting(None)
+
+  def _network_scanner(self):
+    while not self._exit:
+      if self._active:
+        if time.monotonic() - self._last_network_scan > SCAN_PERIOD_SECONDS:
+          self._request_scan()
+          self._last_network_scan = time.monotonic()
+      time.sleep(1 / 2.)
+
+  def _wait_for_wifi_device(self):
+    while not self._exit:
+      device_path = self._get_adapter(NM_DEVICE_TYPE_WIFI)
+      if device_path is not None:
+        self._wifi_device = device_path
+        break
+      time.sleep(1)
+
+  def _get_adapter(self, adapter_type: int) -> str | None:
+    # Return the first NetworkManager device path matching adapter_type
+    try:
+      device_paths = self._router_main.send_and_get_reply(new_method_call(self._nm, 'GetDevices')).body[0]
+      for device_path in device_paths:
+        dev_addr = DBusAddress(device_path, bus_name=NM, interface=NM_DEVICE_IFACE)
+        dev_type = self._router_main.send_and_get_reply(Properties(dev_addr).get('DeviceType')).body[0][1]
+        if dev_type == adapter_type:
+          return str(device_path)
+    except Exception as e:
+      cloudlog.exception(f"Error getting adapter type {adapter_type}: {e}")
+    return None
+
+  def _init_connections(self) -> None:
+    settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+    known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
+
+    conns: dict[str, str] = {}
+    for conn_path in known_connections:
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get connection settings for {conn_path}')
+        continue
+
+      if "802-11-wireless" in settings:
+        ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
+        if ssid != "":
+          conns[ssid] = conn_path
+    self._connections = conns
+
+  def _new_connection(self, conn_path: str):
+    settings = self._get_connection_settings(conn_path)
+
+    if "802-11-wireless" in settings:
+      ssid = settings['802-11-wireless']['ssid'][1].decode("utf-8", "replace")
+      if ssid != "":
+        self._connections[ssid] = conn_path
+
+  def _connection_removed(self, conn_path: str):
+    self._connections = {ssid: path for ssid, path in self._connections.items() if path != conn_path}
+
+  def _get_active_connections(self, router: DBusConnection | DBusRouter | None = None):
+    # Returns list of ActiveConnection
+    if router is None:
+      router = self._router_main
+
+    return router.send_and_get_reply(Properties(self._nm).get('ActiveConnections')).body[0][1]
+
+  def _get_active_wifi_connection(self, router: DBusConnection | DBusRouter | None = None) -> tuple[str | None, dict | None]:
+    # Returns first Connection settings path and ActiveConnection props from ActiveConnections with Type 802-11-wireless
+    if router is None:
+      router = self._router_main
+
+    for active_conn in self._get_active_connections(router):
+      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
+      reply = router.send_and_get_reply(Properties(conn_addr).get_all())
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to get active connection properties for {active_conn}: {reply}")
+        continue
+
+      props = reply.body[0]
+
+      conn_path = props.get('Connection', ('o', '/'))[1]
+      if props.get('Type', ('s', ''))[1] == '802-11-wireless' and conn_path != '/':
+        return conn_path, props
+
+    return None, None
+
+  def _get_connection_settings(self, conn_path: str) -> dict:
+    conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+    reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'GetSettings'))
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to get connection settings: {reply}')
+      return {}
+    return dict(reply.body[0])
+
+  def _add_tethering_connection(self):
+    connection = {
+      'connection': {
+        'type': ('s', '802-11-wireless'),
+        'uuid': ('s', str(uuid.uuid4())),
+        'id': ('s', 'Hotspot'),
+        'autoconnect-retries': ('i', 0),
+        'interface-name': ('s', 'wlan0'),
+        'autoconnect': ('b', False),
+      },
+      '802-11-wireless': {
+        'band': ('s', 'bg'),
+        'mode': ('s', 'ap'),
+        'ssid': ('ay', self._tethering_ssid.encode("utf-8")),
+      },
+      '802-11-wireless-security': {
+        'group': ('as', ['ccmp']),
+        'key-mgmt': ('s', 'wpa-psk'),
+        'pairwise': ('as', ['ccmp']),
+        'proto': ('as', ['rsn']),
+        'psk': ('s', DEFAULT_TETHERING_PASSWORD),
+      },
+      'ipv4': {
+        'method': ('s', 'shared'),
+        'address-data': ('aa{sv}', [[
+          ('address', ('s', TETHERING_IP_ADDRESS)),
+          ('prefix', ('u', 24)),
+        ]]),
+        'gateway': ('s', TETHERING_IP_ADDRESS),
+        'never-default': ('b', True),
+      },
+      'ipv6': {'method': ('s', 'ignore')},
+    }
+
+    settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+    self._router_main.send_and_get_reply(new_method_call(settings_addr, 'AddConnection', 'a{sa{sv}}', (connection,)))
+
+  def connect_to_network(self, ssid: str, password: str, hidden: bool = False):
+    self._set_connecting(ssid)
+
+    def worker():
+      # Clear all connections that may already exist to the network we are connecting to
+      self.forget_connection(ssid, block=True)
+
+      connection = {
+        'connection': {
+          'type': ('s', '802-11-wireless'),
+          'uuid': ('s', str(uuid.uuid4())),
+          'id': ('s', f'sunnypilot connection {ssid}'),
+          'autoconnect-retries': ('i', 0),
+        },
+        '802-11-wireless': {
+          'ssid': ('ay', ssid.encode("utf-8")),
+          'hidden': ('b', hidden),
+          'mode': ('s', 'infrastructure'),
+        },
+        'ipv4': {
+          'method': ('s', 'auto'),
+          'dns-priority': ('i', 600),
+        },
+        'ipv6': {'method': ('s', 'ignore')},
+      }
+
+      if password:
+        connection['802-11-wireless-security'] = {
+          'key-mgmt': ('s', 'wpa-psk'),
+          'auth-alg': ('s', 'open'),
+          'psk': ('s', password),
+        }
+
+      # Volatile connection auto-deletes on disconnect (wrong password, user switches networks)
+      # Persisted to disk on ACTIVATED via Save()
+      if self._wifi_device is None:
+        cloudlog.warning("No WiFi device found")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+        return
+
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'AddAndActivateConnection2', 'a{sa{sv}}ooa{sv}',
+                                                                   (connection, self._wifi_device, "/", {'persist': ('s', 'volatile')})))
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to add and activate connection for {ssid}: {reply}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def forget_connection(self, ssid: str, block: bool = False):
+    def worker():
+      conn_path = self._connections.get(ssid, None)
+      if conn_path is None:
+        cloudlog.warning(f"Trying to forget unknown connection: {ssid}")
+      else:
+        conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+        self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Delete'))
+
+      self._enqueue_callbacks(self._forgotten, ssid)
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def activate_connection(self, ssid: str, block: bool = False):
+    self._set_connecting(ssid)
+
+    def worker():
+      conn_path = self._connections.get(ssid, None)
+      if conn_path is None or self._wifi_device is None:
+        cloudlog.warning(f"Failed to activate connection for {ssid}: conn_path={conn_path}, wifi_device={self._wifi_device}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+        return
+
+      reply = self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo',
+                                                                   (conn_path, self._wifi_device, "/")))
+
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f"Failed to activate connection for {ssid}: {reply}")
+        # TODO: expose a failed connection state in the UI
+        self._init_wifi_state()
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def _deactivate_connection(self, ssid: str):
+    for active_conn in self._get_active_connections():
+      conn_addr = DBusAddress(active_conn, bus_name=NM, interface=NM_ACTIVE_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(Properties(conn_addr).get('SpecificObject'))
+      if reply.header.message_type == MessageType.error:
+        continue  # object gone (e.g. rapid connect/disconnect)
+
+      specific_obj_path = reply.body[0][1]
+
+      if specific_obj_path != "/":
+        ap_addr = DBusAddress(specific_obj_path, bus_name=NM, interface=NM_ACCESS_POINT_IFACE)
+        ap_reply = self._router_main.send_and_get_reply(Properties(ap_addr).get('Ssid'))
+        if ap_reply.header.message_type == MessageType.error:
+          continue  # AP gone (e.g. mode switch)
+
+        ap_ssid = bytes(ap_reply.body[0][1]).decode("utf-8", "replace")
+
+        if ap_ssid == ssid:
+          self._router_main.send_and_get_reply(new_method_call(self._nm, 'DeactivateConnection', 'o', (active_conn,)))
+          return
+
+  def is_tethering_active(self) -> bool:
+    # Check ssid, not connected_ssid, to also catch connecting state
+    return self._wifi_state.ssid == self._tethering_ssid
+
+  def is_connection_saved(self, ssid: str) -> bool:
+    return ssid in self._connections
+
+  def set_tethering_password(self, password: str):
+    def worker():
+      conn_path = self._connections.get(self._tethering_ssid, None)
+      if conn_path is None:
+        cloudlog.warning('No tethering connection found')
+        return
+
+      settings = self._get_connection_settings(conn_path)
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get tethering settings for {conn_path}')
+        return
+
+      settings['802-11-wireless-security']['psk'] = ('s', password)
+
+      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f'Failed to update tethering settings: {reply}')
+        return
+
+      self._tethering_password = password
+      if self.is_tethering_active():
+        self.activate_connection(self._tethering_ssid, block=True)
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _get_tethering_password(self) -> str:
+    conn_path = self._connections.get(self._tethering_ssid, None)
+    if conn_path is None:
+      cloudlog.warning('No tethering connection found')
+      return ''
+
+    reply = self._router_main.send_and_get_reply(new_method_call(
+      DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE),
+      'GetSecrets', 's', ('802-11-wireless-security',)
+    ))
+
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f'Failed to get tethering password: {reply}')
+      return ''
+
+    secrets = reply.body[0]
+    if '802-11-wireless-security' not in secrets:
+      return ''
+
+    return str(secrets['802-11-wireless-security'].get('psk', ('s', ''))[1])
+
+  def set_ipv4_forward(self, enabled: bool):
+    self._ipv4_forward = enabled
+
+  def set_tethering_active(self, active: bool):
+    def worker():
+      if active:
+        self.activate_connection(self._tethering_ssid, block=True)
+
+        if not self._ipv4_forward:
+          time.sleep(5)
+          cloudlog.warning("net.ipv4.ip_forward = 0")
+          subprocess.run(["sudo", "sysctl", "net.ipv4.ip_forward=0"], check=False)
+      else:
+        self._deactivate_connection(self._tethering_ssid)
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def set_current_network_metered(self, metered: MeteredType):
+    def worker():
+      if self.is_tethering_active():
+        return
+
+      conn_path, _ = self._get_active_wifi_connection()
+      if conn_path is None:
+        cloudlog.warning('No active WiFi connection found')
+        return
+
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) == 0:
+        cloudlog.warning(f'Failed to get connection settings for {conn_path}')
+        return
+
+      settings['connection']['metered'] = ('i', int(metered))
+
+      conn_addr = DBusAddress(conn_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+      reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'Update', 'a{sa{sv}}', (settings,)))
+      if reply.header.message_type == MessageType.error:
+        cloudlog.warning(f'Failed to update metered settings: {reply}')
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _request_scan(self):
+    if self._wifi_device is None:
+      cloudlog.warning("No WiFi device found")
       return
-    self._run_coroutine(self._manager.connect())
 
-  def request_scan(self):
-    """Request a scan for Wi-Fi networks."""
-    if not self._manager:
-      return
-    self._run_coroutine(self._manager.request_scan())
+    wifi_addr = DBusAddress(self._wifi_device, bus_name=NM, interface=NM_WIRELESS_IFACE)
+    reply = self._router_main.send_and_get_reply(new_method_call(wifi_addr, 'RequestScan', 'a{sv}', ({},)))
 
-  def forget_connection(self, ssid: str):
-    """Forget a saved Wi-Fi connection."""
-    if not self._manager:
-      return
-    self._run_coroutine(self._manager.forget_connection(ssid))
+    if reply.header.message_type == MessageType.error:
+      cloudlog.warning(f"Failed to request scan: {reply}")
 
-  def activate_connection(self, ssid: str):
-    """Activate an existing Wi-Fi connection."""
-    if not self._manager:
+  def _update_networks(self, block: bool = True):
+    if not self._active:
       return
-    self._run_coroutine(self._manager.activate_connection(ssid))
 
-  def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False):
-    """Connect to a Wi-Fi network."""
-    if not self._manager:
-      return
-    self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden))
+    def worker():
+      with self._scan_lock:
+        if self._wifi_device is None:
+          cloudlog.warning("No WiFi device found")
+          return
 
-  def _run_coroutine(self, coro):
-    """Run a coroutine in the async thread."""
-    if not self._running or not self._loop:
-      cloudlog.error("WifiManager thread is not running")
-      return
-    asyncio.run_coroutine_threadsafe(coro, self._loop)
+        # NOTE: AccessPoints property may exclude hidden APs (use GetAllAccessPoints method if needed)
+        wifi_addr = DBusAddress(self._wifi_device, NM, interface=NM_WIRELESS_IFACE)
+        wifi_props = self._router_main.send_and_get_reply(Properties(wifi_addr).get_all()).body[0]
+        ap_paths = wifi_props.get('AccessPoints', ('ao', []))[1]
+
+        aps: dict[str, list[AccessPoint]] = {}
+
+        for ap_path in ap_paths:
+          ap_addr = DBusAddress(ap_path, NM, interface=NM_ACCESS_POINT_IFACE)
+          ap_props = self._router_main.send_and_get_reply(Properties(ap_addr).get_all())
+
+          # some APs have been seen dropping off during iteration
+          if ap_props.header.message_type == MessageType.error:
+            cloudlog.warning(f"Failed to get AP properties for {ap_path}")
+            continue
+
+          try:
+            ap = AccessPoint.from_dbus(ap_props.body[0], ap_path)
+            if ap.ssid == "":
+              continue
+
+            if ap.ssid not in aps:
+              aps[ap.ssid] = []
+
+            aps[ap.ssid].append(ap)
+          except Exception:
+            # catch all for parsing errors
+            cloudlog.exception(f"Failed to parse AP properties for {ap_path}")
+
+        self._networks = [Network.from_dbus(ssid, ap_list, ssid == self._tethering_ssid) for ssid, ap_list in aps.items()]
+        self._update_active_connection_info()
+        self._enqueue_callbacks(self._networks_updated, self.networks)  # sorted
+
+    if block:
+      worker()
+    else:
+      threading.Thread(target=worker, daemon=True).start()
+
+  def _update_active_connection_info(self):
+    ipv4_address = ""
+    metered = MeteredType.UNKNOWN
+
+    conn_path, props = self._get_active_wifi_connection()
+
+    if conn_path is not None and props is not None:
+      # IPv4 address
+      ip4config_path = props.get('Ip4Config', ('o', '/'))[1]
+
+      if ip4config_path != "/":
+        ip4config_addr = DBusAddress(ip4config_path, bus_name=NM, interface=NM_IP4_CONFIG_IFACE)
+        address_data = self._router_main.send_and_get_reply(Properties(ip4config_addr).get('AddressData')).body[0][1]
+
+        for entry in address_data:
+          if 'address' in entry:
+            ipv4_address = entry['address'][1]
+            break
+
+      # Metered status
+      settings = self._get_connection_settings(conn_path)
+
+      if len(settings) > 0:
+        metered_prop = settings['connection'].get('metered', ('i', 0))[1]
+
+        if metered_prop == MeteredType.YES:
+          metered = MeteredType.YES
+        elif metered_prop == MeteredType.NO:
+          metered = MeteredType.NO
+
+    self._ipv4_address = ipv4_address
+    self._current_network_metered = metered
+
+  def __del__(self):
+    self.stop()
+
+  def update_gsm_settings(self, roaming: bool, apn: str, metered: bool):
+    """Update GSM settings for cellular connection"""
+
+    def worker():
+      try:
+        lte_connection_path = self._get_lte_connection_path()
+        if not lte_connection_path:
+          cloudlog.warning("No LTE connection found")
+          return
+
+        settings = self._get_connection_settings(lte_connection_path)
+
+        if len(settings) == 0:
+          cloudlog.warning(f"Failed to get connection settings for {lte_connection_path}")
+          return
+
+        # Ensure dicts exist
+        if 'gsm' not in settings:
+          settings['gsm'] = {}
+        if 'connection' not in settings:
+          settings['connection'] = {}
+
+        changes = False
+        auto_config = apn == ""
+
+        if settings['gsm'].get('auto-config', ('b', False))[1] != auto_config:
+          cloudlog.warning(f'Changing gsm.auto-config to {auto_config}')
+          settings['gsm']['auto-config'] = ('b', auto_config)
+          changes = True
+
+        if settings['gsm'].get('apn', ('s', ''))[1] != apn:
+          cloudlog.warning(f'Changing gsm.apn to {apn}')
+          settings['gsm']['apn'] = ('s', apn)
+          changes = True
+
+        if settings['gsm'].get('home-only', ('b', False))[1] == roaming:
+          cloudlog.warning(f'Changing gsm.home-only to {not roaming}')
+          settings['gsm']['home-only'] = ('b', not roaming)
+          changes = True
+
+        # Unknown means NetworkManager decides
+        metered_int = int(MeteredType.UNKNOWN if metered else MeteredType.NO)
+        if settings['connection'].get('metered', ('i', 0))[1] != metered_int:
+          cloudlog.warning(f'Changing connection.metered to {metered_int}')
+          settings['connection']['metered'] = ('i', metered_int)
+          changes = True
+
+        if changes:
+          # Update the connection settings (temporary update)
+          conn_addr = DBusAddress(lte_connection_path, bus_name=NM, interface=NM_CONNECTION_IFACE)
+          reply = self._router_main.send_and_get_reply(new_method_call(conn_addr, 'UpdateUnsaved', 'a{sa{sv}}', (settings,)))
+
+          if reply.header.message_type == MessageType.error:
+            cloudlog.warning(f"Failed to update GSM settings: {reply}")
+            return
+
+          self._activate_modem_connection(lte_connection_path)
+      except Exception as e:
+        cloudlog.exception(f"Error updating GSM settings: {e}")
+
+    threading.Thread(target=worker, daemon=True).start()
+
+  def _get_lte_connection_path(self) -> str | None:
+    try:
+      settings_addr = DBusAddress(NM_SETTINGS_PATH, bus_name=NM, interface=NM_SETTINGS_IFACE)
+      known_connections = self._router_main.send_and_get_reply(new_method_call(settings_addr, 'ListConnections')).body[0]
+
+      for conn_path in known_connections:
+        settings = self._get_connection_settings(conn_path)
+        if settings and settings.get('connection', {}).get('id', ('s', ''))[1] == 'lte':
+          return str(conn_path)
+    except Exception as e:
+      cloudlog.exception(f"Error finding LTE connection: {e}")
+    return None
+
+  def _activate_modem_connection(self, connection_path: str):
+    try:
+      modem_device = self._get_adapter(NM_DEVICE_TYPE_MODEM)
+      if modem_device and connection_path:
+        self._router_main.send_and_get_reply(new_method_call(self._nm, 'ActivateConnection', 'ooo', (connection_path, modem_device, "/")))
+    except Exception as e:
+      cloudlog.exception(f"Error activating modem connection: {e}")
+
+  def stop(self):
+    if not self._exit:
+      self._exit = True
+      if self._scan_thread.is_alive():
+        self._scan_thread.join()
+      if self._state_thread.is_alive():
+        self._state_thread.join()
+
+      if self._router_main is not None:
+        self._router_main.close()
+        self._router_main.conn.close()
+      if self._conn_monitor is not None:
+        self._conn_monitor.close()
diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py
deleted file mode 100644
index 989a3b0284..0000000000
--- a/system/ui/lib/window.py
+++ /dev/null
@@ -1,58 +0,0 @@
-import threading
-import time
-import os
-from typing import Generic, Protocol, TypeVar
-from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.lib.application import gui_app
-
-
-class RendererProtocol(Protocol):
-  def render(self): ...
-
-
-R = TypeVar("R", bound=RendererProtocol)
-
-
-class BaseWindow(Generic[R]):
-  def __init__(self, title: str):
-    self._title = title
-    self._renderer: R | None = None
-    self._stop_event = threading.Event()
-    self._thread = threading.Thread(target=self._run)
-    self._thread.start()
-
-    # wait for the renderer to be initialized
-    while self._renderer is None and self._thread.is_alive():
-      time.sleep(0.01)
-
-  def _create_renderer(self) -> R:
-    raise NotImplementedError()
-
-  def _run(self):
-    if os.getenv("CI") is not None:
-      return
-    gui_app.init_window(self._title)
-    self._renderer = self._create_renderer()
-    try:
-      for _ in gui_app.render():
-        if self._stop_event.is_set():
-          break
-        self._renderer.render()
-    finally:
-      gui_app.close()
-
-  def __enter__(self):
-    return self
-
-  def close(self):
-    if self._thread.is_alive():
-      self._stop_event.set()
-      self._thread.join(timeout=2.0)
-      if self._thread.is_alive():
-        cloudlog.warning(f"Failed to join {self._title} thread")
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_val, exc_tb):
-    self.close()
diff --git a/system/ui/lib/wrap_text.py b/system/ui/lib/wrap_text.py
new file mode 100644
index 0000000000..3fabfbb66b
--- /dev/null
+++ b/system/ui/lib/wrap_text.py
@@ -0,0 +1,107 @@
+import pyray as rl
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import font_fallback
+
+
+def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int, spacing: float = 0) -> list[str]:
+  if not word:
+    return []
+
+  parts = []
+  remaining = word
+
+  while remaining:
+    if measure_text_cached(font, remaining, font_size, spacing).x <= max_width:
+      parts.append(remaining)
+      break
+
+    # Binary search for the longest substring that fits
+    left, right = 1, len(remaining)
+    best_fit = 1
+
+    while left <= right:
+      mid = (left + right) // 2
+      substring = remaining[:mid]
+      width = measure_text_cached(font, substring, font_size, spacing).x
+
+      if width <= max_width:
+        best_fit = mid
+        left = mid + 1
+      else:
+        right = mid - 1
+
+    # Add the part that fits
+    parts.append(remaining[:best_fit])
+    remaining = remaining[best_fit:]
+
+  return parts
+
+
+_cache: dict[int, list[str]] = {}
+
+
+def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int, spacing: float = 0) -> list[str]:
+  font = font_fallback(font)
+  spacing = round(spacing, 4)
+  key = hash((font.texture.id, text, font_size, max_width, spacing))
+  if key in _cache:
+    return _cache[key]
+
+  if not text or max_width <= 0:
+    return []
+
+  # Split text by newlines first to preserve explicit line breaks
+  paragraphs = text.split('\n')
+  all_lines: list[str] = []
+
+  for paragraph in paragraphs:
+    # Handle empty paragraphs (preserve empty lines)
+    if not paragraph.strip():
+      all_lines.append("")
+      continue
+
+    # Process each paragraph separately
+    words = paragraph.split()
+    if not words:
+      all_lines.append("")
+      continue
+
+    lines: list[str] = []
+    current_line: list[str] = []
+
+    for word in words:
+      word_width = measure_text_cached(font, word, font_size, spacing).x
+
+      # Check if word alone exceeds max width (need to break the word)
+      if word_width > max_width:
+        # Finish current line if it has content
+        if current_line:
+          lines.append(" ".join(current_line))
+          current_line = []
+
+        # Break the long word into parts
+        lines.extend(_break_long_word(font, word, font_size, max_width, spacing))
+        continue
+
+      # Measure the actual joined string to get accurate width (accounts for kerning, etc.)
+      test_line = " ".join(current_line + [word]) if current_line else word
+      test_width = measure_text_cached(font, test_line, font_size, spacing).x
+
+      # Check if word fits on current line
+      if test_width <= max_width:
+        current_line.append(word)
+      else:
+        # Start new line with this word
+        if current_line:
+          lines.append(" ".join(current_line))
+        current_line = [word]
+
+    # Add remaining words
+    if current_line:
+      lines.append(" ".join(current_line))
+
+    # Add all lines from this paragraph
+    all_lines.extend(lines)
+
+  _cache[key] = all_lines
+  return all_lines
diff --git a/system/ui/mici_reset.py b/system/ui/mici_reset.py
new file mode 100755
index 0000000000..5ad959badb
--- /dev/null
+++ b/system/ui/mici_reset.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python3
+import os
+import sys
+import threading
+import time
+from enum import IntEnum
+
+import pyray as rl
+
+from openpilot.system.hardware import PC
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.slider import SmallSlider
+from openpilot.system.ui.widgets.button import SmallButton, FullRoundedButton
+from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+
+USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60
+
+
+class ResetMode(IntEnum):
+  USER_RESET = 0  # user initiated a factory reset from openpilot
+  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
+  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
+
+
+class ResetState(IntEnum):
+  NONE = 0
+  RESETTING = 1
+  FAILED = 2
+
+
+class Reset(Widget):
+  def __init__(self, mode):
+    super().__init__()
+    self._mode = mode
+    self._previous_reset_state = None
+    self._reset_state = ResetState.NONE
+
+    self._cancel_button = SmallButton("cancel")
+    self._cancel_button.set_click_callback(gui_app.request_close)
+
+    self._reboot_button = FullRoundedButton("reboot")
+    self._reboot_button.set_click_callback(self._do_reboot)
+
+    self._confirm_slider = SmallSlider("reset", self._confirm)
+
+  def _do_reboot(self):
+    if PC:
+      return
+
+    os.system("sudo reboot")
+
+  def _do_erase(self):
+    if PC:
+      return
+
+    # Removing data and formatting
+    rm = os.system("sudo rm -rf /data/*")
+    os.system(f"sudo umount {USERDATA}")
+    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+
+    if rm == 0 or fmt == 0:
+      os.system("sudo reboot")
+    else:
+      self._reset_state = ResetState.FAILED
+
+  def start_reset(self):
+    self._reset_state = ResetState.RESETTING
+    threading.Timer(0.1, self._do_erase).start()
+
+  def _update_state(self):
+    if self._reset_state != self._previous_reset_state:
+      self._previous_reset_state = self._reset_state
+      self._timeout_st = time.monotonic()
+    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
+  def _render(self, rect: rl.Rectangle):
+    label_rect = rl.Rectangle(rect.x + 8, rect.y + 8, rect.width, 50)
+    gui_label(label_rect, "factory reset", 48, font_weight=FontWeight.BOLD,
+              color=rl.Color(255, 255, 255, int(255 * 0.9)))
+
+    text_rect = rl.Rectangle(rect.x + 8, rect.y + 56, rect.width - 8 * 2, rect.height - 80)
+    gui_text_box(text_rect, self._get_body_text(), 36, font_weight=FontWeight.ROMAN, line_scale=0.9)
+
+    if self._reset_state != ResetState.RESETTING:
+      # fade out cancel button as slider is moved, set visible to prevent pressing invisible cancel
+      self._cancel_button.set_opacity(1.0 - self._confirm_slider.slider_percentage)
+      self._cancel_button.set_visible(self._confirm_slider.slider_percentage < 0.8)
+
+      if self._mode == ResetMode.RECOVER:
+        self._cancel_button.set_text("reboot")
+        self._cancel_button.set_click_callback(self._do_reboot)
+        self._cancel_button.render(rl.Rectangle(
+          rect.x + 8,
+          rect.y + rect.height - self._cancel_button.rect.height,
+          self._cancel_button.rect.width,
+          self._cancel_button.rect.height))
+      elif self._mode == ResetMode.USER_RESET and self._reset_state != ResetState.FAILED:
+        self._cancel_button.render(rl.Rectangle(
+          rect.x + 8,
+          rect.y + rect.height - self._cancel_button.rect.height,
+          self._cancel_button.rect.width,
+          self._cancel_button.rect.height))
+
+      if self._reset_state != ResetState.FAILED:
+        self._confirm_slider.render(rl.Rectangle(
+          rect.x + rect.width - self._confirm_slider.rect.width,
+          rect.y + rect.height - self._confirm_slider.rect.height,
+          self._confirm_slider.rect.width,
+          self._confirm_slider.rect.height))
+      else:
+        self._reboot_button.render(rl.Rectangle(
+          rect.x + 8,
+          rect.y + rect.height - self._reboot_button.rect.height,
+          self._reboot_button.rect.width,
+          self._reboot_button.rect.height))
+
+  def _confirm(self):
+    self.start_reset()
+
+  def _get_body_text(self):
+    if self._reset_state == ResetState.RESETTING:
+      return "Resetting device... This may take up to a minute."
+    if self._reset_state == ResetState.FAILED:
+      return "Reset failed. Reboot to try again."
+    if self._mode == ResetMode.RECOVER:
+      return "Unable to mount data partition. It may be corrupted."
+    return "All content and settings will be erased."
+
+
+def main():
+  mode = ResetMode.USER_RESET
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '--recover':
+      mode = ResetMode.RECOVER
+    elif sys.argv[1] == "--format":
+      mode = ResetMode.FORMAT
+
+  gui_app.init_window("System Reset")
+  reset = Reset(mode)
+
+  if mode == ResetMode.FORMAT:
+    reset.start_reset()
+
+  gui_app.push_widget(reset)
+
+  for _ in gui_app.render():
+    pass
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
new file mode 100755
index 0000000000..fd873109f1
--- /dev/null
+++ b/system/ui/mici_setup.py
@@ -0,0 +1,639 @@
+#!/usr/bin/env python3
+import os
+import re
+import threading
+import time
+import urllib.request
+import urllib.error
+from urllib.parse import urlparse
+import shutil
+from collections.abc import Callable
+
+import pyray as rl
+
+from cereal import log
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.utils import run_cmd
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.widgets.button import SmallButton
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import Scroller, NavScroller, ITEM_SPACING
+from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
+
+NetworkType = log.DeviceState.NetworkType
+
+OPENPILOT_URL = "https://openpilot.comma.ai"
+USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
+
+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""
+
+
+class NetworkConnectivityMonitor:
+  def __init__(self, should_check: Callable[[], bool] | None = None):
+    self.network_connected = threading.Event()
+    self.wifi_connected = threading.Event()
+    self._should_check = should_check or (lambda: True)
+    self._stop_event = threading.Event()
+    self._thread: threading.Thread | None = None
+
+  def start(self):
+    self._stop_event.clear()
+    if self._thread is None or not self._thread.is_alive():
+      self._thread = threading.Thread(target=self._run, daemon=True)
+      self._thread.start()
+
+  def stop(self):
+    if self._thread is not None:
+      self._stop_event.set()
+      self._thread.join()
+      self._thread = None
+
+  def reset(self):
+    self.network_connected.clear()
+    self.wifi_connected.clear()
+
+  def _run(self):
+    while not self._stop_event.is_set():
+      if self._should_check():
+        try:
+          request = urllib.request.Request(OPENPILOT_URL, method="HEAD")
+          urllib.request.urlopen(request, timeout=2.0)
+          self.network_connected.set()
+          if HARDWARE.get_network_type() == NetworkType.wifi:
+            self.wifi_connected.set()
+        except Exception:
+          self.reset()
+      else:
+        self.reset()
+
+      if self._stop_event.wait(timeout=1.0):
+        break
+
+
+class StartPage(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title = UnifiedLabel("start", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                               font_weight=FontWeight.DISPLAY, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    self._start_bg_txt = gui_app.texture("icons_mici/setup/start_button.png", 500, 224, keep_aspect_ratio=False)
+    self._start_bg_pressed_txt = gui_app.texture("icons_mici/setup/start_button_pressed.png", 500, 224, keep_aspect_ratio=False)
+    self._scale_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._click_delay = 0.075
+
+  def _render(self, rect: rl.Rectangle):
+    scale = self._scale_filter.update(1.07 if self.is_pressed else 1.0)
+    base_draw_x = rect.x + (rect.width - self._start_bg_txt.width) / 2
+    base_draw_y = rect.y + (rect.height - self._start_bg_txt.height) / 2
+    draw_x = base_draw_x + (self._start_bg_txt.width * (1 - scale)) / 2
+    draw_y = base_draw_y + (self._start_bg_txt.height * (1 - scale)) / 2
+    texture = self._start_bg_pressed_txt if self.is_pressed else self._start_bg_txt
+    rl.draw_texture_ex(texture, (draw_x, draw_y), 0, scale, rl.WHITE)
+
+    self._title.render(rl.Rectangle(rect.x, rect.y + (draw_y - base_draw_y), rect.width, rect.height))
+
+
+class SoftwareSelectionPage(NavWidget):
+  def __init__(self, use_openpilot_callback: Callable,
+               use_custom_software_callback: Callable):
+    super().__init__()
+
+    self._openpilot_slider = LargerSlider("slide to install\nopenpilot", use_openpilot_callback)
+    self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
+    self._custom_software_slider = LargerSlider("slide to install\nother software", use_custom_software_callback, green=False)
+    self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar._alpha = 0.0
+
+  def _update_state(self):
+    super()._update_state()
+    if self.is_dismissing:
+      self.reset()
+
+  def reset(self):
+    self._openpilot_slider.reset()
+    self._custom_software_slider.reset()
+
+  def _render(self, rect: rl.Rectangle):
+    self._openpilot_slider.set_opacity(1.0 - self._custom_software_slider.slider_percentage)
+    self._custom_software_slider.set_opacity(1.0 - self._openpilot_slider.slider_percentage)
+
+    openpilot_rect = rl.Rectangle(
+      rect.x + (rect.width - self._openpilot_slider.rect.width) / 2,
+      rect.y,
+      self._openpilot_slider.rect.width,
+      rect.height / 2,
+    )
+    self._openpilot_slider.render(openpilot_rect)
+
+    custom_software_rect = rl.Rectangle(
+      rect.x + (rect.width - self._custom_software_slider.rect.width) / 2,
+      rect.y + rect.height / 2,
+      self._custom_software_slider.rect.width,
+      rect.height / 2,
+    )
+    self._custom_software_slider.render(custom_software_rect)
+
+
+class CustomSoftwareWarningPage(NavScroller):
+  def __init__(self, continue_callback: Callable, back_callback: Callable):
+    super().__init__()
+    self.set_back_callback(back_callback)
+
+    self._continue_button = BigPillButton("next")
+    self._continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("use caution", "when installing\n3rd party software",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 58)),
+      GreyBigButton("", "• It has not been tested by comma"),
+      GreyBigButton("", "• It may not comply with relevant safety standards."),
+      GreyBigButton("", "• It may cause damage to your device and/or vehicle."),
+      GreyBigButton("how to restore to a\nfactory state later", "https://flash.comma.ai",
+                    gui_app.texture("icons_mici/setup/restore.png", 64, 64)),
+      self._continue_button,
+    ])
+
+
+class DownloadingPage(Widget):
+  def __init__(self):
+    super().__init__()
+
+    self._title_label = UnifiedLabel("downloading...", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                     font_weight=FontWeight.DISPLAY)
+    self._progress_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                        font_weight=FontWeight.ROMAN, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._progress = 0
+
+  def show_event(self):
+    super().show_event()
+    self.set_progress(0)
+
+  def set_progress(self, progress: int):
+    self._progress = progress
+    self._progress_label.set_text(f"{progress}%")
+
+  def _render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, rl.BLACK)
+    self._title_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 2,
+      rect.width,
+      64,
+    ))
+
+    self._progress_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 18,
+      rect.width,
+      rect.height,
+    ))
+
+
+class FailedPageBase(Widget):
+  def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
+    super().__init__()
+    self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                     font_weight=FontWeight.DISPLAY)
+    self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                      font_weight=FontWeight.ROMAN)
+
+    self._reboot_slider = SmallSlider("reboot", reboot_callback)
+    self._reboot_slider.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._retry_button = SmallButton("retry")
+    self._retry_button.set_click_callback(retry_callback)
+    self._retry_button.set_enabled(lambda: self.enabled)  # for nav stack
+
+  def set_reason(self, reason: str):
+    self._reason_label.set_text(reason)
+
+  def show_event(self):
+    super().show_event()
+    self._reboot_slider.reset()
+
+  def _render(self, rect: rl.Rectangle):
+    self._title_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + 10,
+      rect.width,
+      64,
+    ))
+
+    self._reason_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + 10 + 64,
+      rect.width,
+      36,
+    ))
+
+    self._retry_button.set_opacity(1 - self._reboot_slider.slider_percentage)
+    self._retry_button.render(rl.Rectangle(
+      self._rect.x + 8,
+      self._rect.y + self._rect.height - self._retry_button.rect.height,
+      self._retry_button.rect.width,
+      self._retry_button.rect.height,
+    ))
+
+    self._reboot_slider.render(rl.Rectangle(
+      self._rect.x + self._rect.width - self._reboot_slider.rect.width,
+      self._rect.y + self._rect.height - self._reboot_slider.rect.height,
+      self._reboot_slider.rect.width,
+      self._reboot_slider.rect.height,
+    ))
+
+
+class FailedPage(FailedPageBase, NavWidget):
+  def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
+    super().__init__(reboot_callback, retry_callback, title)
+    self.set_back_callback(retry_callback)
+
+
+class GreyBigButton(BigButton):
+  """Users should manage newlines with this class themselves"""
+
+  LABEL_HORIZONTAL_PADDING = 30
+
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.set_touch_valid_callback(lambda: False)
+
+    self._rect.width = 476
+
+    self._label.set_font_size(36)
+    self._label.set_font_weight(FontWeight.BOLD)
+    self._label.set_line_height(1.0)
+
+    self._sub_label.set_font_size(36)
+    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._sub_label.set_line_height(0.95)
+
+  @property
+  def LABEL_VERTICAL_PADDING(self):
+    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
+  def _render(self, _):
+    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
+    self._draw_content(self._rect.y)
+
+
+class BigPillButton(BigButton):
+  def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs):
+    self._green = green
+    self._disabled_background = disabled_background
+    super().__init__(*args, **kwargs)
+
+    self._label.set_font_size(48)
+    self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def _load_images(self):
+    if self._green:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/start_button.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/start_button_pressed.png", 402, 180)
+    else:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/continue.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/continue_pressed.png", 402, 180)
+    self._txt_disabled_bg = gui_app.texture("icons_mici/setup/continue_disabled.png", 402, 180)
+
+  def set_green(self, green: bool):
+    if self._green != green:
+      self._green = green
+      self._load_images()
+
+  def _update_label_layout(self):
+    # Don't change label text size
+    pass
+
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    txt_bg, btn_x, btn_y, scale = super()._handle_background()
+
+    if self._disabled_background:
+      txt_bg = self._txt_disabled_bg
+    return txt_bg, btn_x, btn_y, scale
+
+
+class NetworkSetupPageBase(Scroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               disable_connect_hint: bool = False):
+    super().__init__()
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(True)
+    self._network_monitor = network_monitor
+    self._custom_software = False
+    self._prev_has_internet = False
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
+
+    self._connect_button = GreyBigButton("connect to\ninternet", "swipe down to go back",
+                                         gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True))
+    self._connect_button.set_visible(not disable_connect_hint)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
+
+    self._show_time = 0.0
+    self._pending_has_internet_scroll = False
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
+
+    def on_waiting_click():
+      offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
+      self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
+      # trigger grow when wifi button in view
+      self._pending_wifi_grow_animation = True
+
+    self._waiting_button = BigPillButton("waiting for\ninternet...", disabled_background=True)
+    self._waiting_button.set_click_callback(on_waiting_click)
+    self._continue_button = BigPillButton("install openpilot", green=True)
+    self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software))
+
+    self._scroller.add_widgets([
+      self._connect_button,
+      self._wifi_button,
+      self._continue_button,
+      self._waiting_button,
+    ])
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
+
+  def show_event(self):
+    super().show_event()
+    self._show_time = rl.get_time()
+    self._prev_has_internet = False
+    self._pending_has_internet_scroll = False
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
+
+  def _nav_stack_tick(self):
+    self._wifi_manager.process_callbacks()
+
+    has_internet = self._network_monitor.network_connected.is_set()
+    if has_internet and not self._prev_has_internet:
+      self._pending_has_internet_scroll = True
+    self._prev_has_internet = has_internet
+
+    if self._pending_has_internet_scroll:
+      # Scrolls over to continue button, then grows once in view
+      elapsed = rl.get_time() - self._show_time
+      if elapsed > 0.5:
+        self._pending_has_internet_scroll = False
+
+        def scroll_to_download():
+          self._scroller._layout()
+          end_offset = -(self._scroller.content_size - self._rect.width)
+          remaining = self._scroller.scroll_panel.get_offset() - end_offset
+          self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
+          self._pending_continue_grow_animation = True
+
+        # Animate WifiUi down first before scroll
+        gui_app.pop_widgets_to(self, scroll_to_download)
+
+  def set_custom_software(self, custom_software: bool):
+    self._custom_software = custom_software
+    self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
+    self._continue_button.set_green(not custom_software)
+
+  def set_is_updater(self):
+    self._continue_button.set_text("download\n& install")
+    self._continue_button.set_green(False)
+
+  def _update_state(self):
+    super()._update_state()
+
+    if self._pending_continue_grow_animation:
+      btn_right = self._continue_button.rect.x + self._continue_button.rect.width
+      visible_right = self._rect.x + self._rect.width
+      if btn_right < visible_right + 50:
+        self._pending_continue_grow_animation = False
+        self._continue_button.trigger_grow_animation()
+
+    if self._pending_wifi_grow_animation and abs(self._wifi_button.rect.x - ITEM_SPACING) < 50:
+      self._pending_wifi_grow_animation = False
+      self._wifi_button.trigger_grow_animation()
+
+    if self._network_monitor.network_connected.is_set():
+      self._continue_button.set_visible(True)
+      self._waiting_button.set_visible(False)
+    else:
+      self._continue_button.set_visible(False)
+      self._waiting_button.set_visible(True)
+
+
+class NetworkSetupPage(NetworkSetupPageBase, NavScroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               back_callback: Callable[[], None] | None):
+    super().__init__(network_monitor, continue_callback)
+    self.set_back_callback(back_callback)
+
+
+class Setup(Widget):
+  def __init__(self):
+    super().__init__()
+    self.download_url = ""
+    self.download_progress = 0
+    self.download_thread = None
+    self._download_failed_reason: str | None = None
+
+    self._network_monitor = NetworkConnectivityMonitor()
+    self._network_monitor.start()
+
+    def getting_started_button_callback():
+      self._software_selection_page.reset()
+      gui_app.push_widget(self._software_selection_page)
+
+    self._start_page = StartPage()
+    self._start_page.set_click_callback(getting_started_button_callback)
+    self._start_page.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_callback, self._pop_to_software_selection)
+
+    self._software_selection_page = SoftwareSelectionPage(self._use_openpilot, lambda: gui_app.push_widget(self._custom_software_warning_page))
+
+    self._download_failed_page = FailedPage(HARDWARE.reboot, self._pop_to_software_selection)
+
+    self._custom_software_warning_page = CustomSoftwareWarningPage(lambda: self._push_network_setup(True), self._pop_to_software_selection)
+
+    self._downloading_page = DownloadingPage()
+
+    gui_app.add_nav_stack_tick(self._nav_stack_tick)
+
+  def _nav_stack_tick(self):
+    self._downloading_page.set_progress(self.download_progress)
+
+    if self._download_failed_reason is not None:
+      reason = self._download_failed_reason
+      self._download_failed_reason = None
+      self._download_failed_page.set_reason(reason)
+      gui_app.pop_widgets_to(self._software_selection_page, instant=True)  # don't reset sliders
+      gui_app.push_widget(self._download_failed_page)
+
+  def _render(self, rect: rl.Rectangle):
+    self._start_page.render(rect)
+
+  def close(self):
+    self._network_monitor.stop()
+
+  def _pop_to_software_selection(self):
+    # reset sliders after dismiss completes
+    gui_app.pop_widgets_to(self._software_selection_page, self._software_selection_page.reset)
+
+  def _use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+    else:
+      self._push_network_setup()
+
+  def _push_network_setup(self, custom_software: bool = False):
+    # to fire the correct continue callback later
+    self._network_setup_page.set_custom_software(custom_software)
+    gui_app.pop_widgets_to(self._software_selection_page, lambda: gui_app.push_widget(self._network_setup_page))
+
+  def _network_setup_continue_callback(self, custom_software: bool):
+    if not custom_software:
+      gui_app.pop_widgets_to(self._software_selection_page, instant=True)  # don't reset sliders
+      self._download(OPENPILOT_URL)
+    else:
+      def handle_keyboard_result(text):
+        url = text.strip()
+        if url:
+          gui_app.pop_widgets_to(self._software_selection_page, instant=True)  # don't reset sliders
+          self._download(url)
+
+      keyboard = BigInputDialog("custom software URL...", confirm_callback=handle_keyboard_result, auto_return_to_letters="./")
+      gui_app.push_widget(keyboard)
+
+  def _download(self, url: str):
+    # autocomplete incomplete URLs
+    if re.match("^([^/.]+)/([^/]+)$", url):
+      url = f"https://installer.comma.ai/{url}"
+
+    parsed = urlparse(url, scheme='https')
+    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+    self.download_progress = 0
+
+    gui_app.push_widget(self._downloading_page)
+
+    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+    self.download_thread.start()
+
+  def _download_thread(self):
+    try:
+      import tempfile
+
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
+
+      headers = {"User-Agent": USER_AGENT,
+                 "X-openpilot-serial": HARDWARE.get_serial(),
+                 "X-openpilot-device-type": HARDWARE.get_device_type()}
+      req = urllib.request.Request(self.download_url, headers=headers)
+
+      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
+        total_size = int(response.headers.get('content-length', 0))
+        downloaded = 0
+        block_size = 8192
+
+        while True:
+          buffer = response.read(block_size)
+          if not buffer:
+            break
+
+          downloaded += len(buffer)
+          f.write(buffer)
+
+          if total_size:
+            self.download_progress = int(downloaded * 100 / total_size)
+
+      is_elf = False
+      with open(tmpfile, 'rb') as f:
+        header = f.read(4)
+        is_elf = header == b'\x7fELF'
+
+      if not is_elf:
+        self._download_failed_reason = "No custom software found at this URL."
+        return
+
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
+
+      with open(INSTALLER_URL_PATH, "w") as f:
+        f.write(self.download_url)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+
+    except urllib.error.HTTPError as e:
+      if e.code == 409:
+        self._download_failed_reason = "Incompatible sunnypilot version"
+    except Exception:
+      self._download_failed_reason = "Invalid URL"
+
+
+def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if TICI:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for setup process")
+
+  try:
+    gui_app.init_window("Setup")
+    setup = Setup()
+    gui_app.push_widget(setup)
+    for _ in gui_app.render():
+      pass
+    setup.close()
+  except Exception as e:
+    print(f"Setup error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/mici_updater.py b/system/ui/mici_updater.py
new file mode 100755
index 0000000000..cd1f99062c
--- /dev/null
+++ b/system/ui/mici_updater.py
@@ -0,0 +1,208 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.button import FullRoundedButton
+from openpilot.system.ui.mici_setup import NetworkSetupPageBase, FailedPageBase, NetworkConnectivityMonitor
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+  FAILED = 3
+
+
+class Updater(Widget):
+  def __init__(self, updater_path, manifest_path):
+    super().__init__()
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "loading"
+    self.process = None
+    self.update_thread = None
+    self._network_monitor = NetworkConnectivityMonitor()
+    self._network_monitor.start()
+
+    # TODO: network page is rendered inline, not pushed on nav stack, so auto-dismiss on internet connect doesn't work
+    self._network_setup_page = NetworkSetupPageBase(self._network_monitor, self._network_setup_continue_callback,
+                                                    disable_connect_hint=True)
+    self._network_setup_page.set_is_updater()
+    self._network_setup_page.set_enabled(lambda: self.enabled)  # for nav stack
+
+    # Buttons
+    self._continue_button = FullRoundedButton("continue")
+    self._continue_button.set_click_callback(lambda: self.set_current_screen(Screen.WIFI))
+
+    self._title_label = UnifiedLabel("update required", 48, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                     font_weight=FontWeight.DISPLAY)
+    self._subtitle_label = UnifiedLabel("The download size is approximately 1GB.", 36,
+                                        text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                        font_weight=FontWeight.ROMAN)
+
+    self._update_failed_page = FailedPageBase(HARDWARE.reboot, self._update_failed_retry_callback,
+                                              title="update failed")
+
+    self._progress_title_label = UnifiedLabel("", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                                              font_weight=FontWeight.DISPLAY, line_height=0.8)
+    self._progress_percent_label = UnifiedLabel("", 132, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
+                                                font_weight=FontWeight.ROMAN,
+                                                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+
+  def _network_setup_continue_callback(self, _):
+    self.install_update()
+
+  def _update_failed_retry_callback(self):
+    self.set_current_screen(Screen.PROMPT)
+
+  def set_current_screen(self, screen: Screen):
+    if self.current_screen != screen:
+      if screen == Screen.PROGRESS:
+        if self._network_setup_page:
+          self._network_setup_page.hide_event()
+      elif screen == Screen.WIFI:
+        if self._network_setup_page:
+          self._network_setup_page.show_event()
+      elif screen == Screen.PROMPT:
+        if self._network_setup_page:
+          self._network_setup_page.hide_event()
+      elif screen == Screen.FAILED:
+        if self._network_setup_page:
+          self._network_setup_page.hide_event()
+
+    self.current_screen = screen
+
+  def install_update(self):
+    self.set_current_screen(Screen.PROGRESS)
+    self.progress_value = 0
+    self.progress_text = "downloading"
+
+    # 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
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self.set_current_screen(Screen.FAILED)
+      return
+
+    if self.process.stdout is not None:
+      for line in self.process.stdout:
+        parts = line.strip().split(":")
+        if len(parts) == 2:
+          self.progress_text = parts[0].lower()
+          try:
+            self.progress_value = int(float(parts[1]))
+          except ValueError:
+            pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.set_current_screen(Screen.FAILED)
+
+  def render_prompt_screen(self, rect: rl.Rectangle):
+    self._title_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y - 5,
+      rect.width,
+      48,
+    ))
+
+    subtitle_width = rect.width - 16
+    subtitle_height = self._subtitle_label.get_content_height(int(subtitle_width))
+    self._subtitle_label.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + 48,
+      subtitle_width,
+      subtitle_height,
+    ))
+
+    self._continue_button.render(rl.Rectangle(
+      rect.x + 8,
+      rect.y + rect.height - self._continue_button.rect.height,
+      self._continue_button.rect.width,
+      self._continue_button.rect.height,
+    ))
+
+  def render_progress_screen(self, rect: rl.Rectangle):
+    self._progress_title_label.set_text(self.progress_text.replace("_", "_\n") + "...")
+    self._progress_title_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 2,
+      rect.width,
+      self._progress_title_label.get_content_height(int(rect.width - 20)),
+    ))
+
+    self._progress_percent_label.set_text(f"{self.progress_value}%")
+    self._progress_percent_label.render(rl.Rectangle(
+      rect.x + 12,
+      rect.y + 18,
+      rect.width,
+      rect.height,
+    ))
+
+  def _render(self, rect: rl.Rectangle):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen(rect)
+    elif self.current_screen == Screen.WIFI:
+      self._network_setup_page.render(rect)
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen(rect)
+    elif self.current_screen == Screen.FAILED:
+      self._update_failed_page.render(rect)
+
+  def close(self):
+    self._network_monitor.stop()
+
+
+def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if TICI:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for updater process")
+
+  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)
+    gui_app.push_widget(updater)
+    for _ in gui_app.render():
+      pass
+    updater.close()
+  except Exception as e:
+    print(f"Updater error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/reset.py b/system/ui/reset.py
index 80a1c10ea8..c32504a5b8 100755
--- a/system/ui/reset.py
+++ b/system/ui/reset.py
@@ -1,117 +1,14 @@
 #!/usr/bin/env python3
-import os
-import pyray as rl
-import sys
-import threading
-from enum import IntEnum
-
-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_label, gui_text_box
-
-NVME = "/dev/nvme0n1"
-USERDATA = "/dev/disk/by-partlabel/userdata"
-
-
-class ResetMode(IntEnum):
-  USER_RESET = 0  # user initiated a factory reset from openpilot
-  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
-  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
-
-
-class ResetState(IntEnum):
-  NONE = 0
-  CONFIRM = 1
-  RESETTING = 2
-  FAILED = 3
-
-
-class Reset:
-  def __init__(self, mode):
-    self.mode = mode
-    self.reset_state = ResetState.NONE
-
-  def do_reset(self):
-    # Best effort to wipe NVME
-    os.system(f"sudo umount {NVME}")
-    os.system(f"yes | sudo mkfs.ext4 {NVME}")
-
-    # Removing data and formatting
-    rm = os.system("sudo rm -rf /data/*")
-    os.system(f"sudo umount {USERDATA}")
-    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
-
-    if rm == 0 or fmt == 0:
-      os.system("sudo reboot")
-    else:
-      self.reset_state = ResetState.FAILED
-
-  def start_reset(self):
-    self.reset_state = ResetState.RESETTING
-    threading.Timer(0.1, self.do_reset).start()
-
-  def render(self, rect: rl.Rectangle):
-    label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100)
-    gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
-
-    text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100)
-    gui_text_box(text_rect, self.get_body_text(), 90)
-
-    button_height = 160
-    button_spacing = 50
-    button_top = rect.y + rect.height - button_height
-    button_width = (rect.width - button_spacing) / 2.0
-
-    if self.reset_state != ResetState.RESETTING:
-      if self.mode == ResetMode.RECOVER or self.reset_state == ResetState.FAILED:
-        if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Reboot"):
-          os.system("sudo reboot")
-      elif self.mode == ResetMode.USER_RESET:
-        if gui_button(rl.Rectangle(rect.x, button_top, button_width, button_height), "Cancel"):
-          return False
-
-      if self.reset_state != ResetState.FAILED:
-        if gui_button(rl.Rectangle(rect.x + button_width + 50, button_top, button_width, button_height),
-                       "Confirm", button_style=ButtonStyle.PRIMARY):
-          self.confirm()
-
-    return True
-
-  def confirm(self):
-    if self.reset_state == ResetState.CONFIRM:
-      self.start_reset()
-    else:
-      self.reset_state = ResetState.CONFIRM
-
-  def get_body_text(self):
-    if self.reset_state == ResetState.CONFIRM:
-      return "Are you sure you want to reset your device?"
-    if self.reset_state == ResetState.RESETTING:
-      return "Resetting device...\nThis may take up to a minute."
-    if self.reset_state == ResetState.FAILED:
-      return "Reset failed. Reboot to try again."
-    if self.mode == ResetMode.RECOVER:
-      return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."
-    return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_reset as tici_reset
+import openpilot.system.ui.mici_reset as mici_reset
 
 
 def main():
-  mode = ResetMode.USER_RESET
-  if len(sys.argv) > 1:
-    if sys.argv[1] == '--recover':
-      mode = ResetMode.RECOVER
-    elif sys.argv[1] == "--format":
-      mode = ResetMode.FORMAT
-
-  gui_app.init_window("System Reset")
-  reset = Reset(mode)
-
-  if mode == ResetMode.FORMAT:
-    reset.start_reset()
-
-  for _ in gui_app.render():
-    if not reset.render(rl.Rectangle(45, 200, gui_app.width - 90, gui_app.height - 245)):
-      break
+  if gui_app.big_ui():
+    tici_reset.main()
+  else:
+    mici_reset.main()
 
 
 if __name__ == "__main__":
diff --git a/system/ui/setup.py b/system/ui/setup.py
new file mode 100755
index 0000000000..23ffc26aa2
--- /dev/null
+++ b/system/ui/setup.py
@@ -0,0 +1,15 @@
+#!/usr/bin/env python3
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_setup as tici_setup
+import openpilot.system.ui.mici_setup as mici_setup
+
+
+def main():
+  if gui_app.big_ui():
+    tici_setup.main()
+  else:
+    mici_setup.main()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 119bdba3e7..33f4543c3e 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -1,20 +1,28 @@
 #!/usr/bin/env python3
 import pyray as rl
-import os
-import threading
-import time
+import select
+import sys
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.window import BaseWindow
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.text import wrap_text
+from openpilot.system.ui.widgets import Widget
 
 # Constants
-PROGRESS_BAR_WIDTH = 1000
-PROGRESS_BAR_HEIGHT = 20
+if gui_app.big_ui():
+  PROGRESS_BAR_WIDTH = 1000
+  PROGRESS_BAR_HEIGHT = 20
+  TEXTURE_SIZE = 360
+  WRAPPED_SPACING = 50
+  CENTERED_SPACING = 150
+else:
+  PROGRESS_BAR_WIDTH = 268
+  PROGRESS_BAR_HEIGHT = 10
+  TEXTURE_SIZE = 140
+  WRAPPED_SPACING = 10
+  CENTERED_SPACING = 20
 DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN_H = 100
-TEXTURE_SIZE = 360
 FONT_SIZE = 96
 LINE_HEIGHT = 104
 DARKGRAY = (55, 55, 55, 255)
@@ -24,42 +32,36 @@ def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)
 
 
-class SpinnerRenderer:
+class Spinner(Widget):
   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,
-                                                            alpha_premultiply=True)
+    super().__init__()
+    self._comma_texture = gui_app.texture("../../sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
     self._rotation = 0.0
     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._wrapped_lines = []
-      else:
-        self._progress = None
-        self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
+    if text.isdigit():
+      self._progress = clamp(int(text), 0, 100)
+      self._wrapped_lines = []
+    else:
+      self._progress = None
+      self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
-  def render(self):
-    with self._lock:
-      progress = self._progress
-      wrapped_lines = self._wrapped_lines
-
-    if wrapped_lines:
+  def _render(self, rect: rl.Rectangle):
+    if self._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
+      spacing = WRAPPED_SPACING
+      total_height = TEXTURE_SIZE + spacing + len(self._wrapped_lines) * LINE_HEIGHT
+      center_y = (rect.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
     else:
       # Center spinner vertically
-      spacing = 150
-      center_y = gui_app.height / 2.0
+      spacing = CENTERED_SPACING
+      center_y = rect.height / 2.0
     y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
 
-    center = rl.Vector2(gui_app.width / 2.0, center_y)
+    center = rl.Vector2(rect.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)
 
@@ -73,35 +75,43 @@ class SpinnerRenderer:
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
     # Display the progress bar or text based on user input
-    if progress is not None:
+    if self._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
+      bar.width *= self._progress / 100.0
       rl.draw_rectangle_rounded(bar, 1, 10, 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)
+    elif self._wrapped_lines:
+      for i, line in enumerate(self._wrapped_lines):
+        text_size = measure_text_cached(gui_app.font(), line, FONT_SIZE)
         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)
 
 
-class Spinner(BaseWindow[SpinnerRenderer]):
-  def __init__(self):
-    super().__init__("Spinner")
+def _read_stdin():
+  """Non-blocking read of available lines from stdin."""
+  lines = []
+  while True:
+    rlist, _, _ = select.select([sys.stdin], [], [], 0.0)
+    if not rlist:
+      break
+    line = sys.stdin.readline().strip()
+    if line == "":
+      break
+    lines.append(line)
+  return lines
 
-  def _create_renderer(self):
-    return SpinnerRenderer()
 
-  def update(self, spinner_text: str):
-    if self._renderer is not None:
-      self._renderer.set_text(spinner_text)
+def main():
+  gui_app.init_window("Spinner")
+  spinner = Spinner()
+  for _ in gui_app.render():
+    text_list = _read_stdin()
+    if text_list:
+      spinner.set_text(text_list[-1])
 
-  def update_progress(self, cur: float, total: float):
-    self.update(str(round(100 * cur / total)))
+    spinner.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
 
 if __name__ == "__main__":
-  with Spinner() as s:
-    s.update("Spinner text")
-    time.sleep(5)
+  main()
diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py
new file mode 100644
index 0000000000..481886e37a
--- /dev/null
+++ b/system/ui/sunnypilot/lib/application.py
@@ -0,0 +1,40 @@
+"""
+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.
+"""
+import os
+
+import pyray as rl
+
+SHOW_MOUSE_COORDS = os.getenv("SHOW_MOUSE_COORDS") == "1"
+SUNNYPILOT_UI = os.getenv("SUNNYPILOT_UI", "1") == "1"
+
+
+class GuiApplicationExt:
+  def __init__(self):
+    self._show_mouse_coords = SHOW_MOUSE_COORDS
+
+  @staticmethod
+  def sunnypilot_ui() -> bool:
+    return SUNNYPILOT_UI
+
+  def _draw_mouse_coordinates(self, font):
+    coords_text = f"X:{int(rl.get_mouse_x())}, Y:{int(rl.get_mouse_y())}"
+
+    green_color = rl.Color(0, 159, 47, 255)  # Match the green color of FPS counter
+
+    # Calculate text width to position it at the right edge; estimate width based on text length
+    # Each character is approximately 10-12 pixels wide at font size 20
+    estimated_text_width = len(coords_text) * 11
+
+    # Position text at the top right corner, 10px from the top
+    screen_width = self._scaled_width if self._scale != 1.0 else self._width
+    text_pos = rl.Vector2(screen_width - estimated_text_width - 10, 6)
+
+    # Draw the text
+    rl.draw_text_ex(font, coords_text, text_pos, 20, 0, green_color)
+
+  def set_show_mouse_coords(self, show: bool):
+    self._show_mouse_coords = show
diff --git a/system/ui/sunnypilot/lib/styles.py b/system/ui/sunnypilot/lib/styles.py
new file mode 100644
index 0000000000..7a29b5bb13
--- /dev/null
+++ b/system/ui/sunnypilot/lib/styles.py
@@ -0,0 +1,95 @@
+"""
+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.
+"""
+from dataclasses import dataclass
+
+import pyray as rl
+
+
+@dataclass
+class Base:
+  # Widget/Control Base Dimensions
+  ITEM_BASE_HEIGHT = 170
+  ITEM_PADDING = 20
+  ITEM_TEXT_FONT_SIZE = 50
+  ITEM_DESC_FONT_SIZE = 40
+  ITEM_DESC_V_OFFSET = 150
+  ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255)
+  CLOSE_BTN_SIZE = 160
+
+  TEXT_PADDING = 20
+
+  # Toggle Control
+  TOGGLE_HEIGHT = 120
+  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
+  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
+
+  # Button Control
+  BUTTON_ACTION_WIDTH = 300
+  BUTTON_HEIGHT = 120
+
+  # Simple Button Control
+  SIMPLE_BUTTON_WIDTH = 800
+  SIMPLE_BUTTON_HEIGHT = 150
+
+
+@dataclass
+class DefaultStyleSP(Base):
+  # Base Colors
+  BASE_BG_COLOR = rl.Color(57, 57, 57, 255)  # Grey
+  ON_BG_COLOR = rl.Color(28, 101, 186, 255)  # Blue
+  OFF_BG_COLOR = BASE_BG_COLOR
+  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255)  # Dark Blue
+  OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
+  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255)  # Dull Blue
+  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255)  # Grey
+  ITEM_TEXT_COLOR = rl.WHITE
+  ITEM_DISABLED_TEXT_COLOR = rl.Color(88, 88, 88, 255)
+  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+
+  # Toggle Control
+  TOGGLE_ON_COLOR = ON_BG_COLOR
+  TOGGLE_OFF_COLOR = OFF_BG_COLOR
+  TOGGLE_KNOB_COLOR = rl.WHITE
+  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
+  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
+  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255)  # Lighter Grey
+
+  # Multi Button Control
+  MBC_TRANSPARENT = rl.Color(255, 255, 255, 0)
+  MBC_BG_CHECKED_ENABLED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  MBC_DISABLED = rl.Color(0xFF, 0xFF, 0xFF, 0x33)
+
+  # Option Control
+  OPTION_CONTROL_CONTAINER_BG = OFF_BG_COLOR
+  OPTION_CONTROL_BTN_ENABLED = rl.Color(88, 88, 88, 255)
+  OPTION_CONTROL_BTN_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  OPTION_CONTROL_BTN_DISABLED = DISABLED_OFF_BG_COLOR
+  OPTION_CONTROL_TEXT_ENABLED = rl.WHITE
+  OPTION_CONTROL_TEXT_PRESSED = rl.WHITE
+  OPTION_CONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR
+
+  # Tree Button Colors
+  BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255)  # Royal Blue
+  BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
+  BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255)  # Very Dark Grey
+  TREE_DIALOG_TRANSPARENT = rl.Color(0, 0, 0, 0)
+  TREE_DIALOG_SEARCH_BUTTON_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
+  TREE_DIALOG_SEARCH_BUTTON_BORDER = rl.Color(150, 150, 150, 200)
+
+  # Vehicle Description Colors
+  GREEN = rl.Color(0, 241, 0, 255)
+  BLUE = rl.Color(0, 134, 233, 255)
+  YELLOW = rl.Color(255, 213, 0, 255)
+
+  # Button Colors
+  BUTTON_ENABLED_OFF = rl.Color(0x39, 0x39, 0x39, 0xFF)
+  BUTTON_OFF_PRESSED = rl.Color(0x4A, 0x4A, 0x4A, 0xFF)
+  BUTTON_DISABLED = rl.Color(0x12, 0x12, 0x12, 0xFF)
+  BUTTON_TEXT_DISABLED = rl.Color(0x5C, 0x5C, 0x5C, 0xFF)
+
+
+style = DefaultStyleSP
diff --git a/system/ui/sunnypilot/lib/utils.py b/system/ui/sunnypilot/lib/utils.py
new file mode 100644
index 0000000000..ecaba86f4b
--- /dev/null
+++ b/system/ui/sunnypilot/lib/utils.py
@@ -0,0 +1,36 @@
+"""
+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.
+"""
+from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP
+
+
+class NoElideButtonAction(ButtonActionSP):
+  def get_width_hint(self):
+    return super().get_width_hint() + 1
+
+
+class AlertFadeAnimator:
+  def __init__(self, target_fps: int, duration_on: float = 0.75, rc: float = 0.05):
+    from openpilot.common.filter_simple import FirstOrderFilter
+    self._filter = FirstOrderFilter(1.0, rc, 1 / target_fps)
+    self._frame = 0
+    self._target_fps = target_fps
+    self._duration_on = duration_on
+
+  def update(self, active: bool):
+    if active:
+      self._frame += 1
+      if (self._frame % self._target_fps) < (self._target_fps * self._duration_on):
+        self._filter.x = 1.0
+      else:
+        self._filter.update(0.0)
+    else:
+      self._frame = 0
+      self._filter.update(1.0)
+
+  @property
+  def alpha(self) -> float:
+    return self._filter.x
diff --git a/system/ui/sunnypilot/widgets/__init__.py b/system/ui/sunnypilot/widgets/__init__.py
new file mode 100644
index 0000000000..96865e6042
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/__init__.py
@@ -0,0 +1,18 @@
+"""
+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.
+"""
+
+
+def get_highlighted_description(params, param_name: str, descriptions: list[str]) -> str:
+  index = int(params.get(param_name, return_default=True))
+  lines = []
+  for i, desc in enumerate(descriptions):
+    if i == index:
+      lines.append(f"<b>{desc}</b>")
+    else:
+      lines.append(f"{desc}")
+
+  return "<br>".join(lines)
diff --git a/system/ui/sunnypilot/widgets/helpers/__init__.py b/system/ui/sunnypilot/widgets/helpers/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py b/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
new file mode 100644
index 0000000000..8d0f6bd59b
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/helpers/fuzzy_search.py
@@ -0,0 +1,40 @@
+"""
+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.
+"""
+import re
+import unicodedata
+
+
+def normalize(text: str) -> str:
+  return unicodedata.normalize('NFKD', text).encode('ascii', 'ignore').decode('utf-8').lower()
+
+
+def search_from_list(query: str, items: list[str]) -> list[str]:
+  if not query:
+    return items
+
+  normalized_query = normalize(query)
+  search_terms = [re.sub(r'[^a-z0-9]', '', term) for term in normalized_query.split() if term.strip()]
+
+  results = []
+  for item in items:
+    normalized_item = normalize(item)
+    item_with_spaces = re.sub(r'[^a-z0-9\s]', ' ', normalized_item)
+    item_stripped = re.sub(r'[^a-z0-9]', '', normalized_item)
+
+    all_terms_match = True
+    for term in search_terms:
+      if not term:
+        continue
+
+      if term not in item_with_spaces and term not in item_stripped:
+        all_terms_match = False
+        break
+
+    if all_terms_match:
+      results.append(item)
+
+  return results
diff --git a/system/ui/sunnypilot/widgets/helpers/star_icon.py b/system/ui/sunnypilot/widgets/helpers/star_icon.py
new file mode 100644
index 0000000000..14666d49b6
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/helpers/star_icon.py
@@ -0,0 +1,26 @@
+"""
+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.
+"""
+import math
+
+import pyray as rl
+
+
+def draw_star(center_x, center_y, radius, is_filled, color):
+  center = rl.Vector2(center_x, center_y)
+  points = []
+
+  for i in range(10):
+    angle = -(i * 36 + 18) * math.pi / 180
+    r = radius if i % 2 == 0 else radius / 2
+    x = center_x + r * math.cos(angle)
+    y = center_y + r * math.sin(angle)
+    points.append(rl.Vector2(x, y))
+
+  for i in range(10):
+    if is_filled:
+      rl.draw_triangle(center, points[i], points[(i + 1) % 10], color)
+    rl.draw_line_ex(points[i], points[(i + 1) % 10], 2, color)
diff --git a/system/ui/sunnypilot/widgets/html_render.py b/system/ui/sunnypilot/widgets/html_render.py
new file mode 100644
index 0000000000..a0018f5be7
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/html_render.py
@@ -0,0 +1,27 @@
+"""
+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.
+"""
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.html_render import HtmlModal
+
+
+class HtmlModalSP(HtmlModal):
+  def __init__(self, file_path=None, text=None, callback=None):
+    super().__init__(file_path=file_path, text=text)
+    self._callback = callback
+    self._dialog_result = DialogResult.NO_ACTION
+    self._ok_button._click_callback = self._on_ok_clicked
+
+  def _on_ok_clicked(self):
+    self._dialog_result = DialogResult.CONFIRM
+    gui_app.pop_widget()
+
+    if self._callback:
+      self._callback(self._dialog_result)
+
+  def reset(self):
+    self._dialog_result = DialogResult.NO_ACTION
diff --git a/system/ui/sunnypilot/widgets/input_dialog.py b/system/ui/sunnypilot/widgets/input_dialog.py
new file mode 100644
index 0000000000..83b7edacf2
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/input_dialog.py
@@ -0,0 +1,43 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.keyboard import Keyboard
+
+
+class InputDialogSP:
+  def __init__(self, title: str, sub_title: str | None = None, current_text: str = "", param: str | None = None,
+               callback: Callable[[DialogResult, str], None] | None = None,
+               min_text_size: int = 0, password_mode: bool = False):
+    self.callback = callback
+    self.current_text = current_text
+    self.keyboard = Keyboard(max_text_size=255, min_text_size=min_text_size, password_mode=password_mode)
+    self.param = param
+    self._params = Params()
+    self.sub_title = sub_title
+    self.title = title
+
+  def show(self):
+    self.keyboard.reset(min_text_size=self.keyboard._min_text_size)
+    if self.sub_title:
+      self.keyboard.set_title(self.title, self.sub_title)
+    else:
+      self.keyboard.set_title(self.title)
+    self.keyboard.set_text(self.current_text)
+
+    def internal_callback(result: DialogResult):
+      text = self.keyboard.text if result == DialogResult.CONFIRM else ""
+      if result == DialogResult.CONFIRM and self.param:
+        self._params.put(self.param, text)
+      if self.callback:
+        self.callback(result, text)
+
+    self.keyboard.set_callback(internal_callback)
+    gui_app.push_widget(self.keyboard)
diff --git a/system/ui/sunnypilot/widgets/list_view.py b/system/ui/sunnypilot/widgets/list_view.py
new file mode 100644
index 0000000000..1dd69c24cb
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/list_view.py
@@ -0,0 +1,411 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
+                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING, DualButtonAction
+from openpilot.system.ui.widgets.scroller_tici import LineSeparator, LINE_COLOR, LINE_PADDING
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH
+
+
+class Spacer(Widget):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _render(self, _):
+    rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.x + self._rect.width), int(self._rect.y), rl.Color(0,0,0,0))
+
+
+class ToggleActionSP(ToggleAction):
+  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
+               callback: Callable[[bool], None] | None = None, param: str | None = None):
+    ToggleAction.__init__(self, initial_state, width, enabled, callback)
+    self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)
+
+
+class ButtonSP(Button):
+  def _update_state(self):
+    super()._update_state()
+    if self.enabled:
+      if self.is_pressed:
+        self._background_color = style.BUTTON_OFF_PRESSED
+      else:
+        self._background_color = style.BUTTON_ENABLED_OFF
+    else:
+      self._background_color = style.BUTTON_DISABLED
+      self._label.set_text_color(style.BUTTON_TEXT_DISABLED)
+
+
+class SimpleButtonActionSP(ItemAction):
+  def __init__(self, button_text: str | Callable[[], str], callback: Callable | None = None,
+               enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH):
+    super().__init__(width=button_width, enabled=enabled)
+    self.button_action = ButtonSP(button_text, click_callback=callback, button_style=ButtonStyle.NORMAL,
+                                  border_radius=20)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self.button_action.set_touch_valid_callback(touch_callback)
+
+  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+    self.button_action.set_enabled(self.enabled)
+    return self.button_action.render(rect)
+
+
+class ButtonActionSP(ButtonAction):
+  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_ACTION_WIDTH, enabled: bool | Callable[[], bool] = True):
+    super().__init__(text=text, width=width, enabled=enabled)
+    self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
+
+  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
+    self._value_source = value
+    self._value_color = color
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    """Duplicate of ButtonAction._render, with additional value rendering"""
+    self._button.set_text(self.text)
+    self._button.set_enabled(_resolve_value(self.enabled))
+    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._button.render(button_rect)
+
+    value_text = self.value
+    if value_text:
+      value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height)
+      gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._value_color,
+                font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    pressed = self._pressed
+    self._pressed = False
+    return pressed
+
+
+class DualButtonActionSP(DualButtonAction):
+  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+               right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True, border_radius: int = 15):
+    DualButtonAction.__init__(self, left_text, right_text, left_callback, right_callback, enabled)
+    self.left_button._border_radius = self.right_button._border_radius = border_radius
+
+  def _render(self, rect: rl.Rectangle):
+    button_spacing = 20
+    button_height = 150
+    button_width = (rect.width - button_spacing) / 2
+    button_y = rect.y + (rect.height - button_height) / 2
+
+    left_rect = rl.Rectangle(rect.x, button_y, button_width, button_height)
+    right_rect = rl.Rectangle(rect.x + button_width + button_spacing, button_y, button_width, button_height)
+
+    # expand one to full width if other is not visible
+    if not self.left_button.is_visible:
+      right_rect.x = rect.x
+      right_rect.width = rect.width
+    elif not self.right_button.is_visible:
+      left_rect.width = rect.width
+
+    # Render buttons
+    self.left_button.render(left_rect)
+    self.right_button.render(right_rect)
+
+
+class MultipleButtonActionSP(MultipleButtonAction):
+  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None,
+               param: str | None = None):
+    MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
+    self.param_key = param
+    self.params = Params()
+    if self.param_key:
+      self.selected_button = int(self.params.get(self.param_key, return_default=True))
+    self._anim_x: float | None = None
+    self.enabled_buttons: set[int] | None = None
+
+  def set_enabled_buttons(self, indices: set[int] | None):
+    self.enabled_buttons = indices
+
+  def _render(self, rect: rl.Rectangle):
+
+    button_y = rect.y + (rect.height - style.BUTTON_HEIGHT) / 2
+
+    total_width = len(self.buttons) * self.button_width
+    track_rect = rl.Rectangle(rect.x, button_y, total_width, style.BUTTON_HEIGHT)
+
+    bg_color = style.MBC_TRANSPARENT
+    text_color = style.ITEM_TEXT_COLOR if self.enabled else style.MBC_DISABLED
+    highlight_color = style.MBC_BG_CHECKED_ENABLED if self.enabled else style.MBC_DISABLED
+
+    # background
+    rl.draw_rectangle_rounded(track_rect, 0.2, 20, bg_color)
+
+    # border
+    border_color = style.MBC_BG_CHECKED_ENABLED if self.enabled else style.MBC_DISABLED
+    rl.draw_rectangle_rounded_lines_ex(track_rect, 0.2, 20, 2, border_color)
+
+    # highlight with animation
+    target_x = rect.x + self.selected_button * self.button_width
+    if not self._anim_x:
+      self._anim_x = target_x
+    self._anim_x += (target_x - self._anim_x) * 0.2
+
+    highlight_rect = rl.Rectangle(self._anim_x, button_y, self.button_width, style.BUTTON_HEIGHT)
+    rl.draw_rectangle_rounded(highlight_rect, 0.2, 20, highlight_color)
+
+    # text
+    for i, _text in enumerate(self.buttons):
+      button_x = rect.x + i * self.button_width
+
+      text = _resolve_value(_text, "")
+      text_size = measure_text_cached(self._font, text, 40)
+      text_x = button_x + (self.button_width - text_size.x) / 2
+      text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2
+
+      # Check individual button enabled state
+      is_button_enabled = self.enabled and (self.enabled_buttons is None or i in self.enabled_buttons)
+      current_text_color = text_color if is_button_enabled else style.MBC_DISABLED
+
+      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, current_text_color)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    # Override parent method to check individual button enabled state
+    if not self.enabled:
+      return
+
+    button_y = self._rect.y + (self._rect.height - style.BUTTON_HEIGHT) / 2
+    for i, _ in enumerate(self.buttons):
+      button_x = self._rect.x + i * self.button_width
+      button_rect = rl.Rectangle(button_x, button_y, self.button_width, style.BUTTON_HEIGHT)
+
+      if rl.check_collision_point_rec(mouse_pos, button_rect):
+        # Check if this specific button is enabled
+        if self.enabled_buttons is not None and i not in self.enabled_buttons:
+          return
+
+        self.selected_button = i
+        if self.callback:
+          self.callback(i)
+
+    if self.param_key:
+      self.params.put(self.param_key, self.selected_button)
+
+
+class ListItemSP(ListItem):
+  def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
+               description_visible: bool = False, callback: Callable | None = None,
+               action_item: ItemAction | None = None, inline: bool = True, title_color: rl.Color = style.ITEM_TEXT_COLOR):
+    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
+    self.title_color = title_color
+    self.inline = inline
+    if not self.inline:
+      self._rect.height += style.ITEM_BASE_HEIGHT/1.75
+    self._right_value_source: str | Callable[[], str] | None = None
+    self._right_value_font = gui_app.font(FontWeight.NORMAL)
+    self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
+
+  def set_title(self, title: str | Callable[[], str] = ""):
+    self._title = title
+
+  def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
+    self._right_value_source = value
+    self._right_value_color = color
+
+  @property
+  def right_value(self) -> str:
+    if self._right_value_source is None:
+      return ""
+    return str(_resolve_value(self._right_value_source, ""))
+
+  def _update_state(self):
+    prev_desc = self._prev_description
+    super()._update_state()
+    if self.description_visible and self._prev_description != prev_desc:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      self._rect.height = self.get_item_height(self._font, content_width)
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    if self.description_visible:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      self._rect.height = self.get_item_height(self._font, content_width)
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    height = super().get_item_height(font, max_width)
+
+    if self.description_visible:
+      height += style.ITEM_PADDING * 1.5
+
+    if not self.inline:
+      height += style.ITEM_BASE_HEIGHT / 1.75
+
+    return height
+
+  def show_description(self, show: bool):
+    self._set_description_visible(show)
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.action_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    if not self.inline:
+      text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+      action_y = item_rect.y + text_size.y + style.ITEM_PADDING * 3
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)
+
+    right_width = self.action_item.get_width_hint()
+    if right_width == 0:
+      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y, item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
+
+    content_width = item_rect.width - (style.ITEM_PADDING * 2)
+    title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
+    right_width = min(content_width - title_width, right_width)
+    if isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP):
+      action_x = item_rect.x
+    else:
+      action_x = item_rect.x + item_rect.width - right_width
+    action_y = item_rect.y
+    return rl.Rectangle(action_x, action_y, right_width, style.ITEM_BASE_HEIGHT)
+
+  def _render(self, _):
+    if not self.is_visible:
+      return
+
+    # Don't draw items that are not in parent's viewport
+    if (self._rect.y + self.rect.height) <= self._parent_rect.y or self._rect.y >= (self._parent_rect.y + self._parent_rect.height):
+      return
+
+    content_x = self._rect.x + style.ITEM_PADDING
+    text_x = content_x
+    left_action_item = isinstance(self.action_item, ToggleAction) or isinstance(self.action_item, SimpleButtonActionSP)
+
+    if left_action_item:
+      item_height = style.SIMPLE_BUTTON_HEIGHT if isinstance(self.action_item, SimpleButtonActionSP) else style.TOGGLE_HEIGHT
+      left_rect = rl.Rectangle(
+        content_x,
+        self._rect.y + (style.ITEM_BASE_HEIGHT - item_height) // 2,
+        self.action_item.rect.width,
+        item_height
+      )
+      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING * 1.5
+
+      # Draw title
+      if self.title:
+        self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
+
+      value_text = self.right_value
+      if value_text:
+        # area from after the title to the right edge of the row
+        value_rect = rl.Rectangle(
+          text_x,  # start at the beginning of the text area
+          self._rect.y,
+          self._rect.width - (text_x - self._rect.x) - style.ITEM_PADDING,
+          style.ITEM_BASE_HEIGHT,
+        )
+        if value_rect.width > 0:
+          gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._right_value_color, font_weight=FontWeight.NORMAL,
+                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+      # Render toggle and handle callback
+      if self.action_item.render(left_rect) and self.action_item.enabled:
+        if self.callback:
+          self.callback()
+
+    else:
+      if self.title:
+        # Draw main text
+        self._text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
+        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2 if self.inline else self._rect.y + style.ITEM_PADDING * 1.5
+        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)
+
+      # Draw right item if present
+      if self.action_item:
+        right_rect = self.get_right_item_rect(self._rect)
+        if self.action_item.render(right_rect) and self.action_item.enabled:
+          # Right item was clicked/activated
+          if self.callback:
+            self.callback()
+
+    # Draw description if visible
+    if self.description_visible:
+      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
+      description_height = self._html_renderer.get_total_height(content_width)
+
+      desc_y = self._rect.y + style.ITEM_DESC_V_OFFSET
+      if not self.inline and self.action_item:
+        desc_y = self.action_item.rect.y + style.ITEM_DESC_V_OFFSET - style.ITEM_PADDING * 0.5
+
+      description_rect = rl.Rectangle(self._rect.x + style.ITEM_PADDING, desc_y, content_width, description_height)
+      self._html_renderer.render(description_rect)
+
+
+def simple_button_item_sp(button_text: str | Callable[[], str], callback: Callable | None = None,
+                          enabled: bool | Callable[[], bool] = True, button_width: int = style.SIMPLE_BUTTON_WIDTH) -> ListItemSP:
+  action = SimpleButtonActionSP(button_text=button_text, enabled=enabled, callback=callback, button_width=button_width)
+  return ListItemSP(title="", callback=callback, description="", action_item=action)
+
+
+def toggle_item_sp(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
+                   callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItemSP:
+  action = ToggleActionSP(initial_state=initial_state, enabled=enabled, callback=callback, param=param)
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
+
+
+def multiple_button_item_sp(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]],
+                            selected_index: int = 0, button_width: int = style.BUTTON_ACTION_WIDTH, callback: Callable | None = None,
+                            icon: str = "", param: str | None = None, inline: bool = False) -> ListItemSP:
+  action = MultipleButtonActionSP(buttons, button_width, selected_index, callback=callback, param=param)
+  return ListItemSP(title=title, description=description, icon=icon, action_item=action, inline=inline)
+
+
+def option_item_sp(title: str | Callable[[], str], param: str,
+                   min_value: int, max_value: int, description: str | Callable[[], str] | None = None,
+                   value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None,
+                   enabled: bool | Callable[[], bool] = True,
+                   icon: str = "", label_width: int = LABEL_WIDTH, value_map: dict[int, int] | None = None,
+                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None, inline: bool = False) -> ListItemSP:
+  action = OptionControlSP(
+    param, min_value, max_value, value_change_step,
+    enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
+  )
+  return ListItemSP(title=title, description=description, action_item=action, icon=icon, inline=inline)
+
+
+def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
+                   callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP:
+  action = ButtonActionSP(text=button_text, enabled=enabled)
+  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
+
+
+def dual_button_item_sp(left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+                        right_callback: Callable | None = None, description: str | Callable[[], str] | None = None,
+                        enabled: bool | Callable[[], bool] = True, border_radius: int = 15) -> ListItemSP:
+  action = DualButtonActionSP(left_text, right_text, left_callback, right_callback, enabled, border_radius)
+  return ListItemSP(title="", description=description, action_item=action)
+
+
+class LineSeparatorSP(LineSeparator):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def _render(self, _):
+    line_y = int(self._rect.y + self._rect.height // 2)
+    rl.draw_line(int(self._rect.x) + LINE_PADDING, line_y,
+                 int(self._rect.x + self._rect.width) - LINE_PADDING, line_y,
+                 LINE_COLOR)
diff --git a/system/ui/sunnypilot/widgets/option_control.py b/system/ui/sunnypilot/widgets/option_control.py
new file mode 100644
index 0000000000..291d8f6ff0
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/option_control.py
@@ -0,0 +1,166 @@
+import pyray as rl
+from collections.abc import Callable
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.widgets.list_view import ItemAction
+
+# Dimensions and styling constants
+BUTTON_WIDTH = 150
+BUTTON_HEIGHT = 150
+LABEL_WIDTH = 350
+BUTTON_SPACING = 25
+VALUE_FONT_SIZE = 50
+BUTTON_FONT_SIZE = 60
+CONTAINER_PADDING = 20
+
+
+class OptionControlSP(ItemAction):
+  def __init__(self, param: str, min_value: int, max_value: int,
+               value_change_step: int = 1, enabled: bool | Callable[[], bool] = True,
+               on_value_changed: Callable[[int], None] | None = None,
+               value_map: dict[int, int] | None = None,
+               label_width: int = LABEL_WIDTH,
+               use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None):
+
+    super().__init__(enabled=enabled)
+    self.params = Params()
+    self.param_key = param
+    self.min_value = min_value
+    self.max_value = max_value
+    self.value_change_step = value_change_step
+    self._minus_enabled = enabled
+    self._plus_enabled = enabled
+    self.on_value_changed = on_value_changed
+    self.value_map = value_map
+    self.label_width = label_width
+    self.use_float_scaling = use_float_scaling
+    self.current_value = min_value
+    self.label_callback = label_callback
+    if self.value_map:
+      for key in self.value_map:
+        if self.value_map[key] == self.params.get(self.param_key, return_default=True):
+          self.current_value = int(key)
+          break
+    else:
+      value = self.params.get(self.param_key, return_default=True)
+      self.current_value = int(float(value) * 100.0) if self.use_float_scaling else int(value)
+
+    # Initialize font and button styles
+    self._font = gui_app.font(FontWeight.MEDIUM)
+
+    # Layout rectangles for components
+    self.minus_btn_rect = rl.Rectangle(0, 0, 0, 0)
+    self.plus_btn_rect = rl.Rectangle(0, 0, 0, 0)
+
+  def get_value(self) -> int:
+    """Get the current value of the control"""
+    return self.current_value
+
+  def set_value(self, value: int):
+    """Set the control to a specific value"""
+    if self.min_value <= value <= self.max_value:
+      self.current_value = value
+      if self.value_map:
+        self.params.put(self.param_key, self.value_map[value])
+      else:
+        if self.use_float_scaling:
+          self.params.put(self.param_key, value / 100.0)
+        else:
+          self.params.put(self.param_key, value)
+      if self.on_value_changed:
+        self.on_value_changed(value)
+
+  def get_displayed_value(self) -> str:
+    """Get the displayed value, handling value mapping if present"""
+    value = self.current_value
+
+    if callable(self.label_callback):
+      if self.value_map:
+        return self.label_callback(self.value_map[value])
+      else:
+        return self.label_callback(value)
+
+    if self.value_map:
+      # Use the value map to get the display string
+      if value in self.value_map:
+        return str(self.value_map[value])  # Return the display string
+
+    # If using float scaling, format as float
+    if self.use_float_scaling:
+      return f"{value / 100.0:.2f}"
+
+    return str(value)
+
+  def _render(self, rect: rl.Rectangle):
+    if self._rect.width == 0 or self._rect.height == 0 or not self.is_visible:
+      return
+
+    control_width = (BUTTON_WIDTH * 2) + self.label_width + (BUTTON_SPACING * 2)
+    total_width = control_width + (CONTAINER_PADDING * 2)
+    self._rect.width = total_width
+
+    start_x = self._rect.x + self._rect.width - control_width - (CONTAINER_PADDING * 2)
+    component_y = rect.y + (rect.height - BUTTON_HEIGHT) / 2
+    self.container_rect = rl.Rectangle(start_x, component_y, total_width, BUTTON_HEIGHT)
+
+    # background
+    rl.draw_rectangle_rounded(self.container_rect, 0.2, 20, style.OPTION_CONTROL_CONTAINER_BG)
+
+    # minus button
+    self.minus_btn_rect = rl.Rectangle(self.container_rect.x, component_y, BUTTON_WIDTH + CONTAINER_PADDING,
+                                       BUTTON_HEIGHT)
+
+    # label
+    label_x = self.container_rect.x + CONTAINER_PADDING + BUTTON_WIDTH + BUTTON_SPACING
+    self.label_rect = rl.Rectangle(label_x, component_y, self.label_width, BUTTON_HEIGHT)
+
+    # plus button
+    plus_x = label_x + self.label_width + BUTTON_SPACING
+    self.plus_btn_rect = rl.Rectangle(plus_x, component_y, BUTTON_WIDTH + CONTAINER_PADDING, BUTTON_HEIGHT)
+
+    self._minus_enabled = self.enabled and self.current_value > self.min_value
+    self._plus_enabled = self.enabled and self.current_value < self.max_value
+
+    self._render_button(self.minus_btn_rect, "-", self._minus_enabled)
+    self._render_value_label()
+    self._render_button(self.plus_btn_rect, "+", self._plus_enabled)
+
+  def _render_button(self, rect: rl.Rectangle, text: str, enabled: bool):
+    mouse_pos = rl.get_mouse_position()
+    is_pressed = (rl.check_collision_point_rec(mouse_pos, rect) and
+                  self._touch_valid() and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT))
+
+    text_color = style.ITEM_TEXT_COLOR if enabled else style.ITEM_DISABLED_TEXT_COLOR
+
+    # highlight
+    if enabled and is_pressed:
+      rl.draw_rectangle_rounded(rect, 0.2, 20, style.OPTION_CONTROL_BTN_PRESSED)
+
+    # button text
+    text_size = measure_text_cached(self._font, text, BUTTON_FONT_SIZE)
+    text_x = rect.x + (rect.width - text_size.x) / 2
+    text_y = rect.y + (rect.height - text_size.y) / 2
+    rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), BUTTON_FONT_SIZE, 0, text_color)
+
+  def _render_value_label(self):
+    """Render the current value label"""
+    text = self.get_displayed_value()
+    text_color = style.ITEM_TEXT_COLOR if self.enabled else style.ITEM_DISABLED_TEXT_COLOR
+
+    text_size = measure_text_cached(self._font, text, VALUE_FONT_SIZE)
+    text_x = self.label_rect.x + (self.label_rect.width - text_size.x) / 2
+    text_y = self.label_rect.y + (self.label_rect.height - text_size.y) / 2
+
+    rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), VALUE_FONT_SIZE, 0, text_color)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._minus_enabled and rl.check_collision_point_rec(mouse_pos, self.minus_btn_rect):
+      self.current_value -= self.value_change_step
+      self.current_value = max(self.min_value, self.current_value)
+    elif self._plus_enabled and rl.check_collision_point_rec(mouse_pos, self.plus_btn_rect):
+      self.current_value += self.value_change_step
+      self.current_value = min(self.max_value, self.current_value)
+
+    self.set_value(self.current_value)
diff --git a/system/ui/sunnypilot/widgets/progress_bar.py b/system/ui/sunnypilot/widgets/progress_bar.py
new file mode 100644
index 0000000000..76f4243411
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/progress_bar.py
@@ -0,0 +1,57 @@
+"""
+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.
+"""
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets.list_view import ListItem, ItemAction
+
+
+class ProgressBarAction(ItemAction):
+  def __init__(self, width=600):
+    super().__init__(width=width)
+    self.progress = 0.0
+    self.text = ""
+    self.show_progress = False
+    self.text_color = rl.GRAY
+    self._font = gui_app.font(FontWeight.NORMAL)
+
+  def update(self, progress, text, show_progress=False, text_color=rl.GRAY):
+    self.progress = progress
+    self.text = text
+    self.show_progress = show_progress
+    self.text_color = text_color
+
+  def _render(self, rect: rl.Rectangle):
+    font_size = 40
+    text_size = measure_text_cached(self._font, self.text, font_size)
+    padding = 30
+    bar_width = text_size.x + 2 * padding
+    text_x = (bar_width - text_size.x) / 2
+
+    if self.show_progress and len(parts := self.text.split(' - ', 1)) == 2:
+      prefix = parts[0]
+      max_prefix_w = measure_text_cached(self._font, "100%", font_size).x
+      current_prefix_w = measure_text_cached(self._font, prefix, font_size).x
+
+      bar_width = (text_size.x - current_prefix_w + max_prefix_w) + 2 * padding
+      text_x = padding + (max_prefix_w - current_prefix_w)
+
+    bar_height = 60
+    bar_rect = rl.Rectangle(rect.x + rect.width - bar_width, rect.y + (rect.height - bar_height) / 2, bar_width, bar_height)
+
+    if self.show_progress:
+      inner_rect = rl.Rectangle(bar_rect.x + 4, bar_rect.y + 4, bar_rect.width - 8, bar_rect.height - 8)
+      if inner_rect.width > 0:
+        fill_width = max(0, min(inner_rect.width, inner_rect.width * (self.progress / 100.0)))
+        rl.draw_rectangle_rounded(rl.Rectangle(inner_rect.x, inner_rect.y, fill_width, inner_rect.height), 0.2, 10, rl.Color(30, 121, 232, 255))
+
+    rl.draw_text_ex(self._font, self.text, rl.Vector2(bar_rect.x + text_x, bar_rect.y + (bar_height - text_size.y) / 2), font_size, 0, self.text_color)
+
+
+def progress_item(title):
+  action = ProgressBarAction()
+  return ListItem(title=title, action_item=action)
diff --git a/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
new file mode 100644
index 0000000000..77e8b5fd2c
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/sunnylink_pairing_dialog.py
@@ -0,0 +1,139 @@
+"""
+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.
+"""
+import base64
+
+import pyray as rl
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
+from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
+from openpilot.system.ui.lib.application import FontWeight, gui_app
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+class SunnylinkPairingDialog(PairingDialog):
+  """Dialog for device pairing with QR code."""
+
+  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
+
+  def __init__(self, sponsor_pairing: bool = False):
+    PairingDialog.__init__(self)
+    self._sponsor_pairing = sponsor_pairing
+    self._is_paired_prev = ui_state.sunnylink_state.is_paired()
+
+  def _get_pairing_url(self) -> str:
+    qr_string = "https://github.com/sponsors/sunnyhaibin"
+
+    if self._sponsor_pairing:
+      try:
+        sl_dongle_id = self.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
+        token = SunnylinkApi(sl_dongle_id).get_token()
+        inner_string = f"1|{sl_dongle_id}|{token}"
+        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
+        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
+      except Exception:
+        cloudlog.exception("Failed to get pairing token")
+
+    return qr_string
+
+  def _update_state(self):
+    is_paired = ui_state.sunnylink_state.is_paired()
+    if not self._is_paired_prev and is_paired:
+      gui_app.pop_widget()
+
+  def _render(self, rect: rl.Rectangle) -> int:
+    rl.clear_background(rl.Color(224, 224, 224, 255))
+
+    self._check_qr_refresh()
+
+    margin = 70
+    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin)
+    y = content_rect.y
+
+    # Close button
+    close_size = 80
+    pad = 20
+    close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2)
+    self._close_btn.render(close_rect)
+
+    y += close_size + 40
+
+    # Title
+    title = tr("Pair your GitHub account") if self._sponsor_pairing else tr("Early Access: Become a sunnypilot Sponsor")
+    title_font = gui_app.font(FontWeight.NORMAL)
+    left_width = int(content_rect.width * 0.5 - 15)
+
+    title_wrapped = wrap_text(title_font, title, 75, left_width)
+    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
+    y += len(title_wrapped) * 75 + 60
+
+    # Two columns: instructions and QR code
+    remaining_height = content_rect.height - (y - content_rect.y)
+    right_width = content_rect.width // 2 - 20
+
+    # Instructions
+    self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height))
+
+    # QR code
+    qr_size = min(right_width, content_rect.height) - 40
+    qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2
+    qr_y = content_rect.y
+    self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size))
+
+    return -1
+
+  def _render_instructions(self, rect: rl.Rectangle) -> None:
+    if self._sponsor_pairing:
+      instructions = [
+        tr("Scan the QR code to login to your GitHub account"),
+        tr("Follow the prompts to complete the pairing process"),
+        tr("Re-enter the \"sunnylink\" panel to verify sponsorship status"),
+        tr("If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai")
+      ]
+    else:
+      instructions = [
+        tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"),
+        tr("Choose your sponsorship tier and confirm your support"),
+        tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues")
+      ]
+
+    font = gui_app.font(FontWeight.BOLD)
+    y = rect.y
+
+    for i, text in enumerate(instructions):
+      circle_radius = 25
+      circle_x = rect.x + circle_radius + 15
+      text_x = rect.x + circle_radius * 2 + 40
+      text_width = rect.width - (circle_radius * 2 + 40)
+
+      wrapped = wrap_text(font, text, 47, int(text_width))
+      text_height = len(wrapped) * 47
+      circle_y = y + text_height // 2
+
+      # Circle and number
+      rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255))
+      number = str(i + 1)
+      number_size = measure_text_cached(font, number, 30)
+      rl.draw_text_ex(font, number, (int(circle_x - number_size.x // 2), int(circle_y - number_size.y // 2)), 30, 0, rl.WHITE)
+
+      # Text
+      rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK)
+      y += text_height + 50
+
+
+if __name__ == "__main__":
+  gui_app.init_window("pairing device")
+  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
+  try:
+    for _ in gui_app.render():
+      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+      if result != -1:
+        break
+  finally:
+    del pairing
diff --git a/system/ui/sunnypilot/widgets/toggle.py b/system/ui/sunnypilot/widgets/toggle.py
new file mode 100644
index 0000000000..2924aec2b4
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/toggle.py
@@ -0,0 +1,59 @@
+"""
+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.
+"""
+from collections.abc import Callable
+
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets.toggle import Toggle
+from openpilot.system.ui.sunnypilot.lib.styles import style
+
+KNOB_PADDING = 5
+KNOB_RADIUS = style.TOGGLE_BG_HEIGHT / 2 - KNOB_PADDING
+
+
+class ToggleSP(Toggle):
+  def __init__(self, initial_state=False, callback: Callable[[bool], None] | None = None, param: str | None = None):
+    self.param_key = param
+    self.params = Params()
+    if self.param_key:
+      initial_state = self.params.get_bool(self.param_key)
+    Toggle.__init__(self, initial_state, callback)
+
+  def set_rect(self, rect: rl.Rectangle):
+    self._rect = rl.Rectangle(rect.x, rect.y, style.TOGGLE_WIDTH, style.TOGGLE_HEIGHT)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    if self._enabled and self.param_key:
+      self.params.put_bool(self.param_key, self._state)
+
+  def _render(self, rect: rl.Rectangle):
+    self.update()
+    self._rect.y -= style.ITEM_PADDING / 2
+    if self._enabled:
+      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_KNOB_COLOR
+    else:
+      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
+      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
+
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
+
+    # Draw actual background
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
+
+    left_edge = bg_rect.x + KNOB_PADDING
+    right_edge = bg_rect.x + bg_rect.width - KNOB_PADDING
+
+    knob_travel_distance = right_edge - left_edge - 2 * KNOB_RADIUS
+    min_knob_x = left_edge + KNOB_RADIUS
+    knob_x = min_knob_x + knob_travel_distance * self._progress
+    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
+
+    rl.draw_circle(int(knob_x), int(knob_y), KNOB_RADIUS, knob_color)
diff --git a/system/ui/sunnypilot/widgets/tree_dialog.py b/system/ui/sunnypilot/widgets/tree_dialog.py
new file mode 100644
index 0000000000..c34db092e8
--- /dev/null
+++ b/system/ui/sunnypilot/widgets/tree_dialog.py
@@ -0,0 +1,293 @@
+"""
+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.
+"""
+from dataclasses import dataclass, field
+
+import pyray as rl
+from openpilot.common.params import Params
+from openpilot.system.ui.lib.application import FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import Button, ButtonStyle, BUTTON_PRESSED_BACKGROUND_COLORS
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
+
+from openpilot.system.ui.sunnypilot.lib.styles import style
+from openpilot.system.ui.sunnypilot.widgets.helpers.fuzzy_search import search_from_list
+from openpilot.system.ui.sunnypilot.widgets.helpers.star_icon import draw_star
+from openpilot.system.ui.sunnypilot.widgets.input_dialog import InputDialogSP
+
+
+@dataclass
+class TreeNode:
+  ref: str
+  data: dict = field(default_factory=dict)
+
+
+@dataclass
+class TreeFolder:
+  folder: str
+  nodes: list
+
+
+class TreeItemWidget(Button):
+  def __init__(self, text, ref, is_folder=False, indent_level=0, click_callback=None, favorite_callback=None, is_favorite=False, is_expanded=False):
+    super().__init__(text, click_callback, button_style=ButtonStyle.NORMAL, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                     text_padding=20 + indent_level * 30, elide_right=True)
+    self.text = text
+    self.ref = ref
+    self.is_folder = is_folder
+    self.indent_level = indent_level
+    self.is_favorite = is_favorite
+    self.selected = False
+    self._favorite_callback = favorite_callback
+    self.text_padding = 20 + indent_level * 30
+    self.border_radius = 10
+    self.is_expanded = is_expanded
+
+  def _render(self, rect):
+    indent = 60 * self.indent_level
+    self._rect = rl.Rectangle(rect.x + indent, rect.y, rect.width - indent, rect.height)
+    if self.is_pressed:
+      color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
+    elif self.selected and self.ref != "search_bar":
+      color = style.BUTTON_PRIMARY_COLOR
+    else:
+      color = style.BUTTON_DISABLED_BG_COLOR
+    roundness = self.border_radius / (min(self._rect.width, self._rect.height) / 2)
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, color)
+    text_offset = self.text_padding + 20 - 15 if self.is_expanded and not self.is_folder and self.indent_level > 0 else self.text_padding + 20
+    text_rect = rl.Rectangle(self._rect.x + text_offset, self._rect.y, self._rect.width - self.text_padding - 20 - 90, self._rect.height)
+    self._label.render(text_rect)
+
+    if not self.is_folder and self._favorite_callback:
+      draw_star(self._rect.x + self._rect.width - 90, self._rect.y + self._rect.height / 2, 40, self.is_favorite,
+                style.ON_BG_COLOR if self.is_favorite else rl.GRAY)
+
+  def _handle_mouse_release(self, mouse_pos):
+    star_rect = rl.Rectangle(self._rect.x + self._rect.width - 90 - 40, self._rect.y + self._rect.height / 2 - 40, 80, 80)
+    if not self.is_folder and self._favorite_callback and rl.check_collision_point_rec(mouse_pos, star_rect):
+      self._favorite_callback()
+      return True
+    return super()._handle_mouse_release(mouse_pos)
+
+
+class TreeOptionDialog(MultiOptionDialog):
+  @property
+  def on_exit(self):
+    return self._callback
+
+  @on_exit.setter
+  def on_exit(self, value):
+    self._callback = value
+
+  def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
+               get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None):
+    super().__init__(title, [], current_ref, option_font_weight)
+    self.folders = folders
+    self.selection_ref = current_ref
+    self.fav_param = fav_param
+    self.expanded = set()
+    self.params = Params()
+    val = self.params.get(fav_param) if fav_param else None
+    self.favorites = set(val.split(';')) if val else set()
+    self.query = ""
+    self.search_prompt = search_prompt or tr("Search")
+    self.get_folders_fn = get_folders_fn
+    self.on_exit = on_exit
+    self.display_func = display_func or (lambda node: node.data.get('display_name', node.ref))
+    self.search_funcs = search_funcs or [lambda node: node.data.get('display_name', ''), lambda node: node.data.get('short_name', '')]
+    self._search_rect = None
+    self._search_width = 0.475
+
+    # Default title & overridable subtitle for InputDialogSP
+    self.search_title = search_title or tr("Enter search query")
+    self.search_subtitle = search_subtitle
+    self.search_dialog = None
+    self._search_pressed = False
+
+    self.selection_node = None
+    # Try to match by ref, by display text, or fall back to "Default" when no ref is set
+    for folder in self.folders:
+      for node in folder.nodes:
+        display = self.display_func(node)
+        if (
+          node.ref == current_ref or
+          display == current_ref or
+          (not current_ref and node.ref == "Default")
+        ):
+          self.selection = display
+          self.current = display
+          self.selection_node = node
+          break
+      if self.selection_node is not None:
+        break
+
+    self._build_visible_items()
+
+  def _on_search_confirm(self, result, text):
+    if result == DialogResult.CONFIRM:
+      self.query = text
+      self._build_visible_items()
+
+  def _on_search_clicked(self):
+    self.search_dialog = InputDialogSP(
+      self.search_title,
+      self.search_subtitle,
+      current_text=self.query,
+      callback=self._on_search_confirm,
+    )
+    self.search_dialog.show()
+
+  def _toggle_folder(self, folder):
+    if folder.folder:
+      if folder.folder in self.expanded:
+        self.expanded.remove(folder.folder)
+      else:
+        self.expanded.add(folder.folder)
+      if folder == self.folders[-1] and folder.folder in self.expanded:
+        self.scroller.scroll_panel.set_offset(self.scroller.scroll_panel.offset - 200)
+      self._build_visible_items(reset_scroll=False)
+
+  def _select_node(self, node):
+    self.selection = self.display_func(node)
+    self.selection_ref = node.ref
+
+  def _toggle_favorite(self, node):
+    self.favorites.remove(node.ref) if node.ref in self.favorites else self.favorites.add(node.ref)
+    if self.fav_param:
+      self.params.put(self.fav_param, ';'.join(self.favorites))
+    if self.get_folders_fn:
+      self.folders = self.get_folders_fn(self.favorites)
+    self._build_visible_items(reset_scroll=False)
+
+  def _build_visible_items(self, reset_scroll=True):
+    self.visible_items = []
+
+    # Pinned selected item at the very top (if any)
+    if getattr(self, "selection_node", None) is not None:
+      node = self.selection_node
+      display = self.display_func(node)
+      self.selection = self.current = display
+      favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
+      self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 0,
+                                               lambda node_ref=node: self._select_node(node_ref),
+                                               favorite_cb, node.ref in self.favorites, is_expanded=True))
+
+    for folder in self.folders:
+      nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])]
+      if not nodes and self.query:
+        continue
+      expanded = folder.folder in self.expanded or not folder.folder or bool(self.query)
+      if folder.folder:
+        self.visible_items.append(TreeItemWidget(f"{'-' if expanded else '+'} {folder.folder}", "", True, 0,
+                                                 lambda folder_ref=folder: self._toggle_folder(folder_ref)))
+      if expanded:
+        for node in nodes:
+          # Skip duplicate root-level item for the selected node
+          if self.selection_node is not None and node.ref == self.selection_node.ref and not folder.folder:
+            continue
+
+          favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
+          self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
+                                                   lambda node_ref=node: self._select_node(node_ref),
+                                                   favorite_cb, node.ref in self.favorites, is_expanded=expanded))
+
+    self.option_buttons = self.visible_items
+    self.options = [item.text for item in self.visible_items]
+    self.scroller._items = self.visible_items
+    if reset_scroll:
+      self.scroller.scroll_panel.set_offset(0)
+
+  def _render(self, rect):
+    dialog_content_rect = rl.Rectangle(rect.x + 50, rect.y + 50, rect.width - 100, rect.height - 100)
+    rl.draw_rectangle_rounded(dialog_content_rect, 0.02, 20, rl.BLACK)
+
+    # Title on the left
+    title_rect = rl.Rectangle(dialog_content_rect.x + 50, dialog_content_rect.y + 50, dialog_content_rect.width * 0.5, 70)
+    gui_label(title_rect, self.title, 70, font_weight=FontWeight.BOLD)
+
+    # Search bar on the top right
+    search_width = dialog_content_rect.width * self._search_width
+    search_height = 110
+    search_x = dialog_content_rect.x + dialog_content_rect.width - 50 - search_width
+    search_y = dialog_content_rect.y + 40  # align roughly with title
+
+    self._search_rect = rl.Rectangle(search_x, search_y, search_width, search_height)
+
+    # Draw search field
+    inset = 4
+    roundness = 0.3
+    input_rect = rl.Rectangle(self._search_rect.x + inset, self._search_rect.y + inset,
+                              self._search_rect.width - inset * 2, self._search_rect.height - inset * 2)
+
+    # Transparent fill (unpressed), white fill (pressed), border
+    fill_color = style.TREE_DIALOG_SEARCH_BUTTON_PRESSED if self._search_pressed else style.TREE_DIALOG_TRANSPARENT
+    rl.draw_rectangle_rounded(input_rect, roundness, 10, fill_color)
+    rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, style.TREE_DIALOG_SEARCH_BUTTON_BORDER)
+
+    # Magnifying glass icon
+    icon_color = rl.Color(180, 180, 180, 240)
+    cx = input_rect.x + 60
+    cy = input_rect.y + input_rect.height / 2 - 5
+    radius = min(input_rect.height * 0.28, 26)
+
+    circle_thickness = 4
+    for i in range(circle_thickness):
+      rl.draw_circle_lines(int(cx), int(cy), radius - i, icon_color)
+
+    handle_thickness = 5
+    inner_x = cx + radius * 0.65
+    inner_y = cy + radius * 0.65
+    outer_x = cx + radius * 1.45
+    outer_y = cy + radius * 1.45
+
+    rl.draw_line_ex(rl.Vector2(inner_x, inner_y), rl.Vector2(outer_x, outer_y), handle_thickness, icon_color)
+
+    # User text (query), placed after the icon if present
+    if self.query:
+      text_start_x = outer_x + 45
+      text_rect = rl.Rectangle(text_start_x, input_rect.y, input_rect.x + input_rect.width - text_start_x - 10, input_rect.height)
+      gui_label(text_rect, self.query, 70, font_weight=FontWeight.MEDIUM)
+
+    options_top = self._search_rect.y + self._search_rect.height + 40
+    options_area_rect = rl.Rectangle(dialog_content_rect.x + 50, options_top, dialog_content_rect.width - 100,
+                                     dialog_content_rect.height - (options_top - dialog_content_rect.y) - 210)
+
+    for index, option_text in enumerate(self.options):
+      self.option_buttons[index].selected = (option_text == self.selection)
+      self.option_buttons[index].set_button_style(ButtonStyle.PRIMARY if option_text == self.selection else ButtonStyle.NORMAL)
+      self.option_buttons[index].set_rect(rl.Rectangle(0, 0, options_area_rect.width, 135))
+    self.scroller.render(options_area_rect)
+
+    button_width = (dialog_content_rect.width - 150) / 2
+    button_y_position = dialog_content_rect.y + dialog_content_rect.height - 160
+
+    cancel_rect = rl.Rectangle(dialog_content_rect.x + 50, button_y_position, button_width, 160)
+    self.cancel_button.render(cancel_rect)
+
+    select_rect = rl.Rectangle(dialog_content_rect.x + 100 + button_width, button_y_position, button_width, 160)
+    self.select_button.set_enabled(self.selection != self.current)
+    self.select_button.render(select_rect)
+
+  def _handle_mouse_press(self, mouse_pos):
+    if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
+      self._search_pressed = True
+      return True
+    return super()._handle_mouse_press(mouse_pos)
+
+  def _handle_mouse_release(self, mouse_pos):
+    clicked_search = False
+    if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
+      clicked_search = self._search_pressed
+
+    self._search_pressed = False
+
+    if clicked_search:
+      self._on_search_clicked()
+      return True
+
+    return super()._handle_mouse_release(mouse_pos)
diff --git a/system/ui/text.py b/system/ui/text.py
index 33e8167c64..17e8a507cb 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,22 +1,31 @@
 #!/usr/bin/env python3
 import re
-import time
+import sys
 import pyray as rl
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.application import BIG_UI, gui_app
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.window import BaseWindow
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
 
-MARGIN = 50
-SPACING = 40
-FONT_SIZE = 72
-LINE_HEIGHT = 80
-BUTTON_SIZE = rl.Vector2(310, 160)
+if BIG_UI:
+  MARGIN = 50
+  SPACING = 40
+  FONT_SIZE = 72
+  LINE_HEIGHT = 80
+  BUTTON_SIZE = rl.Vector2(310, 160)
+else:
+  MARGIN = 20
+  SPACING = 30
+  FONT_SIZE = 25
+  LINE_HEIGHT = 25
+  BUTTON_SIZE = rl.Vector2(150, 80)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
             The text is long enough to demonstrate scrolling and word wrapping.""" * 30
 
+
 def wrap_text(text, font_size, max_width):
   lines = []
   font = gui_app.font()
@@ -29,11 +38,11 @@ def wrap_text(text, font_size, max_width):
       continue
     indent = re.match(r"^\s*", paragraph).group()
     current_line = indent
-    words = re.split(r"(\s+)", paragraph[len(indent):])
+    words = re.split(r"(\s+|-)", paragraph[len(indent):])
     while len(words):
       word = words.pop(0)
       test_line = current_line + word + (words.pop(0) if words else "")
-      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+      if measure_text_cached(font, test_line, font_size).x <= max_width:
         current_line = test_line
       else:
         lines.append(current_line)
@@ -45,47 +54,41 @@ def wrap_text(text, font_size, max_width):
   return lines
 
 
-class TextWindowRenderer:
+class TextWindow(Widget):
   def __init__(self, text: str):
+    super().__init__()
     self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
     self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
     self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT)
-    self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
-    self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0)
+    self._scroll_panel = GuiScrollPanel()
+    self._scroll_panel._offset_filter_y.x = -max(self._content_rect.height - self._textarea_rect.height, 0)
 
-  def render(self):
-    scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect)
+    button_text = "Exit" if PC else "Reboot"
+    self._button = Button(button_text, click_callback=self._on_button_clicked, button_style=ButtonStyle.TRANSPARENT_WHITE_BORDER, font_size=FONT_SIZE)
+
+  @staticmethod
+  def _on_button_clicked():
+    gui_app.request_close()
+    if not PC:
+      HARDWARE.reboot()
+
+  def _render(self, rect: rl.Rectangle):
+    scroll = self._scroll_panel.update(self._textarea_rect, self._content_rect)
     rl.begin_scissor_mode(int(self._textarea_rect.x), int(self._textarea_rect.y), int(self._textarea_rect.width), int(self._textarea_rect.height))
     for i, line in enumerate(self._wrapped_lines):
-      position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
+      position = rl.Vector2(self._textarea_rect.x, self._textarea_rect.y + scroll + 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, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
-    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, 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)
-    if ret:
-      if PC:
-        gui_app.request_close()
-      else:
-        HARDWARE.reboot()
-    return ret
-
-
-class TextWindow(BaseWindow[TextWindowRenderer]):
-  def __init__(self, text: str):
-    self._text = text
-    super().__init__("Text")
-
-  def _create_renderer(self):
-    return TextWindowRenderer(self._text)
-
-  def wait_for_exit(self):
-    while self._thread.is_alive():
-      time.sleep(0.01)
+    button_bounds = rl.Rectangle(rect.width - MARGIN - BUTTON_SIZE.x - SPACING, rect.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
+    self._button.render(button_bounds)
 
 
 if __name__ == "__main__":
-  with TextWindow(DEMO_TEXT):
-    time.sleep(5)
+  text = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT
+  gui_app.init_window("Text Viewer")
+  text_window = TextWindow(text)
+  for _ in gui_app.render():
+    text_window.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/system/ui/tici_reset.py b/system/ui/tici_reset.py
new file mode 100755
index 0000000000..23f6b344ec
--- /dev/null
+++ b/system/ui/tici_reset.py
@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+import os
+import sys
+import threading
+import time
+from enum import IntEnum
+
+import pyray as rl
+
+from openpilot.system.hardware import PC
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_label, gui_text_box
+
+USERDATA = "/dev/disk/by-partlabel/userdata"
+TIMEOUT = 3*60
+
+
+class ResetMode(IntEnum):
+  USER_RESET = 0  # user initiated a factory reset from openpilot
+  RECOVER = 1     # userdata is corrupt for some reason, give a chance to recover
+  FORMAT = 2      # finish up a factory reset from a tool that doesn't flash an empty partition to userdata
+
+
+class ResetState(IntEnum):
+  NONE = 0
+  CONFIRM = 1
+  RESETTING = 2
+  FAILED = 3
+
+
+class Reset(Widget):
+  def __init__(self, mode):
+    super().__init__()
+    self._mode = mode
+    self._previous_reset_state = None
+    self._reset_state = ResetState.NONE
+    self._cancel_button = Button("Cancel", gui_app.request_close)
+    self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
+    self._reboot_button = Button("Reboot", lambda: os.system("sudo reboot"))
+
+  def _do_erase(self):
+    if PC:
+      return
+
+    # Removing data and formatting
+    rm = os.system("sudo rm -rf /data/*")
+    os.system(f"sudo umount {USERDATA}")
+    fmt = os.system(f"yes | sudo mkfs.ext4 {USERDATA}")
+
+    if rm == 0 or fmt == 0:
+      os.system("sudo reboot")
+    else:
+      self._reset_state = ResetState.FAILED
+
+  def start_reset(self):
+    self._reset_state = ResetState.RESETTING
+    threading.Timer(0.1, self._do_erase).start()
+
+  def _update_state(self):
+    if self._reset_state != self._previous_reset_state:
+      self._previous_reset_state = self._reset_state
+      self._timeout_st = time.monotonic()
+    elif self._reset_state != ResetState.RESETTING and (time.monotonic() - self._timeout_st) > TIMEOUT:
+      exit(0)
+
+  def _render(self, _):
+    content_rect = rl.Rectangle(45, 200, self._rect.width - 90, self._rect.height - 245)
+
+    label_rect = rl.Rectangle(content_rect.x + 140, content_rect.y, content_rect.width - 280, 100 * FONT_SCALE)
+    gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD)
+
+    text_rect = rl.Rectangle(content_rect.x + 140, content_rect.y + 140, content_rect.width - 280, content_rect.height - 90 - 100 * FONT_SCALE)
+    gui_text_box(text_rect, self._get_body_text(), 90)
+
+    button_height = 160
+    button_spacing = 50
+    button_top = content_rect.y + content_rect.height - button_height
+    button_width = (content_rect.width - button_spacing) / 2.0
+
+    if self._reset_state != ResetState.RESETTING:
+      if self._mode == ResetMode.RECOVER:
+        self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height))
+      elif self._mode == ResetMode.USER_RESET:
+        self._cancel_button.render(rl.Rectangle(content_rect.x, button_top, button_width, button_height))
+
+      if self._reset_state != ResetState.FAILED:
+        self._confirm_button.render(rl.Rectangle(content_rect.x + button_width + 50, button_top, button_width, button_height))
+      else:
+        self._reboot_button.render(rl.Rectangle(content_rect.x, button_top, content_rect.width, button_height))
+
+  def _confirm(self):
+    if self._reset_state == ResetState.CONFIRM:
+      self.start_reset()
+    else:
+      self._reset_state = ResetState.CONFIRM
+
+  def _get_body_text(self):
+    if self._reset_state == ResetState.CONFIRM:
+      return "Are you sure you want to reset your device?"
+    if self._reset_state == ResetState.RESETTING:
+      return "Resetting device...\nThis may take up to a minute."
+    if self._reset_state == ResetState.FAILED:
+      return "Reset failed. Reboot to try again."
+    if self._mode == ResetMode.RECOVER:
+      return "Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."
+    return "System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."
+
+
+def main():
+  mode = ResetMode.USER_RESET
+  if len(sys.argv) > 1:
+    if sys.argv[1] == '--recover':
+      mode = ResetMode.RECOVER
+    elif sys.argv[1] == "--format":
+      mode = ResetMode.FORMAT
+
+  gui_app.init_window("System Reset", 20)
+  reset = Reset(mode)
+
+  if mode == ResetMode.FORMAT:
+    reset.start_reset()
+
+  gui_app.push_widget(reset)
+
+  for _ in gui_app.render():
+    pass
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/tici_setup.py b/system/ui/tici_setup.py
new file mode 100755
index 0000000000..8098e9ea27
--- /dev/null
+++ b/system/ui/tici_setup.py
@@ -0,0 +1,452 @@
+#!/usr/bin/env python3
+import os
+import re
+import threading
+import time
+import urllib.request
+import urllib.error
+from urllib.parse import urlparse
+from enum import IntEnum
+import shutil
+
+import pyray as rl
+
+from cereal import log
+from openpilot.common.utils import run_cmd
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle, ButtonRadio
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.label import Label
+from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManager
+
+NetworkType = log.DeviceState.NetworkType
+
+MARGIN = 50
+TITLE_FONT_SIZE = 90
+TITLE_FONT_WEIGHT = FontWeight.MEDIUM
+NEXT_BUTTON_WIDTH = 310
+BODY_FONT_SIZE = 80
+BUTTON_HEIGHT = 160
+BUTTON_SPACING = 50
+
+OPENPILOT_URL = "https://openpilot.comma.ai"
+USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
+
+CONTINUE_PATH = "/data/continue.sh"
+TMP_CONTINUE_PATH = "/data/continue.sh.new"
+INSTALL_PATH = "/data/openpilot"
+VALID_CACHE_PATH = "/data/.openpilot_cache"
+INSTALLER_SOURCE_PATH = "/usr/comma/installer"
+INSTALLER_DESTINATION_PATH = "/tmp/installer"
+INSTALLER_URL_PATH = "/tmp/installer_url"
+
+CONTINUE = """#!/usr/bin/env bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
+"""
+
+
+class SetupState(IntEnum):
+  LOW_VOLTAGE = 0
+  GETTING_STARTED = 1
+  NETWORK_SETUP = 2
+  SOFTWARE_SELECTION = 3
+  CUSTOM_SOFTWARE = 4
+  DOWNLOADING = 5
+  DOWNLOAD_FAILED = 6
+  CUSTOM_SOFTWARE_WARNING = 7
+
+
+class Setup(Widget):
+  def __init__(self):
+    super().__init__()
+    self.state = SetupState.GETTING_STARTED
+    self.network_check_thread = None
+    self.network_connected = threading.Event()
+    self.wifi_connected = threading.Event()
+    self.stop_network_check_thread = threading.Event()
+    self.failed_url = ""
+    self.failed_reason = ""
+    self.download_url = ""
+    self.download_progress = 0
+    self.download_thread = None
+    self.wifi_ui = WifiManagerUI(WifiManager())
+    self.keyboard = Keyboard()
+    self.selected_radio = None
+    self.warning = gui_app.texture("icons/warning.png", 150, 150)
+    self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
+
+    self._low_voltage_title_label = Label("WARNING: Low Voltage", TITLE_FONT_SIZE, FontWeight.MEDIUM, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                          text_color=rl.Color(255, 89, 79, 255), text_padding=20)
+    self._low_voltage_body_label = Label("Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE,
+                                         text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._low_voltage_continue_button = Button("Continue", self._low_voltage_continue_button_callback)
+    self._low_voltage_poweroff_button = Button("Power Off", HARDWARE.shutdown)
+
+    self._getting_started_button = Button("", self._getting_started_button_callback, button_style=ButtonStyle.PRIMARY, border_radius=0)
+    self._getting_started_title_label = Label("Getting Started", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._getting_started_body_label = Label("Before we get on the road, let's finish installation and cover some details.",
+                                             BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
+    self._software_selection_openpilot_button = ButtonRadio("openpilot", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
+    self._software_selection_custom_software_button = ButtonRadio("Custom Software", self.checkmark, font_size=BODY_FONT_SIZE, text_padding=80)
+    self._software_selection_continue_button = Button("Continue", self._software_selection_continue_button_callback,
+                                                      button_style=ButtonStyle.PRIMARY)
+    self._software_selection_continue_button.set_enabled(False)
+    self._software_selection_back_button = Button("Back", self._software_selection_back_button_callback)
+    self._software_selection_title_label = Label("Choose Software to Use", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                                 text_padding=20)
+
+    self._download_failed_reboot_button = Button("Reboot device", HARDWARE.reboot)
+    self._download_failed_startover_button = Button("Start over", self._download_failed_startover_button_callback, button_style=ButtonStyle.PRIMARY)
+    self._download_failed_title_label = Label("Download Failed", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_url_label = Label("", 52, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._download_failed_body_label = Label("", BODY_FONT_SIZE, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
+    self._network_setup_back_button = Button("Back", self._network_setup_back_button_callback)
+    self._network_setup_continue_button = Button("Waiting for internet", self._network_setup_continue_button_callback,
+                                                 button_style=ButtonStyle.PRIMARY)
+    self._network_setup_continue_button.set_enabled(False)
+    self._network_setup_title_label = Label("Connect to Wi-Fi", TITLE_FONT_SIZE, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
+    self._custom_software_warning_continue_button = Button("Scroll to continue", self._custom_software_warning_continue_button_callback,
+                                                           button_style=ButtonStyle.PRIMARY)
+    self._custom_software_warning_continue_button.set_enabled(False)
+    self._custom_software_warning_back_button = Button("Back", self._custom_software_warning_back_button_callback)
+    self._custom_software_warning_title_label = Label("WARNING: Custom Software", 81, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                                                      text_color=rl.Color(255, 89, 79, 255),
+                                                      text_padding=60)
+    self._custom_software_warning_body_label = Label("Use caution when installing third-party software.\n\n"
+                                                     + "⚠️ It has not been tested by comma.\n\n"
+                                                     + "⚠️ It may not comply with relevant safety standards.\n\n"
+                                                     + "⚠️ It may cause damage to your device and/or vehicle.\n\n"
+                                                     + "If you'd like to proceed, use https://flash.comma.ai "
+                                                     + "to restore your device to a factory state later.",
+                                                     68, text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=60)
+    self._custom_software_warning_body_scroll_panel = GuiScrollPanel()
+
+    self._downloading_body_label = Label("Downloading...", TITLE_FONT_SIZE, FontWeight.MEDIUM, text_padding=20)
+
+    try:
+      with open("/sys/class/hwmon/hwmon1/in1_input") as f:
+        voltage = float(f.read().strip()) / 1000.0
+        if voltage < 7:
+          self.state = SetupState.LOW_VOLTAGE
+    except (FileNotFoundError, ValueError):
+      self.state = SetupState.LOW_VOLTAGE
+
+  def _render(self, rect: rl.Rectangle):
+    if self.state == SetupState.LOW_VOLTAGE:
+      self.render_low_voltage(rect)
+    elif self.state == SetupState.GETTING_STARTED:
+      self.render_getting_started(rect)
+    elif self.state == SetupState.NETWORK_SETUP:
+      self.render_network_setup(rect)
+    elif self.state == SetupState.SOFTWARE_SELECTION:
+      self.render_software_selection(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE_WARNING:
+      self.render_custom_software_warning(rect)
+    elif self.state == SetupState.CUSTOM_SOFTWARE:
+      self.render_custom_software()
+    elif self.state == SetupState.DOWNLOADING:
+      self.render_downloading(rect)
+    elif self.state == SetupState.DOWNLOAD_FAILED:
+      self.render_download_failed(rect)
+
+  def _low_voltage_continue_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _custom_software_warning_back_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _custom_software_warning_continue_button_callback(self):
+    self.state = SetupState.NETWORK_SETUP
+    self.stop_network_check_thread.clear()
+    self.start_network_check()
+
+  def _getting_started_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _software_selection_back_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _software_selection_continue_button_callback(self):
+    if self._software_selection_openpilot_button.selected:
+      self.use_openpilot()
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE_WARNING
+
+  def _download_failed_startover_button_callback(self):
+    self.state = SetupState.GETTING_STARTED
+
+  def _network_setup_back_button_callback(self):
+    self.state = SetupState.SOFTWARE_SELECTION
+
+  def _network_setup_continue_button_callback(self):
+    self.stop_network_check_thread.set()
+    if self._software_selection_openpilot_button.selected:
+      self.download(OPENPILOT_URL)
+    else:
+      self.state = SetupState.CUSTOM_SOFTWARE
+
+  def render_low_voltage(self, rect: rl.Rectangle):
+    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
+
+    self._low_voltage_title_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE * FONT_SCALE))
+    self._low_voltage_body_label.render(rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 150, rect.width - 500, BODY_FONT_SIZE * FONT_SCALE * 3))
+
+    button_width = (rect.width - MARGIN * 3) / 2
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+    self._low_voltage_poweroff_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._low_voltage_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_getting_started(self, rect: rl.Rectangle):
+    self._getting_started_title_label.render(rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
+    self._getting_started_body_label.render(rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE * FONT_SCALE, rect.width - 500,
+                                                         BODY_FONT_SIZE * FONT_SCALE * 3))
+
+    btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)
+    self._getting_started_button.render(btn_rect)
+    triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
+    rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)
+
+  def check_network_connectivity(self):
+    while not self.stop_network_check_thread.is_set():
+      if self.state == SetupState.NETWORK_SETUP:
+        try:
+          urllib.request.urlopen(OPENPILOT_URL, timeout=2.0)
+          self.network_connected.set()
+          if HARDWARE.get_network_type() == NetworkType.wifi:
+            self.wifi_connected.set()
+          else:
+            self.wifi_connected.clear()
+        except Exception:
+          self.network_connected.clear()
+      time.sleep(1.0)
+
+  def start_network_check(self):
+    if self.network_check_thread is None or not self.network_check_thread.is_alive():
+      self.network_check_thread = threading.Thread(target=self.check_network_connectivity, daemon=True)
+      self.network_check_thread.start()
+
+  def close(self):
+    if self.network_check_thread is not None:
+      self.stop_network_check_thread.set()
+      self.network_check_thread.join()
+
+  def render_network_setup(self, rect: rl.Rectangle):
+    self._network_setup_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
+
+    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN + 25, rect.width - MARGIN * 2,
+                             rect.height - TITLE_FONT_SIZE * FONT_SCALE - 25 - BUTTON_HEIGHT - MARGIN * 3)
+    rl.draw_rectangle_rounded(wifi_rect, 0.05, 10, rl.Color(51, 51, 51, 255))
+    wifi_content_rect = rl.Rectangle(wifi_rect.x + MARGIN, wifi_rect.y, wifi_rect.width - MARGIN * 2, wifi_rect.height)
+    self.wifi_ui.render(wifi_content_rect)
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    self._network_setup_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+
+    # Check network connectivity status
+    continue_enabled = self.network_connected.is_set()
+    self._network_setup_continue_button.set_enabled(continue_enabled)
+    continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
+    self._network_setup_continue_button.set_text(continue_text)
+    self._network_setup_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_software_selection(self, rect: rl.Rectangle):
+    self._software_selection_title_label.render(rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE * FONT_SCALE))
+
+    radio_height = 230
+    radio_spacing = 30
+
+    self._software_selection_continue_button.set_enabled(False)
+
+    openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
+    self._software_selection_openpilot_button.render(openpilot_rect)
+
+    if self._software_selection_openpilot_button.selected:
+      self._software_selection_continue_button.set_enabled(True)
+      self._software_selection_custom_software_button.selected = False
+
+    custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE * FONT_SCALE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2,
+                               radio_height)
+    self._software_selection_custom_software_button.render(custom_rect)
+
+    if self._software_selection_custom_software_button.selected:
+      self._software_selection_continue_button.set_enabled(True)
+      self._software_selection_openpilot_button.selected = False
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    self._software_selection_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._software_selection_continue_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_downloading(self, rect: rl.Rectangle):
+    self._downloading_body_label.render(rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE * FONT_SCALE / 2, rect.width,
+                                                     TITLE_FONT_SIZE * FONT_SCALE))
+
+  def render_download_failed(self, rect: rl.Rectangle):
+    self._download_failed_title_label.render(rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE * FONT_SCALE))
+    self._download_failed_url_label.set_text(self.failed_url)
+    self._download_failed_url_label.render(rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE * FONT_SCALE + 67, rect.width - 117 - 100, 64))
+
+    self._download_failed_body_label.set_text(self.failed_reason)
+    self._download_failed_body_label.render(rl.Rectangle(rect.x + 117, rect.y, rect.width - 117 - 100, rect.height))
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+    self._download_failed_reboot_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._download_failed_startover_button.render(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT))
+
+  def render_custom_software_warning(self, rect: rl.Rectangle):
+    warn_rect = rl.Rectangle(rect.x, rect.y, rect.width, 1500)
+    offset = self._custom_software_warning_body_scroll_panel.update(rect, warn_rect)
+
+    button_width = (rect.width - MARGIN * 3) / 2
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(button_y - BODY_FONT_SIZE * FONT_SCALE))
+    y_offset = rect.y + offset
+    self._custom_software_warning_title_label.render(rl.Rectangle(rect.x + 50, y_offset + 150, rect.width - 265, TITLE_FONT_SIZE * FONT_SCALE))
+    self._custom_software_warning_body_label.render(rl.Rectangle(rect.x + 50, y_offset + 400, rect.width - 50, BODY_FONT_SIZE * FONT_SCALE * 3))
+    rl.end_scissor_mode()
+
+    self._custom_software_warning_back_button.render(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT))
+    self._custom_software_warning_continue_button.render(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT))
+    if offset < (rect.height - warn_rect.height):
+      self._custom_software_warning_continue_button.set_enabled(True)
+      self._custom_software_warning_continue_button.set_text("Continue")
+
+  def render_custom_software(self):
+    def handle_keyboard_result(result):
+      # Enter pressed
+      if result == DialogResult.CONFIRM:
+        url = self.keyboard.text
+        self.keyboard.clear()
+        if url:
+          self.download(url)
+
+      # Cancel pressed
+      elif result == DialogResult.CANCEL:
+        self.state = SetupState.SOFTWARE_SELECTION
+
+    self.keyboard.reset(min_text_size=1)
+    self.keyboard.set_title("Enter URL", "for Custom Software")
+    self.keyboard.set_callback(handle_keyboard_result)
+    gui_app.push_widget(self.keyboard)
+
+  def use_openpilot(self):
+    if os.path.isdir(INSTALL_PATH) and os.path.isfile(VALID_CACHE_PATH):
+      os.remove(VALID_CACHE_PATH)
+      with open(TMP_CONTINUE_PATH, "w") as f:
+        f.write(CONTINUE)
+      run_cmd(["chmod", "+x", TMP_CONTINUE_PATH])
+      shutil.move(TMP_CONTINUE_PATH, CONTINUE_PATH)
+      shutil.copyfile(INSTALLER_SOURCE_PATH, INSTALLER_DESTINATION_PATH)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+    else:
+      self.state = SetupState.NETWORK_SETUP
+      self.stop_network_check_thread.clear()
+      self.start_network_check()
+
+  def download(self, url: str):
+    # autocomplete incomplete URLs
+    if re.match("^([^/.]+)/([^/]+)$", url):
+      url = f"https://installer.comma.ai/{url}"
+
+    parsed = urlparse(url, scheme='https')
+    self.download_url = (urlparse(f"https://{url}") if not parsed.netloc else parsed).geturl()
+
+    self.state = SetupState.DOWNLOADING
+
+    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+    self.download_thread.start()
+
+  def _download_thread(self):
+    try:
+      import tempfile
+
+      fd, tmpfile = tempfile.mkstemp(prefix="installer_")
+
+      headers = {"User-Agent": USER_AGENT,
+                 "X-openpilot-serial": HARDWARE.get_serial(),
+                 "X-openpilot-device-type": HARDWARE.get_device_type()}
+      req = urllib.request.Request(self.download_url, headers=headers)
+
+      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
+        total_size = int(response.headers.get('content-length', 0))
+        downloaded = 0
+        block_size = 8192
+
+        while True:
+          buffer = response.read(block_size)
+          if not buffer:
+            break
+
+          downloaded += len(buffer)
+          f.write(buffer)
+
+          if total_size:
+            self.download_progress = int(downloaded * 100 / total_size)
+
+      is_elf = False
+      with open(tmpfile, 'rb') as f:
+        header = f.read(4)
+        is_elf = header == b'\x7fELF'
+
+      if not is_elf:
+        self.download_failed(self.download_url, "No custom software found at this URL.")
+        return
+
+      # AGNOS might try to execute the installer before this process exits.
+      # Therefore, important to close the fd before renaming the installer.
+      os.close(fd)
+      os.rename(tmpfile, INSTALLER_DESTINATION_PATH)
+
+      with open(INSTALLER_URL_PATH, "w") as f:
+        f.write(self.download_url)
+
+      # give time for installer UI to take over
+      time.sleep(0.1)
+      gui_app.request_close()
+
+    except urllib.error.HTTPError as e:
+      if e.code == 409:
+        error_msg = e.read().decode("utf-8")
+        self.download_failed(self.download_url, error_msg)
+    except Exception:
+      error_msg = "Ensure the entered URL is valid, and the device's internet connection is good."
+      self.download_failed(self.download_url, error_msg)
+
+  def download_failed(self, url: str, reason: str):
+    self.failed_url = url
+    self.failed_reason = reason
+    self.state = SetupState.DOWNLOAD_FAILED
+
+
+def main():
+  try:
+    gui_app.init_window("Setup", 20)
+    setup = Setup()
+    gui_app.push_widget(setup)
+    for _ in gui_app.render():
+      pass
+    setup.close()
+  except Exception as e:
+    print(f"Setup error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/tici_updater.py b/system/ui/tici_updater.py
new file mode 100755
index 0000000000..3a3b0987d0
--- /dev/null
+++ b/system/ui/tici_updater.py
@@ -0,0 +1,178 @@
+#!/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, FONT_SCALE
+from openpilot.system.ui.lib.wifi_manager import WifiManager
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_text_box, gui_label
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+# 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(Widget):
+  def __init__(self, updater_path, manifest_path):
+    super().__init__()
+    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
+    self.wifi_manager_ui = WifiManagerUI(WifiManager())
+
+    # Buttons
+    self._wifi_button = Button("Connect to Wi-Fi", click_callback=lambda: self.set_current_screen(Screen.WIFI))
+    self._install_button = Button("Install", click_callback=self.install_update, button_style=ButtonStyle.PRIMARY)
+    self._back_button = Button("Back", click_callback=lambda: self.set_current_screen(Screen.PROMPT))
+    self._reboot_button = Button("Reboot", click_callback=lambda: HARDWARE.reboot())
+
+  def set_current_screen(self, screen: Screen):
+    self.current_screen = screen
+
+  def install_update(self):
+    self.set_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
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+      return
+
+    if self.process.stdout is not None:
+      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, rect: rl.Rectangle):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, rect.width - MARGIN * 2 - 100, TITLE_FONT_SIZE * FONT_SCALE)
+    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 * FONT_SCALE + 75, rect.width - MARGIN * 2 - 100, BODY_FONT_SIZE * FONT_SCALE * 4)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+    button_width = (rect.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    self._wifi_button.render(wifi_button_rect)
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    self._install_button.render(install_button_rect)
+
+  def render_wifi_screen(self, rect: rl.Rectangle):
+    # Draw the Wi-Fi manager UI
+    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2,
+                             rect.height - BUTTON_HEIGHT - MARGIN * 3)
+    rl.draw_rectangle_rounded(wifi_rect, 0.035, 10, rl.Color(51, 51, 51, 255))
+    wifi_content_rect = rl.Rectangle(wifi_rect.x + 50, wifi_rect.y, wifi_rect.width - 100, wifi_rect.height)
+    self.wifi_manager_ui.render(wifi_content_rect)
+
+    back_button_rect = rl.Rectangle(MARGIN, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._back_button.render(back_button_rect)
+
+  def render_progress_screen(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, rect.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, rect.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, rect.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      self._reboot_button.render(reboot_rect)
+
+  def _render(self, rect: rl.Rectangle):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen(rect)
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen(rect)
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen(rect)
+
+
+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")
+    gui_app.push_widget(Updater(updater_path, manifest_path))
+    for _ in gui_app.render():
+      pass
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/updater.py b/system/ui/updater.py
index eb9d766a16..42d12d9090 100755
--- a/system/ui/updater.py
+++ b/system/ui/updater.py
@@ -1,196 +1,14 @@
 #!/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()
+from openpilot.system.ui.lib.application import gui_app
+import openpilot.system.ui.tici_updater as tici_updater
+import openpilot.system.ui.mici_updater as mici_updater
 
 
 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 gui_app.big_ui():
+    tici_updater.main()
+  else:
+    mici_updater.main()
 
 
 if __name__ == "__main__":
diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py
new file mode 100644
index 0000000000..568f58b985
--- /dev/null
+++ b/system/ui/widgets/__init__.py
@@ -0,0 +1,211 @@
+from __future__ import annotations
+
+import abc
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
+
+try:
+  from openpilot.selfdrive.ui.ui_state import device
+except ImportError:
+  class Device:
+    awake = True
+  device = Device()
+
+
+class DialogResult(IntEnum):
+  CANCEL = 0
+  CONFIRM = 1
+  NO_ACTION = -1
+
+
+class Widget(abc.ABC):
+  def __init__(self):
+    self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+    self._parent_rect: rl.Rectangle | None = None
+    self.__is_pressed = [False] * MAX_TOUCH_SLOTS
+    # if current mouse/touch down started within the widget's rectangle
+    self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
+    self._enabled: bool | Callable[[], bool] = True
+    self._is_visible: bool | Callable[[], bool] = True
+    self._touch_valid_callback: Callable[[], bool] | None = None
+    self._click_delay: float | None = None  # seconds to hold is_pressed after release
+    self._click_release_time: float | None = None
+    self._click_callback: Callable[[], None] | None = None
+    self._multi_touch = False
+    self.__was_awake = True
+
+  @property
+  def rect(self) -> rl.Rectangle:
+    return self._rect
+
+  def set_rect(self, rect: rl.Rectangle) -> None:
+    changed = (self._rect.x != rect.x or self._rect.y != rect.y or
+               self._rect.width != rect.width or self._rect.height != rect.height)
+    self._rect = rect
+    if changed:
+      self._update_layout_rects()
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    """Can be used like size hint in QT"""
+    self._parent_rect = parent_rect
+
+  @property
+  def is_pressed(self) -> bool:
+    # if actually pressed or holding after release
+    return any(self.__is_pressed) or self._click_release_time is not None
+
+  @property
+  def enabled(self) -> bool:
+    return self._enabled() if callable(self._enabled) else self._enabled
+
+  def set_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    self._enabled = enabled
+
+  @property
+  def is_visible(self) -> bool:
+    return self._is_visible() if callable(self._is_visible) else self._is_visible
+
+  def set_visible(self, visible: bool | Callable[[], bool]) -> None:
+    self._is_visible = visible
+
+  def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
+    """Set a callback to be called when the widget is clicked."""
+    self._click_callback = click_callback
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    """Set a callback to determine if the widget can be clicked."""
+    self._touch_valid_callback = touch_callback
+
+  def _touch_valid(self) -> bool:
+    """Check if the widget can be touched."""
+    return self._touch_valid_callback() if self._touch_valid_callback else True
+
+  def set_position(self, x: float, y: float) -> None:
+    changed = (self._rect.x != x or self._rect.y != y)
+    self._rect = rl.Rectangle(x, y, self._rect.width, self._rect.height)
+    if changed:
+      self._update_layout_rects()
+
+  @property
+  def _hit_rect(self) -> rl.Rectangle:
+    # restrict touches to within parent rect if set, useful inside Scroller
+    if self._parent_rect is None:
+      return self._rect
+    return rl.get_collision_rec(self._rect, self._parent_rect)
+
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
+    if rect is not None:
+      self.set_rect(rect)
+
+    self._update_state()
+
+    if self._click_release_time is not None and rl.get_time() >= self._click_release_time:
+      self._click_release_time = None
+
+    if not self.is_visible:
+      return None
+
+    self._layout()
+    ret = self._render(self._rect)
+
+    if gui_app.show_touches:
+      self._draw_debug_rect()
+
+    # Keep track of whether mouse down started within the widget's rectangle
+    if self.enabled and self.__was_awake:
+      self._process_mouse_events()
+    else:
+      # TODO: ideally we emit release events when going disabled
+      self.__is_pressed = [False] * MAX_TOUCH_SLOTS
+      self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
+
+    self.__was_awake = device.awake
+
+    return ret
+
+  def _draw_debug_rect(self) -> None:
+    rl.draw_rectangle_lines(int(self._rect.x), int(self._rect.y),
+                            max(int(self._rect.width), 1), max(int(self._rect.height), 1), rl.RED)
+
+  def _process_mouse_events(self) -> None:
+    hit_rect = self._hit_rect
+    touch_valid = self._touch_valid()
+
+    for mouse_event in gui_app.mouse_events:
+      if not self._multi_touch and mouse_event.slot != 0:
+        continue
+
+      mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
+      # Ignores touches/presses that start outside our rect
+      # Allows touch to leave the rect and come back in focus if mouse did not release
+      if mouse_event.left_pressed and touch_valid:
+        if mouse_in_rect:
+          self._handle_mouse_press(mouse_event.pos)
+          self.__is_pressed[mouse_event.slot] = True
+          self.__tracking_is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Callback such as scroll panel signifies user is scrolling
+      elif not touch_valid:
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      elif mouse_event.left_released:
+        self._handle_mouse_event(mouse_event)
+        if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
+          self._handle_mouse_release(mouse_event.pos)
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      # Mouse/touch is still within our rect
+      elif mouse_in_rect:
+        if self.__tracking_is_pressed[mouse_event.slot]:
+          self.__is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Mouse/touch left our rect but may come back into focus later
+      elif not mouse_in_rect:
+        self.__is_pressed[mouse_event.slot] = False
+        self._handle_mouse_event(mouse_event)
+
+  def _layout(self) -> None:
+    """Optionally lay out child widgets separately. This is called before rendering."""
+
+  def _update_state(self):
+    """Optionally update the widget's non-layout state. This is called before rendering."""
+
+  @abc.abstractmethod
+  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+    """Render the widget within the given rectangle."""
+
+  def _update_layout_rects(self) -> None:
+    """Optionally update any layout rects on Widget rect change."""
+
+  def _handle_mouse_press(self, mouse_pos: MousePos) -> None:
+    """Optionally handle mouse press events."""
+
+  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+    """Optionally handle mouse release events."""
+    if self._click_delay is not None:
+      self._click_release_time = rl.get_time() + self._click_delay
+    if self._click_callback:
+      self._click_callback()
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    """Optionally handle mouse events. This is called before rendering."""
+    # Default implementation does nothing, can be overridden by subclasses
+
+  def show_event(self):
+    """Optionally handle show event. Parent must manually call this"""
+    # TODO: iterate through all child objects, check for subclassing from Widget/Layout (Scroller)
+
+  def hide_event(self):
+    """Optionally handle hide event. Parent must manually call this"""
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Immediately dismiss the widget, firing the callback after."""
+    gui_app.pop_widget()
+    if callback:
+      callback()
diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py
new file mode 100644
index 0000000000..a608344710
--- /dev/null
+++ b/system/ui/widgets/button.py
@@ -0,0 +1,304 @@
+from collections.abc import Callable
+from enum import IntEnum
+
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import Label, UnifiedLabel
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class ButtonStyle(IntEnum):
+  NORMAL = 0  # Most common, neutral buttons
+  PRIMARY = 1  # For main actions
+  DANGER = 2  # For critical actions, like reboot or delete
+  TRANSPARENT = 3  # For buttons with transparent background and border
+  TRANSPARENT_WHITE_TEXT = 9  # For buttons with transparent background and border and white text
+  TRANSPARENT_WHITE_BORDER = 10  # For buttons with transparent background and white border and text
+  ACTION = 4
+  LIST_ACTION = 5  # For list items with action buttons
+  NO_EFFECT = 6
+  KEYBOARD = 7
+  FORGET_WIFI = 8
+
+
+ICON_PADDING = 15
+DEFAULT_BUTTON_FONT_SIZE = 60
+ACTION_BUTTON_FONT_SIZE = 48
+
+BUTTON_TEXT_COLOR = {
+  ButtonStyle.NORMAL: rl.Color(228, 228, 228, 255),
+  ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
+  ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
+  ButtonStyle.TRANSPARENT: rl.BLACK,
+  ButtonStyle.TRANSPARENT_WHITE_TEXT: rl.WHITE,
+  ButtonStyle.TRANSPARENT_WHITE_BORDER: rl.Color(228, 228, 228, 255),
+  ButtonStyle.ACTION: rl.BLACK,
+  ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
+  ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255),
+  ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255),
+  ButtonStyle.FORGET_WIFI: rl.Color(51, 51, 51, 255),
+}
+
+BUTTON_DISABLED_TEXT_COLORS = {
+  ButtonStyle.TRANSPARENT_WHITE_TEXT: rl.WHITE,
+}
+
+BUTTON_BACKGROUND_COLORS = {
+  ButtonStyle.NORMAL: rl.Color(51, 51, 51, 255),
+  ButtonStyle.PRIMARY: rl.Color(70, 91, 234, 255),
+  ButtonStyle.DANGER: rl.Color(226, 44, 44, 255),
+  ButtonStyle.TRANSPARENT: rl.BLACK,
+  ButtonStyle.TRANSPARENT_WHITE_TEXT: rl.BLANK,
+  ButtonStyle.TRANSPARENT_WHITE_BORDER: rl.BLACK,
+  ButtonStyle.ACTION: rl.Color(189, 189, 189, 255),
+  ButtonStyle.LIST_ACTION: rl.Color(57, 57, 57, 255),
+  ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255),
+  ButtonStyle.KEYBOARD: rl.Color(68, 68, 68, 255),
+  ButtonStyle.FORGET_WIFI: rl.Color(189, 189, 189, 255),
+}
+
+BUTTON_PRESSED_BACKGROUND_COLORS = {
+  ButtonStyle.NORMAL: rl.Color(74, 74, 74, 255),
+  ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255),
+  ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
+  ButtonStyle.TRANSPARENT: rl.BLACK,
+  ButtonStyle.TRANSPARENT_WHITE_TEXT: rl.BLANK,
+  ButtonStyle.TRANSPARENT_WHITE_BORDER: rl.BLANK,
+  ButtonStyle.ACTION: rl.Color(130, 130, 130, 255),
+  ButtonStyle.LIST_ACTION: rl.Color(74, 74, 74, 74),
+  ButtonStyle.NO_EFFECT: rl.Color(51, 51, 51, 255),
+  ButtonStyle.KEYBOARD: rl.Color(51, 51, 51, 255),
+  ButtonStyle.FORGET_WIFI: rl.Color(130, 130, 130, 255),
+}
+
+BUTTON_DISABLED_BACKGROUND_COLORS = {
+  ButtonStyle.TRANSPARENT_WHITE_TEXT: rl.BLANK,
+}
+
+
+class Button(Widget):
+  def __init__(self,
+               text: str | Callable[[], str],
+               click_callback: Callable[[], None] | None = None,
+               font_size: int = DEFAULT_BUTTON_FONT_SIZE,
+               font_weight: FontWeight = FontWeight.MEDIUM,
+               button_style: ButtonStyle = ButtonStyle.NORMAL,
+               border_radius: int = 10,
+               text_alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+               text_padding: int = 20,
+               icon=None,
+               elide_right: bool = False,
+               multi_touch: bool = False,
+               ):
+
+    super().__init__()
+    self._button_style = button_style
+    self._border_radius = border_radius
+    self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style]
+
+    self._label = Label(text, font_size, font_weight, text_alignment, text_padding=text_padding,
+                        text_color=BUTTON_TEXT_COLOR[self._button_style], icon=icon, elide_right=elide_right)
+
+    self._click_callback = click_callback
+    self._multi_touch = multi_touch
+
+  def set_text(self, text):
+    self._label.set_text(text)
+
+  def set_button_style(self, button_style: ButtonStyle):
+    self._button_style = button_style
+    self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style]
+    self._label.set_text_color(BUTTON_TEXT_COLOR[self._button_style])
+
+  def _update_state(self):
+    if self.enabled:
+      self._label.set_text_color(BUTTON_TEXT_COLOR[self._button_style])
+      if self.is_pressed:
+        self._background_color = BUTTON_PRESSED_BACKGROUND_COLORS[self._button_style]
+      else:
+        self._background_color = BUTTON_BACKGROUND_COLORS[self._button_style]
+    elif self._button_style != ButtonStyle.NO_EFFECT:
+      self._background_color = BUTTON_DISABLED_BACKGROUND_COLORS.get(self._button_style, rl.Color(51, 51, 51, 255))
+      self._label.set_text_color(BUTTON_DISABLED_TEXT_COLORS.get(self._button_style, rl.Color(228, 228, 228, 51)))
+
+  def _render(self, _):
+    roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
+    if self._button_style == ButtonStyle.TRANSPARENT_WHITE_BORDER:
+      rl.draw_rectangle_rounded(self._rect, roundness, 10, rl.BLACK)
+      rl.draw_rectangle_rounded_lines_ex(self._rect, roundness, 10, 2, rl.WHITE)
+    else:
+      rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color)
+    self._label.render(self._rect)
+
+
+class ButtonRadio(Button):
+  def __init__(self,
+               text: str,
+               icon,
+               click_callback: Callable[[], None] | None = None,
+               font_size: int = DEFAULT_BUTTON_FONT_SIZE,
+               text_alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               border_radius: int = 10,
+               text_padding: int = 20,
+               ):
+
+    super().__init__(text, click_callback=click_callback, font_size=font_size,
+                     border_radius=border_radius, text_padding=text_padding,
+                     text_alignment=text_alignment)
+    self._text_padding = text_padding
+    self._icon = icon
+    self.selected = False
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
+    self.selected = not self.selected
+
+  def _update_state(self):
+    if self.selected:
+      self._background_color = BUTTON_BACKGROUND_COLORS[ButtonStyle.PRIMARY]
+    else:
+      self._background_color = BUTTON_BACKGROUND_COLORS[ButtonStyle.NORMAL]
+
+  def _render(self, _):
+    roundness = self._border_radius / (min(self._rect.width, self._rect.height) / 2)
+    rl.draw_rectangle_rounded(self._rect, roundness, 10, self._background_color)
+    self._label.render(self._rect)
+
+    if self._icon and self.selected:
+      icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
+      icon_x = self._rect.x + self._rect.width - self._icon.width - self._text_padding - ICON_PADDING
+      rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE if self.enabled else rl.Color(255, 255, 255, 100))
+
+
+class IconButton(Widget):
+  def __init__(self, texture: rl.Texture):
+    super().__init__()
+    self._texture = texture
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self.set_rect(rl.Rectangle(0, 0, self._texture.width, self._texture.height))
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
+
+  def _render(self, rect: rl.Rectangle):
+    color = rl.Color(180, 180, 180, int(150 * self._opacity_filter.x)) if self.is_pressed else rl.WHITE
+    if not self.enabled:
+      color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.35 * self._opacity_filter.x))
+    draw_x = rect.x + (rect.width - self._texture.width) / 2
+    draw_y = rect.y + (rect.height - self._texture.height) / 2
+    rl.draw_texture(self._texture, int(draw_x), int(draw_y), color)
+
+
+class SmallCircleIconButton(Widget):
+  def __init__(self, icon_txt: rl.Texture):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, 100, 100))
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._icon_bg_txt = gui_app.texture("icons_mici/setup/small_button.png", 100, 100)
+    self._icon_bg_pressed_txt = gui_app.texture("icons_mici/setup/small_button_pressed.png", 100, 100)
+    self._icon_bg_disabled_txt = gui_app.texture("icons_mici/setup/small_button_disabled.png", 100, 100)
+    self._icon_txt = icon_txt
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
+
+  def _render(self, _):
+    white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
+    if not self.enabled:
+      bg_txt = self._icon_bg_disabled_txt
+      icon_white = rl.Color(255, 255, 255, int(white.a * 0.35))
+    else:
+      bg_txt = self._icon_bg_pressed_txt if self.is_pressed else self._icon_bg_txt
+      icon_white = white
+
+    rl.draw_texture(bg_txt, int(self.rect.x), int(self.rect.y), white)
+    icon_x = self.rect.x + (self.rect.width - self._icon_txt.width) / 2
+    icon_y = self.rect.y + (self.rect.height - self._icon_txt.height) / 2
+    rl.draw_texture(self._icon_txt, int(icon_x), int(icon_y), icon_white)
+
+
+class SmallButton(Widget):
+  def __init__(self, text: str):
+    super().__init__()
+    self._click_delay = 0.075
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+
+    self._load_assets()
+
+    self._label = UnifiedLabel(text, 36, font_weight=FontWeight.SEMI_BOLD,
+                               text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
+                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    self._bg_disabled_txt = None
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 194, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/reset/small_button.png", 194, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/small_button_pressed.png", 194, 100)
+
+  def set_text(self, text: str):
+    self._label.set_text(text)
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
+
+  def _render(self, _):
+    if not self.enabled and self._bg_disabled_txt is not None:
+      rl.draw_texture(self._bg_disabled_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
+    elif self.is_pressed:
+      rl.draw_texture(self._bg_pressed_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
+    else:
+      rl.draw_texture(self._bg_txt, int(self.rect.x), int(self.rect.y), rl.Color(255, 255, 255, int(255 * self._opacity_filter.x)))
+
+    opacity = 0.9 if self.enabled else 0.35
+    self._label.set_color(rl.Color(255, 255, 255, int(255 * opacity * self._opacity_filter.x)))
+    self._label.render(self._rect)
+
+
+class SmallRedPillButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 194, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/small_red_pill.png", 194, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/small_red_pill_pressed.png", 194, 100)
+
+
+class SmallerRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 150, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/smaller_button.png", 150, 100)
+    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/smaller_button_disabled.png", 150, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/smaller_button_pressed.png", 150, 100)
+
+
+class WideRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 316, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/medium_button_bg.png", 316, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/medium_button_pressed_bg.png", 316, 100)
+
+
+class WidishRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 250, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/widish_button.png", 250, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/widish_button_pressed.png", 250, 100)
+    self._bg_disabled_txt = gui_app.texture("icons_mici/setup/widish_button_disabled.png", 250, 100)
+
+
+class FullRoundedButton(SmallButton):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520, 100))
+    self._bg_txt = gui_app.texture("icons_mici/setup/reset/wide_button.png", 520, 100)
+    self._bg_pressed_txt = gui_app.texture("icons_mici/setup/reset/wide_button_pressed.png", 520, 100)
diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py
index e5ca002ecf..3544836761 100644
--- a/system/ui/widgets/confirm_dialog.py
+++ b/system/ui/widgets/confirm_dialog.py
@@ -1,62 +1,94 @@
 import pyray as rl
-from openpilot.system.ui.lib.button import gui_button, ButtonStyle
-from openpilot.system.ui.lib.label import gui_text_box
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
+from openpilot.system.ui.widgets.label import Label
+from openpilot.system.ui.widgets.html_render import HtmlRenderer, ElementType
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.scroller_tici import Scroller
 
-# Constants for dialog dimensions and styling
-DIALOG_WIDTH = 1520
-DIALOG_HEIGHT = 600
+OUTER_MARGIN = 200
+RICH_OUTER_MARGIN = 100
 BUTTON_HEIGHT = 160
 MARGIN = 50
-TEXT_AREA_HEIGHT_REDUCTION = 200
+TEXT_PADDING = 10
 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)
 
 
-def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int:
-  # Calculate dialog position and size, centered within the parent rectangle
-  dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2
-  dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2
-  dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT)
+class ConfirmDialog(Widget):
+  def __init__(self, text: str, confirm_text: str, cancel_text: str | None = None, rich: bool = False, callback: Callable[[DialogResult], None] | None = None):
+    super().__init__()
+    if cancel_text is None:
+      cancel_text = tr("Cancel")
+    self._label = Label(text, 70, FontWeight.BOLD, text_color=rl.Color(201, 201, 201, 255))
+    self._html_renderer = HtmlRenderer(text=text, text_size={ElementType.P: 50}, center_text=True)
+    self._cancel_button = Button(cancel_text, self._cancel_button_callback)
+    self._confirm_button = Button(confirm_text, self._confirm_button_callback, button_style=ButtonStyle.PRIMARY)
+    self._rich = rich
+    self._callback = callback
+    self._cancel_text = cancel_text
+    self._scroller = Scroller([self._html_renderer], line_separator=False, spacing=0)
 
-  # Calculate button positions at the bottom of the dialog
-  bottom = dialog_rect.y + dialog_rect.height
-  button_width = (dialog_rect.width - 3 * MARGIN) // 2
-  no_button_x = dialog_rect.x + MARGIN
-  yes_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN
-  button_y = bottom - BUTTON_HEIGHT - MARGIN
-  no_button = rl.Rectangle(no_button_x, button_y, button_width, BUTTON_HEIGHT)
-  yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT)
+  def set_text(self, text):
+    if not self._rich:
+      self._label.set_text(text)
+    else:
+      self._html_renderer.parse_html_content(text)
 
-  # Draw the dialog background
-  rl.draw_rectangle(
-    int(dialog_rect.x),
-    int(dialog_rect.y),
-    int(dialog_rect.width),
-    int(dialog_rect.height),
-    BACKGROUND_COLOR,
-  )
+  def _cancel_button_callback(self):
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CANCEL)
 
-  # Draw the message in the dialog, centered
-  text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION)
-  gui_text_box(
-    text_rect,
-    message,
-    alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-    alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-  )
+  def _confirm_button_callback(self):
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CONFIRM)
 
-  # Initialize result; -1 means no action taken yet
-  result = -1
+  def _render(self, rect: rl.Rectangle):
+    dialog_x = OUTER_MARGIN if not self._rich else RICH_OUTER_MARGIN
+    dialog_y = OUTER_MARGIN if not self._rich else RICH_OUTER_MARGIN
+    dialog_width = gui_app.width - 2 * dialog_x
+    dialog_height = gui_app.height - 2 * dialog_y
+    dialog_rect = rl.Rectangle(dialog_x, dialog_y, dialog_width, dialog_height)
 
-  # Check for keyboard input for accessibility
-  if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
-    result = 1  # Confirm
-  elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
-    result = 0  # Cancel
+    bottom = dialog_rect.y + dialog_rect.height
+    button_width = (dialog_rect.width - 3 * MARGIN) // 2
+    cancel_button_x = dialog_rect.x + MARGIN
+    confirm_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN
+    button_y = bottom - BUTTON_HEIGHT - MARGIN
+    cancel_button = rl.Rectangle(cancel_button_x, button_y, button_width, BUTTON_HEIGHT)
+    confirm_button = rl.Rectangle(confirm_button_x, button_y, button_width, BUTTON_HEIGHT)
 
-  # Check for button clicks
-  if gui_button(yes_button, confirm_text, button_style=ButtonStyle.PRIMARY):
-    result = 1  # Confirm
-  if gui_button(no_button, cancel_text):
-    result = 0  # Cancel
+    rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR)
 
-  return result
+    text_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y + TEXT_PADDING,
+                             dialog_rect.width - 2 * MARGIN, dialog_rect.height - BUTTON_HEIGHT - MARGIN - TEXT_PADDING * 2)
+    if not self._rich:
+      self._label.render(text_rect)
+    else:
+      html_rect = rl.Rectangle(text_rect.x, text_rect.y, text_rect.width,
+                               self._html_renderer.get_total_height(int(text_rect.width)))
+      self._html_renderer.set_rect(html_rect)
+      self._scroller.render(text_rect)
+
+    if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER):
+      self._confirm_button_callback()
+    elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE):
+      self._cancel_button_callback()
+
+    if self._cancel_text:
+      self._confirm_button.render(confirm_button)
+      self._cancel_button.render(cancel_button)
+    else:
+      full_button_width = dialog_rect.width - 2 * MARGIN
+      full_confirm_button = rl.Rectangle(dialog_rect.x + MARGIN, button_y, full_button_width, BUTTON_HEIGHT)
+      self._confirm_button.render(full_confirm_button)
+
+
+def alert_dialog(message: str, button_text: str | None = None):
+  if button_text is None:
+    button_text = tr("OK")
+  return ConfirmDialog(message, button_text, cancel_text="")
diff --git a/system/ui/widgets/html_render.py b/system/ui/widgets/html_render.py
new file mode 100644
index 0000000000..77fca9fe34
--- /dev/null
+++ b/system/ui/widgets/html_render.py
@@ -0,0 +1,290 @@
+import re
+import pyray as rl
+from dataclasses import dataclass
+from enum import Enum
+from typing import Any
+from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+LIST_INDENT_PX = 40
+
+
+class ElementType(Enum):
+  H1 = "h1"
+  H2 = "h2"
+  H3 = "h3"
+  H4 = "h4"
+  H5 = "h5"
+  H6 = "h6"
+  P = "p"
+  B = "b"
+  UL = "ul"
+  LI = "li"
+  BR = "br"
+
+
+TAG_NAMES = '|'.join([t.value for t in ElementType])
+START_TAG_RE = re.compile(f'<({TAG_NAMES})>')
+END_TAG_RE = re.compile(f'</({TAG_NAMES})>')
+COMMENT_RE = re.compile(r'<!--.*?-->', flags=re.DOTALL)
+DOCTYPE_RE = re.compile(r'<!DOCTYPE[^>]*>')
+HTML_BODY_TAGS_RE = re.compile(r'</?(?:html|head|body)[^>]*>')
+TOKEN_RE = re.compile(r'</[^>]+>|<[^>]+>|[^<\s]+')
+
+
+def is_tag(token: str) -> tuple[bool, bool, ElementType | None]:
+  supported_tag = bool(START_TAG_RE.fullmatch(token))
+  supported_end_tag = bool(END_TAG_RE.fullmatch(token))
+  tag = ElementType(token[1:-1].strip('/')) if supported_tag or supported_end_tag else None
+  return supported_tag, supported_end_tag, tag
+
+
+@dataclass
+class HtmlElement:
+  type: ElementType
+  content: str
+  font_size: int
+  font_weight: FontWeight
+  margin_top: int
+  margin_bottom: int
+  line_height: float = 0.9  # matches Qt visually, unsure why not default 1.2
+  indent_level: int = 0
+
+
+class HtmlRenderer(Widget):
+  def __init__(self, file_path: str | None = None, text: str | None = None,
+               text_size: dict | None = None, text_color: rl.Color = rl.WHITE, center_text: bool = False):
+    super().__init__()
+    self._text_color = text_color
+    self._center_text = center_text
+    self._normal_font = gui_app.font(FontWeight.NORMAL)
+    self._bold_font = gui_app.font(FontWeight.BOLD)
+    self._indent_level = 0
+
+    if text_size is None:
+      text_size = {}
+
+    self._cached_height: float | None = None
+    self._cached_width: int = -1
+
+    # Base paragraph size (Qt stylesheet default is 48px in offroad alerts)
+    base_p_size = int(text_size.get(ElementType.P, 48))
+
+    # Untagged text defaults to <p>
+    self.styles: dict[ElementType, dict[str, Any]] = {
+      ElementType.H1: {"size": round(base_p_size * 2), "weight": FontWeight.BOLD, "margin_top": 20, "margin_bottom": 16},
+      ElementType.H2: {"size": round(base_p_size * 1.50), "weight": FontWeight.BOLD, "margin_top": 24, "margin_bottom": 12},
+      ElementType.H3: {"size": round(base_p_size * 1.17), "weight": FontWeight.BOLD, "margin_top": 20, "margin_bottom": 10},
+      ElementType.H4: {"size": round(base_p_size * 1.00), "weight": FontWeight.BOLD, "margin_top": 16, "margin_bottom": 8},
+      ElementType.H5: {"size": round(base_p_size * 0.83), "weight": FontWeight.BOLD, "margin_top": 12, "margin_bottom": 6},
+      ElementType.H6: {"size": round(base_p_size * 0.67), "weight": FontWeight.BOLD, "margin_top": 10, "margin_bottom": 4},
+      ElementType.P: {"size": base_p_size, "weight": FontWeight.NORMAL, "margin_top": 8, "margin_bottom": 12},
+      ElementType.B: {"size": base_p_size, "weight": FontWeight.BOLD, "margin_top": 8, "margin_bottom": 12},
+      ElementType.LI: {"size": base_p_size, "weight": FontWeight.NORMAL, "color": rl.Color(40, 40, 40, 255), "margin_top": 6, "margin_bottom": 6},
+      ElementType.BR: {"size": 0, "weight": FontWeight.NORMAL, "margin_top": 0, "margin_bottom": 12},
+    }
+
+    self.elements: list[HtmlElement] = []
+    if file_path is not None:
+      self.parse_html_file(file_path)
+    elif text is not None:
+      self.parse_html_content(text)
+    else:
+      raise ValueError("Either file_path or text must be provided")
+
+  def parse_html_file(self, file_path: str) -> None:
+    with open(file_path, encoding='utf-8') as file:
+      content = file.read()
+    self.parse_html_content(content)
+
+  def parse_html_content(self, html_content: str) -> None:
+    self.elements.clear()
+    self._cached_height = None
+    self._cached_width = -1
+
+    # Remove HTML comments
+    html_content = COMMENT_RE.sub('', html_content)
+
+    # Remove DOCTYPE, html, head, body tags but keep their content
+    html_content = DOCTYPE_RE.sub('', html_content)
+    html_content = HTML_BODY_TAGS_RE.sub('', html_content)
+
+    # Parse HTML
+    tokens = TOKEN_RE.findall(html_content)
+
+    def close_tag():
+      nonlocal current_content
+      nonlocal current_tag
+
+      # If no tag is set, default to paragraph so we don't lose text
+      if current_tag is None:
+        current_tag = ElementType.P
+
+      text = ' '.join(current_content).strip()
+      current_content = []
+      if text:
+        if current_tag == ElementType.LI:
+          text = '• ' + text
+        self._add_element(current_tag, text)
+
+    current_content: list[str] = []
+    current_tag: ElementType | None = None
+    for token in tokens:
+      is_start_tag, is_end_tag, tag = is_tag(token)
+      if tag is not None:
+        if tag == ElementType.BR:
+          # Close current tag and add a line break
+          close_tag()
+          self._add_element(ElementType.BR, "")
+
+        elif is_start_tag or is_end_tag:
+          # Always add content regardless of opening or closing tag
+          close_tag()
+
+          if is_start_tag:
+            current_tag = tag
+          else:
+            current_tag = None
+
+        # increment after we add the content for the current tag
+        if tag == ElementType.UL:
+          self._indent_level = self._indent_level + 1 if is_start_tag else max(0, self._indent_level - 1)
+
+      else:
+        current_content.append(token)
+
+    if current_content:
+      close_tag()
+
+  def _add_element(self, element_type: ElementType, content: str) -> None:
+    style = self.styles[element_type]
+
+    element = HtmlElement(
+      type=element_type,
+      content=content,
+      font_size=style["size"],
+      font_weight=style["weight"],
+      margin_top=style["margin_top"],
+      margin_bottom=style["margin_bottom"],
+      indent_level=self._indent_level,
+    )
+
+    self.elements.append(element)
+
+  def _render(self, rect: rl.Rectangle):
+    # TODO: speed up by removing duplicate calculations across renders
+    current_y = rect.y
+    padding = 20
+    content_width = rect.width - (padding * 2)
+
+    for element in self.elements:
+      if element.type == ElementType.BR:
+        current_y += element.margin_bottom
+        continue
+
+      current_y += element.margin_top
+      if current_y > rect.y + rect.height:
+        break
+
+      if element.content:
+        font = self._get_font(element.font_weight)
+        wrapped_lines = wrap_text(font, element.content, element.font_size, int(content_width))
+
+        for line in wrapped_lines:
+          # Use FONT_SCALE from wrapped raylib text functions to match what is drawn
+          if current_y < rect.y - element.font_size * FONT_SCALE:
+            current_y += element.font_size * FONT_SCALE * element.line_height
+            continue
+
+          if current_y > rect.y + rect.height:
+            break
+
+          if self._center_text:
+            text_width = measure_text_cached(font, line, element.font_size).x
+            text_x = rect.x + (rect.width - text_width) / 2
+          else:  # left align
+            text_x = rect.x + (max(element.indent_level - 1, 0) * LIST_INDENT_PX)
+
+          rl.draw_text_ex(font, line, rl.Vector2(text_x + padding, current_y), element.font_size, 0, self._text_color)
+
+          current_y += element.font_size * FONT_SCALE * element.line_height
+
+      # Apply bottom margin
+      current_y += element.margin_bottom
+
+    return current_y - rect.y
+
+  def get_total_height(self, content_width: int) -> float:
+    if self._cached_height is not None and self._cached_width == content_width:
+      return self._cached_height
+
+    total_height = 0.0
+    padding = 20
+    usable_width = content_width - (padding * 2)
+
+    for element in self.elements:
+      if element.type == ElementType.BR:
+        total_height += element.margin_bottom
+        continue
+
+      total_height += element.margin_top
+
+      if element.content:
+        font = self._get_font(element.font_weight)
+        wrapped_lines = wrap_text(font, element.content, element.font_size, int(usable_width))
+
+        for _ in wrapped_lines:
+          total_height += element.font_size * FONT_SCALE * element.line_height
+
+      total_height += element.margin_bottom
+
+    # Store result in cache
+    self._cached_height = total_height
+    self._cached_width = content_width
+
+    return total_height
+
+  def _get_font(self, weight: FontWeight):
+    if weight == FontWeight.BOLD:
+      return self._bold_font
+    return self._normal_font
+
+
+class HtmlModal(Widget):
+  def __init__(self, file_path: str | None = None, text: str | None = None):
+    super().__init__()
+    self._content = HtmlRenderer(file_path=file_path, text=text)
+    self._scroll_panel = GuiScrollPanel()
+    self._ok_button = Button(tr("OK"), click_callback=gui_app.pop_widget, button_style=ButtonStyle.PRIMARY)
+
+  def _render(self, rect: rl.Rectangle):
+    margin = 50
+    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - (margin * 2), rect.height - (margin * 2))
+
+    button_height = 160
+    button_spacing = 20
+    scrollable_height = content_rect.height - button_height - button_spacing
+
+    scrollable_rect = rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, scrollable_height)
+
+    total_height = self._content.get_total_height(int(scrollable_rect.width))
+    scroll_content_rect = rl.Rectangle(scrollable_rect.x, scrollable_rect.y, scrollable_rect.width, total_height)
+    scroll_offset = self._scroll_panel.update(scrollable_rect, scroll_content_rect)
+    scroll_content_rect.y += scroll_offset
+
+    rl.begin_scissor_mode(int(scrollable_rect.x), int(scrollable_rect.y), int(scrollable_rect.width), int(scrollable_rect.height))
+    self._content.render(scroll_content_rect)
+    rl.end_scissor_mode()
+
+    button_width = (rect.width - 3 * 50) // 3
+    button_x = content_rect.x + content_rect.width - button_width
+    button_y = content_rect.y + content_rect.height - button_height
+    button_rect = rl.Rectangle(button_x, button_y, button_width, button_height)
+    self._ok_button.render(button_rect)
+
+    return -1
diff --git a/system/ui/widgets/icon_widget.py b/system/ui/widgets/icon_widget.py
new file mode 100644
index 0000000000..bf7790b937
--- /dev/null
+++ b/system/ui/widgets/icon_widget.py
@@ -0,0 +1,16 @@
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+
+
+class IconWidget(Widget):
+  def __init__(self, image_path: str, size: tuple[int, int], opacity: float = 1.0):
+    super().__init__()
+    self._texture = gui_app.texture(image_path, size[0], size[1])
+    self._opacity = opacity
+    self.set_rect(rl.Rectangle(0, 0, float(size[0]), float(size[1])))
+    self.set_enabled(False)
+
+  def _render(self, _) -> None:
+    color = rl.Color(255, 255, 255, int(self._opacity * 255))
+    rl.draw_texture_ex(self._texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, 1.0, color)
diff --git a/system/ui/widgets/inputbox.py b/system/ui/widgets/inputbox.py
new file mode 100644
index 0000000000..f53e3f0ebb
--- /dev/null
+++ b/system/ui/widgets/inputbox.py
@@ -0,0 +1,228 @@
+import pyray as rl
+import time
+from openpilot.system.ui.lib.application import gui_app, MousePos, FONT_SCALE
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+
+PASSWORD_MASK_CHAR = "•"
+PASSWORD_MASK_DELAY = 1.5  # Seconds to show character before masking
+
+
+class InputBox(Widget):
+  def __init__(self, max_text_size=255, password_mode=False):
+    super().__init__()
+    self._max_text_size = max_text_size
+    self._input_text = ""
+    self._cursor_position = 0
+    self._password_mode = password_mode
+    self._blink_counter = 0
+    self._show_cursor = False
+    self._last_key_pressed = 0
+    self._key_press_time = 0
+    self._repeat_delay = 30
+    self._repeat_rate = 4
+    self._text_offset = 0
+    self._visible_width = 0
+    self._last_char_time = 0  # Track when last character was added
+    self._masked_length = 0  # How many characters are currently masked
+
+  @property
+  def text(self):
+    return self._input_text
+
+  @text.setter
+  def text(self, value):
+    self._input_text = value[: self._max_text_size]
+    self._cursor_position = len(self._input_text)
+    self._update_text_offset()
+
+  def set_password_mode(self, password_mode):
+    self._password_mode = password_mode
+
+  def clear(self):
+    self._input_text = ''
+    self._cursor_position = 0
+    self._text_offset = 0
+
+  def set_cursor_position(self, position):
+    """Set the cursor position and reset the blink counter."""
+    if 0 <= position <= len(self._input_text):
+      self._cursor_position = position
+      self._blink_counter = 0
+      self._show_cursor = True
+      self._update_text_offset()
+
+  def _update_text_offset(self):
+    """Ensure the cursor is visible by adjusting text offset."""
+    if self._visible_width == 0:
+      return
+
+    font = gui_app.font()
+    display_text = self._get_display_text()
+    padding = 10
+
+    if self._cursor_position > 0:
+      cursor_x = measure_text_cached(font, display_text[: self._cursor_position], self._font_size).x
+    else:
+      cursor_x = 0
+
+    visible_width = self._visible_width - (padding * 2)
+
+    # Adjust offset if cursor would be outside visible area
+    if cursor_x < self._text_offset:
+      self._text_offset = max(0, cursor_x - padding)
+    elif cursor_x > self._text_offset + visible_width:
+      self._text_offset = cursor_x - visible_width + padding
+
+  def add_char_at_cursor(self, char):
+    """Add a character at the current cursor position."""
+    if len(self._input_text) < self._max_text_size:
+      self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position:]
+      self.set_cursor_position(self._cursor_position + 1)
+
+      if self._password_mode:
+        self._last_char_time = time.monotonic()
+
+      return True
+    return False
+
+  def delete_char_before_cursor(self):
+    """Delete the character before the cursor position (backspace)."""
+    if self._cursor_position > 0:
+      self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position:]
+      self.set_cursor_position(self._cursor_position - 1)
+      return True
+    return False
+
+  def delete_char_at_cursor(self):
+    """Delete the character at the cursor position (delete)."""
+    if self._cursor_position < len(self._input_text):
+      self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1:]
+      self.set_cursor_position(self._cursor_position)
+      return True
+    return False
+
+  def _render(self, rect, color=rl.BLACK, border_color=rl.DARKGRAY, text_color=rl.WHITE, font_size=80):
+    # Store dimensions for text offset calculations
+    self._visible_width = rect.width
+    self._font_size = font_size
+
+    # Draw input box
+    rl.draw_rectangle_rec(rect, color)
+
+    # Process keyboard input
+    self._handle_keyboard_input()
+
+    # Update cursor blink
+    self._blink_counter += 1
+    if self._blink_counter >= 30:
+      self._show_cursor = not self._show_cursor
+      self._blink_counter = 0
+
+    # Display text
+    font = gui_app.font()
+    display_text = self._get_display_text()
+    padding = 10
+
+    # Clip text within input box bounds
+    buffer = 2
+    rl.begin_scissor_mode(int(rect.x + padding - buffer), int(rect.y), int(rect.width - padding * 2 + buffer * 2), int(rect.height))
+    rl.draw_text_ex(
+      font,
+      display_text,
+      rl.Vector2(int(rect.x + padding - self._text_offset), int(rect.y + rect.height / 2 - font_size * FONT_SCALE / 2)),
+      font_size,
+      0,
+      text_color,
+    )
+
+    # Draw cursor
+    if self._show_cursor:
+      cursor_x = rect.x + padding
+      if len(display_text) > 0 and self._cursor_position > 0:
+        cursor_x += measure_text_cached(font, display_text[: self._cursor_position], font_size).x
+
+      # Apply text offset to cursor position
+      cursor_x -= self._text_offset
+
+      cursor_height = font_size * FONT_SCALE + 4
+      cursor_y = rect.y + rect.height / 2 - cursor_height / 2
+      rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.WHITE)
+
+    rl.end_scissor_mode()
+
+  def _get_display_text(self):
+    """Get text to display, applying password masking with delay if needed."""
+    if not self._password_mode:
+      return self._input_text
+
+    # Show character at last edited position if within delay window
+    masked_text = PASSWORD_MASK_CHAR * len(self._input_text)
+    recent_edit = time.monotonic() - self._last_char_time < PASSWORD_MASK_DELAY
+    if recent_edit and self._input_text:
+      last_pos = max(0, self._cursor_position - 1)
+      if last_pos < len(self._input_text):
+        return masked_text[:last_pos] + self._input_text[last_pos] + masked_text[last_pos + 1:]
+
+    return masked_text
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    # Calculate cursor position from click
+    if len(self._input_text) > 0:
+      font = gui_app.font()
+      display_text = self._get_display_text()
+
+      # Find the closest character position to the click
+      relative_x = mouse_pos.x - (self._rect.x + 10) + self._text_offset
+      best_pos = 0
+      min_distance = float('inf')
+
+      for i in range(len(self._input_text) + 1):
+        char_width = measure_text_cached(font, display_text[:i], self._font_size).x
+        distance = abs(relative_x - char_width)
+        if distance < min_distance:
+          min_distance = distance
+          best_pos = i
+
+      self.set_cursor_position(best_pos)
+    else:
+      self.set_cursor_position(0)
+
+  def _handle_keyboard_input(self):
+    # Handle navigation keys
+    key = rl.get_key_pressed()
+    if key != 0:
+      self._process_key(key)
+      if key in (rl.KEY_LEFT, rl.KEY_RIGHT, rl.KEY_BACKSPACE, rl.KEY_DELETE):
+        self._last_key_pressed = key
+        self._key_press_time = 0
+
+    # Handle repeats for held keys
+    elif self._last_key_pressed != 0:
+      if rl.is_key_down(self._last_key_pressed):
+        self._key_press_time += 1
+        if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0:
+          self._process_key(self._last_key_pressed)
+      else:
+        self._last_key_pressed = 0
+
+    # Handle text input
+    char = rl.get_char_pressed()
+    if char != 0 and char >= 32:  # Filter out control characters
+      self.add_char_at_cursor(chr(char))
+
+  def _process_key(self, key):
+    if key == rl.KEY_LEFT:
+      if self._cursor_position > 0:
+        self.set_cursor_position(self._cursor_position - 1)
+    elif key == rl.KEY_RIGHT:
+      if self._cursor_position < len(self._input_text):
+        self.set_cursor_position(self._cursor_position + 1)
+    elif key == rl.KEY_BACKSPACE:
+      self.delete_char_before_cursor()
+    elif key == rl.KEY_DELETE:
+      self.delete_char_at_cursor()
+    elif key == rl.KEY_HOME:
+      self.set_cursor_position(0)
+    elif key == rl.KEY_END:
+      self.set_cursor_position(len(self._input_text))
diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py
index 13fdb912b5..49c59a431f 100644
--- a/system/ui/widgets/keyboard.py
+++ b/system/ui/widgets/keyboard.py
@@ -1,78 +1,184 @@
+from functools import partial
+import time
+from typing import Literal
+from collections.abc import Callable
+
 import pyray as rl
-from openpilot.system.ui.lib.button import gui_button
-from openpilot.system.ui.lib.label import gui_label
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
+from openpilot.system.ui.widgets.inputbox import InputBox
+from openpilot.system.ui.widgets.label import Label
+
+KEY_FONT_SIZE = 96
+DOUBLE_CLICK_THRESHOLD = 0.5  # seconds
+DELETE_REPEAT_DELAY = 0.5
+DELETE_REPEAT_INTERVAL = 0.07
 
 # Constants for special keys
+CONTENT_MARGIN = 50
 BACKSPACE_KEY = "<-"
-ENTER_KEY = "Enter"
-SPACE_KEY = "  "
-SHIFT_KEY = "↑"
-SHIFT_DOWN_KEY = "↓"
+ENTER_KEY = "->"
+SPACE_KEY = " "
+SHIFT_INACTIVE_KEY = "SHIFT_OFF"
+SHIFT_ACTIVE_KEY = "SHIFT_ON"
+CAPS_LOCK_KEY = "CAPS"
 NUMERIC_KEY = "123"
 SYMBOL_KEY = "#+="
 ABC_KEY = "ABC"
 
 # Define keyboard layouts as a dictionary for easier access
-keyboard_layouts = {
+KEYBOARD_LAYOUTS = {
   "lowercase": [
     ["q", "w", "e", "r", "t", "y", "u", "i", "o", "p"],
     ["a", "s", "d", "f", "g", "h", "j", "k", "l"],
-    [SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY],
+    [SHIFT_INACTIVE_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY],
     [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY],
   ],
   "uppercase": [
     ["Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"],
     ["A", "S", "D", "F", "G", "H", "J", "K", "L"],
-    [SHIFT_DOWN_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY],
+    [SHIFT_ACTIVE_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY],
     [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY],
   ],
   "numbers": [
     ["1", "2", "3", "4", "5", "6", "7", "8", "9", "0"],
     ["-", "/", ":", ";", "(", ")", "$", "&", "@", "\""],
-    [SYMBOL_KEY, ".", ",", "?", "!", "`", BACKSPACE_KEY],
+    [SYMBOL_KEY, "_", ",", "?", "!", "`", BACKSPACE_KEY],
     [ABC_KEY, SPACE_KEY, ".", ENTER_KEY],
   ],
   "specials": [
     ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="],
     ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"],
-    [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY],
+    [NUMERIC_KEY, "-", ",", "?", "!", "'", BACKSPACE_KEY],
     [ABC_KEY, SPACE_KEY, ".", ENTER_KEY],
   ],
 }
 
 
-class Keyboard:
-  def __init__(self, max_text_size: int = 255):
-    self._layout = keyboard_layouts["lowercase"]
+class Keyboard(Widget):
+  def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False,
+               callback: Callable[[DialogResult], None] | None = None):
+    super().__init__()
+    self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase"
+    self._caps_lock = False
+    self._last_shift_press_time = 0
+    self._title = Label("", 90, FontWeight.BOLD, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+    self._sub_title = Label("", 55, FontWeight.NORMAL, rl.GuiTextAlignment.TEXT_ALIGN_LEFT, text_padding=20)
+
     self._max_text_size = max_text_size
-    self._string_pointer = rl.ffi.new("char[]", max_text_size)
-    self._input_text = ""
-    self._clear()
+    self._min_text_size = min_text_size
+    self._input_box = InputBox(max_text_size)
+    self._password_mode = password_mode
+    self._show_password_toggle = show_password_toggle
+    self._callback = callback
+
+    # Backspace key repeat tracking
+    self._backspace_pressed: bool = False
+    self._backspace_press_time: float = 0.0
+    self._backspace_last_repeat: float = 0.0
+
+    self._cancel_button = Button(lambda: tr("Cancel"), self._cancel_button_callback)
+
+    self._eye_button = Button("", self._eye_button_callback, button_style=ButtonStyle.TRANSPARENT)
+
+    self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54)
+    self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54)
+    self._key_icons = {
+      BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 80, 80),
+      SHIFT_INACTIVE_KEY: gui_app.texture("icons/shift.png", 80, 80),
+      SHIFT_ACTIVE_KEY: gui_app.texture("icons/shift-fill.png", 80, 80),
+      CAPS_LOCK_KEY: gui_app.texture("icons/capslock-fill.png", 80, 80),
+      ENTER_KEY: gui_app.texture("icons/arrow-right.png", 80, 80),
+    }
+
+    self._all_keys = {}
+    for l in KEYBOARD_LAYOUTS:
+      for _, keys in enumerate(KEYBOARD_LAYOUTS[l]):
+        for _, key in enumerate(keys):
+          if key in self._key_icons:
+            texture = self._key_icons[key]
+            self._all_keys[key] = Button("", partial(self._key_callback, key), icon=texture,
+                                         button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.KEYBOARD, multi_touch=True)
+          else:
+            self._all_keys[key] = Button(key, partial(self._key_callback, key), button_style=ButtonStyle.KEYBOARD, font_size=85, multi_touch=True)
+    self._all_keys[CAPS_LOCK_KEY] = Button("", partial(self._key_callback, CAPS_LOCK_KEY), icon=self._key_icons[CAPS_LOCK_KEY],
+                                           button_style=ButtonStyle.KEYBOARD, multi_touch=True)
+
+  def set_text(self, text: str):
+    self._input_box.text = text
 
   @property
   def text(self):
-    result = rl.ffi.string(self._string_pointer).decode("utf-8")
-    self._clear()
-    return result
+    return self._input_box.text
 
-  def render(self, rect, title, sub_title):
-    gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90)
-    gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY)
-    if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"):
-      self._clear()
-      return 0
+  def clear(self):
+    self._layout_name = "lowercase"
+    self._caps_lock = False
+    self._input_box.clear()
+    self._backspace_pressed = False
+
+  def set_title(self, title: str, sub_title: str = ""):
+    self._title.set_text(title)
+    self._sub_title.set_text(sub_title)
+
+  def set_callback(self, callback: Callable[[DialogResult], None] | None):
+    self._callback = callback
+
+  def _eye_button_callback(self):
+    self._password_mode = not self._password_mode
+
+  def _cancel_button_callback(self):
+    self.clear()
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(DialogResult.CANCEL)
+
+  def _key_callback(self, k):
+    if k == ENTER_KEY:
+      gui_app.pop_widget()
+      if self._callback:
+        self._callback(DialogResult.CONFIRM)
+    else:
+      self.handle_key_press(k)
+
+  def _render(self, rect: rl.Rectangle):
+    rect = rl.Rectangle(rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, rect.height - 2 * CONTENT_MARGIN)
+    self._title.render(rl.Rectangle(rect.x, rect.y, rect.width, 95))
+    self._sub_title.render(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60))
+    self._cancel_button.render(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125))
+
+    # Draw input box and password toggle
+    input_margin = 25
+    input_box_rect = rl.Rectangle(rect.x + input_margin, rect.y + 160, rect.width - input_margin, 100)
+    self._render_input_area(input_box_rect)
+
+    # Process backspace key repeat if it's held down
+    if not self._all_keys[BACKSPACE_KEY].is_pressed:
+      self._backspace_pressed = False
+
+    if self._backspace_pressed:
+      current_time = time.monotonic()
+      time_since_press = current_time - self._backspace_press_time
+
+      # After initial delay, start repeating with shorter intervals
+      if time_since_press > DELETE_REPEAT_DELAY:
+        time_since_last_repeat = current_time - self._backspace_last_repeat
+        if time_since_last_repeat > DELETE_REPEAT_INTERVAL:
+          self._input_box.delete_char_before_cursor()
+          self._backspace_last_repeat = current_time
+
+    layout = KEYBOARD_LAYOUTS[self._layout_name]
 
-    # Text box for input
-    self._sync_string_pointer()
-    rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._string_pointer, self._max_text_size, True)
-    self._input_text = rl.ffi.string(self._string_pointer).decode("utf-8")
     h_space, v_space = 15, 15
     row_y_start = rect.y + 300  # Starting Y position for the first row
     key_height = (rect.height - 300 - 3 * v_space) / 4
-    key_max_width = (rect.width - (len(self._layout[2]) - 1) * h_space) / len(self._layout[2])
+    key_max_width = (rect.width - (len(layout[2]) - 1) * h_space) / len(layout[2])
 
     # Iterate over the rows of keys in the current layout
-    for row, keys in enumerate(self._layout):
+    for row, keys in enumerate(layout):
       key_width = min((rect.width - (180 if row == 1 else 0) - h_space * (len(keys) - 1)) / len(keys), key_max_width)
       start_x = rect.x + (90 if row == 1 else 0)
 
@@ -84,35 +190,93 @@ class Keyboard:
         key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height)
         start_x += new_width
 
-        if gui_button(key_rect, key):
-          if key == ENTER_KEY:
-            return 1
-          else:
-            self.handle_key_press(key)
+        is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size
 
-    return -1
+        if key == BACKSPACE_KEY and self._all_keys[BACKSPACE_KEY].is_pressed and not self._backspace_pressed:
+          self._backspace_pressed = True
+          self._backspace_press_time = time.monotonic()
+          self._backspace_last_repeat = time.monotonic()
+
+        if key in self._key_icons:
+          if key == SHIFT_ACTIVE_KEY and self._caps_lock:
+            key = CAPS_LOCK_KEY
+          self._all_keys[key].set_enabled(is_enabled)
+          self._all_keys[key].render(key_rect)
+        else:
+          self._all_keys[key].set_enabled(is_enabled)
+          self._all_keys[key].render(key_rect)
+
+  def _render_input_area(self, input_rect: rl.Rectangle):
+    if self._show_password_toggle:
+      self._input_box.set_password_mode(self._password_mode)
+      self._input_box.render(rl.Rectangle(input_rect.x, input_rect.y, input_rect.width - 100, input_rect.height))
+
+      # render eye icon
+      eye_texture = self._eye_closed_texture if self._password_mode else self._eye_open_texture
+
+      eye_rect = rl.Rectangle(input_rect.x + input_rect.width - 90, input_rect.y, 80, input_rect.height)
+      self._eye_button.render(eye_rect)
+
+      eye_x = eye_rect.x + (eye_rect.width - eye_texture.width) / 2
+      eye_y = eye_rect.y + (eye_rect.height - eye_texture.height) / 2
+
+      rl.draw_texture_v(eye_texture, rl.Vector2(eye_x, eye_y), rl.WHITE)
+    else:
+      self._input_box.render(input_rect)
+
+    rl.draw_line_ex(
+      rl.Vector2(input_rect.x, input_rect.y + input_rect.height - 2),
+      rl.Vector2(input_rect.x + input_rect.width, input_rect.y + input_rect.height - 2),
+      3.0,  # 3 pixel thickness
+      rl.Color(189, 189, 189, 255),
+    )
 
   def handle_key_press(self, key):
-    if key in (SHIFT_DOWN_KEY, ABC_KEY):
-      self._layout = keyboard_layouts["lowercase"]
-    elif key == SHIFT_KEY:
-      self._layout = keyboard_layouts["uppercase"]
+    if key in (CAPS_LOCK_KEY, ABC_KEY):
+      self._caps_lock = False
+      self._layout_name = "lowercase"
+    elif key == SHIFT_INACTIVE_KEY:
+      self._last_shift_press_time = time.monotonic()
+      self._layout_name = "uppercase"
+    elif key == SHIFT_ACTIVE_KEY:
+      if time.monotonic() - self._last_shift_press_time < DOUBLE_CLICK_THRESHOLD:
+        self._caps_lock = True
+      else:
+        self._layout_name = "lowercase"
     elif key == NUMERIC_KEY:
-      self._layout = keyboard_layouts["numbers"]
+      self._layout_name = "numbers"
     elif key == SYMBOL_KEY:
-      self._layout = keyboard_layouts["specials"]
-    elif key == BACKSPACE_KEY and len(self._input_text) > 0:
-      self._input_text = self._input_text[:-1]
-    elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size:
-      self._input_text += key
+      self._layout_name = "specials"
+    elif key == BACKSPACE_KEY:
+      self._input_box.delete_char_before_cursor()
+    else:
+      self._input_box.add_char_at_cursor(key)
+      if not self._caps_lock and self._layout_name == "uppercase":
+        self._layout_name = "lowercase"
 
-  def _clear(self):
-    self._input_text = ''
-    self._string_pointer[0] = b'\0'
+  def reset(self, min_text_size: int | None = None):
+    if min_text_size is not None:
+      self._min_text_size = min_text_size
+    self._last_shift_press_time = 0
+    self._backspace_pressed = False
+    self._backspace_press_time = 0.0
+    self._backspace_last_repeat = 0.0
+    self.clear()
 
-  def _sync_string_pointer(self):
-    """Sync the C-string pointer with the internal Python string."""
-    encoded = self._input_text.encode("utf-8")[:self._max_text_size - 1]  # Leave room for the null terminator
-    buffer = rl.ffi.buffer(self._string_pointer)
-    buffer[:len(encoded)] = encoded
-    self._string_pointer[len(encoded)] = b'\0'  # Null terminator
+
+if __name__ == "__main__":
+  def callback(result: DialogResult):
+    if result == DialogResult.CONFIRM:
+      print(f"You typed: {keyboard.text}")
+    elif result == DialogResult.CANCEL:
+      print("Canceled")
+    gui_app.request_close()
+
+  gui_app.init_window("Keyboard")
+  keyboard = Keyboard(min_text_size=8, show_password_toggle=True, callback=callback)
+  keyboard.set_title("Keyboard Input", "Type your text below")
+
+  gui_app.push_widget(keyboard)
+  for _ in gui_app.render():
+    pass
+  gui_app.close()
diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py
new file mode 100644
index 0000000000..8ed9ec62f5
--- /dev/null
+++ b/system/ui/widgets/label.py
@@ -0,0 +1,808 @@
+from enum import IntEnum
+from collections.abc import Callable
+from itertools import zip_longest
+from typing import Union
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR, FONT_SCALE
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.utils import GuiStyleContext
+from openpilot.system.ui.lib.emoji import find_emoji, emoji_tex
+from openpilot.system.ui.lib.wrap_text import wrap_text
+
+ICON_PADDING = 15
+
+
+# TODO: make this common
+def _resolve_value(value, default=""):
+  if callable(value):
+    return value()
+  return value if value is not None else default
+
+
+class ScrollState(IntEnum):
+  STARTING = 0
+  SCROLLING = 1
+
+
+# TODO: merge anything new here to master
+class MiciLabel(Widget):
+  def __init__(self,
+               text: str,
+               font_size: int = DEFAULT_TEXT_SIZE,
+               width: int | None = None,
+               color: rl.Color = DEFAULT_TEXT_COLOR,
+               font_weight: FontWeight = FontWeight.NORMAL,
+               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+               spacing: int = 0,
+               line_height: int | None = None,
+               elide_right: bool = True,
+               wrap_text: bool = False,
+               scroll: bool = False):
+    super().__init__()
+    self.text = text
+    self.wrapped_text: list[str] = []
+    self.font_size = font_size
+    self.width = width
+    self.color = color
+    self.font_weight = font_weight
+    self.alignment = alignment
+    self.alignment_vertical = alignment_vertical
+    self.spacing = spacing
+    self.line_height = line_height if line_height is not None else font_size
+    self.elide_right = elide_right
+    self.wrap_text = wrap_text
+    self._height = 0
+
+    # Scroll state
+    self.scroll = scroll
+    self._needs_scroll = False
+    self._scroll_offset = 0
+    self._scroll_pause_t: float | None = None
+    self._scroll_state: ScrollState = ScrollState.STARTING
+
+    assert not (self.scroll and self.wrap_text), "Cannot enable both scroll and wrap_text"
+    assert not (self.scroll and self.elide_right), "Cannot enable both scroll and elide_right"
+
+    self.set_text(text)
+
+  @property
+  def text_height(self):
+    return self._height
+
+  def set_font_size(self, font_size: int):
+    self.font_size = font_size
+    self.set_text(self.text)
+
+  def set_width(self, width: int):
+    self.width = width
+    self._rect.width = width
+    self.set_text(self.text)
+
+  def set_text(self, txt: str):
+    self.text = txt
+    text_size = measure_text_cached(gui_app.font(self.font_weight), self.text, self.font_size, self.spacing)
+    if self.width is not None:
+      self._rect.width = self.width
+    else:
+      self._rect.width = text_size.x
+
+    if self.wrap_text:
+      self.wrapped_text = wrap_text(gui_app.font(self.font_weight), self.text, self.font_size, int(self._rect.width))
+      self._height = len(self.wrapped_text) * self.line_height
+    elif self.scroll:
+      self._needs_scroll = self.scroll and text_size.x > self._rect.width
+      self._rect.height = text_size.y
+
+  def set_color(self, color: rl.Color):
+    self.color = color
+
+  def set_font_weight(self, font_weight: FontWeight):
+    self.font_weight = font_weight
+    self.set_text(self.text)
+
+  def _render(self, rect: rl.Rectangle):
+    # Only scissor when we know there is a single scrolling line
+    if self._needs_scroll:
+      rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+
+    font = gui_app.font(self.font_weight)
+
+    text_y_offset = 0
+    # Draw the text in the specified rectangle
+    lines = self.wrapped_text or [self.text]
+    if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+      lines = lines[::-1]
+
+    for display_text in lines:
+      text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
+
+      # Elide text to fit within the rectangle
+      if self.elide_right and text_size.x > rect.width:
+        ellipsis = "..."
+        left, right = 0, len(display_text)
+        while left < right:
+          mid = (left + right) // 2
+          candidate = display_text[:mid] + ellipsis
+          candidate_size = measure_text_cached(font, candidate, self.font_size, self.spacing)
+          if candidate_size.x <= rect.width:
+            left = mid + 1
+          else:
+            right = mid
+        display_text = display_text[: left - 1] + ellipsis if left > 0 else ellipsis
+        text_size = measure_text_cached(font, display_text, self.font_size, self.spacing)
+
+      # Handle scroll state
+      elif self.scroll and self._needs_scroll:
+        if self._scroll_state == ScrollState.STARTING:
+          if self._scroll_pause_t is None:
+            self._scroll_pause_t = rl.get_time() + 2.0
+          if rl.get_time() >= self._scroll_pause_t:
+            self._scroll_state = ScrollState.SCROLLING
+            self._scroll_pause_t = None
+
+        elif self._scroll_state == ScrollState.SCROLLING:
+          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
+          # don't fully hide
+          if self._scroll_offset <= -text_size.x - self._rect.width / 3:
+            self._scroll_offset = 0
+            self._scroll_state = ScrollState.STARTING
+            self._scroll_pause_t = None
+
+      # Calculate horizontal position based on alignment
+      text_x = rect.x + {
+        rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
+        rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
+        rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
+      }.get(self.alignment, 0) + self._scroll_offset
+
+      # Calculate vertical position based on alignment
+      text_y = rect.y + {
+        rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
+        rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
+        rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
+      }.get(self.alignment_vertical, 0)
+      text_y += text_y_offset
+
+      rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x), text_y), self.font_size, self.spacing, self.color)
+      # Draw 2nd instance for scrolling
+      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
+        text2_scroll_offset = text_size.x + self._rect.width / 3
+        rl.draw_text_ex(font, display_text, rl.Vector2(round(text_x + text2_scroll_offset), text_y), self.font_size, self.spacing, self.color)
+      if self.alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+        text_y_offset -= self.line_height
+      else:
+        text_y_offset += self.line_height
+
+    if self._needs_scroll:
+      # draw black fade on left and right
+      fade_width = 20
+      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK)
+      if self._scroll_state != ScrollState.STARTING:
+        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK)
+
+      rl.end_scissor_mode()
+
+
+# TODO: This should be a Widget class
+def gui_label(
+  rect: rl.Rectangle,
+  text: str,
+  font_size: int = DEFAULT_TEXT_SIZE,
+  color: rl.Color = DEFAULT_TEXT_COLOR,
+  font_weight: FontWeight = FontWeight.NORMAL,
+  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+  elide_right: bool = True
+):
+  font = gui_app.font(font_weight)
+  text_size = measure_text_cached(font, text, font_size)
+  display_text = text
+
+  # Elide text to fit within the rectangle
+  if elide_right and text_size.x > rect.width:
+    _ellipsis = "..."
+    left, right = 0, len(text)
+    while left < right:
+      mid = (left + right) // 2
+      candidate = text[:mid] + _ellipsis
+      candidate_size = measure_text_cached(font, candidate, font_size)
+      if candidate_size.x <= rect.width:
+        left = mid + 1
+      else:
+        right = mid
+    display_text = text[: left - 1] + _ellipsis if left > 0 else _ellipsis
+    text_size = measure_text_cached(font, display_text, font_size)
+
+  # Calculate horizontal position based on alignment
+  text_x = rect.x + {
+    rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0,
+    rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2,
+    rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x,
+  }.get(alignment, 0)
+
+  # Calculate vertical position based on alignment
+  text_y = rect.y + {
+    rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0,
+    rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2,
+    rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y,
+  }.get(alignment_vertical, 0)
+
+  # Draw the text in the specified rectangle
+  # TODO: add wrapping and proper centering for multiline text
+  rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color)
+
+
+def gui_text_box(
+  rect: rl.Rectangle,
+  text: str,
+  font_size: int = DEFAULT_TEXT_SIZE,
+  color: rl.Color = DEFAULT_TEXT_COLOR,
+  alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+  font_weight: FontWeight = FontWeight.NORMAL,
+  line_scale: float = 1.0,
+):
+  styles = [
+    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, round(font_size * FONT_SCALE)),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, round(font_size * FONT_SCALE * line_scale)),
+    (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_ALIGNMENT, alignment),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical),
+    (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD)
+  ]
+  if font_weight != FontWeight.NORMAL:
+    rl.gui_set_font(gui_app.font(font_weight))
+
+  with GuiStyleContext(styles):
+    rl.gui_label(rect, text)
+
+  if font_weight != FontWeight.NORMAL:
+    rl.gui_set_font(gui_app.font(FontWeight.NORMAL))
+
+
+# Non-interactive text area. Can render emojis and an optional specified icon.
+class Label(Widget):
+  def __init__(self,
+               text: str | Callable[[], str],
+               font_size: int = DEFAULT_TEXT_SIZE,
+               font_weight: FontWeight = FontWeight.NORMAL,
+               text_alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+               text_alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+               text_padding: int = 0,
+               text_color: rl.Color = DEFAULT_TEXT_COLOR,
+               icon: Union[rl.Texture, None] = None,
+               elide_right: bool = False,
+               line_scale=1.0,
+               ):
+
+    super().__init__()
+    self._font_weight = font_weight
+    self._font = gui_app.font(self._font_weight)
+    self._font_size = font_size
+    self._text_alignment = text_alignment
+    self._text_alignment_vertical = text_alignment_vertical
+    self._text_padding = text_padding
+    self._text_color = text_color
+    self._icon = icon
+    self._elide_right = elide_right
+    self._line_scale = line_scale
+
+    self._text = text
+    self.set_text(text)
+
+  def set_text(self, text):
+    self._text = text
+    self._update_text(self._text)
+
+  def set_text_color(self, color):
+    self._text_color = color
+
+  def set_font_size(self, size):
+    self._font_size = size
+    self._update_text(self._text)
+
+  def _update_text(self, text):
+    self._emojis = []
+    self._text_size = []
+    text = _resolve_value(text)
+
+    if self._elide_right:
+      display_text = text
+
+      # Elide text to fit within the rectangle
+      text_size = measure_text_cached(self._font, text, self._font_size)
+      content_width = self._rect.width - self._text_padding * 2
+      if self._icon:
+        content_width -= self._icon.width + ICON_PADDING
+      if text_size.x > content_width:
+        _ellipsis = "..."
+        left, right = 0, len(text)
+        while left < right:
+          mid = (left + right) // 2
+          candidate = text[:mid] + _ellipsis
+          candidate_size = measure_text_cached(self._font, candidate, self._font_size)
+          if candidate_size.x <= content_width:
+            left = mid + 1
+          else:
+            right = mid
+        display_text = text[: left - 1] + _ellipsis if left > 0 else _ellipsis
+
+      self._text_wrapped = [display_text]
+    else:
+      self._text_wrapped = wrap_text(self._font, text, self._font_size, round(self._rect.width - (self._text_padding * 2)))
+
+    for t in self._text_wrapped:
+      self._emojis.append(find_emoji(t))
+      self._text_size.append(measure_text_cached(self._font, t, self._font_size))
+
+  def _render(self, _):
+    # Text can be a callable
+    # TODO: cache until text changed
+    self._update_text(self._text)
+
+    text_size = self._text_size[0] if self._text_size else rl.Vector2(0.0, 0.0)
+    if self._text_alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE:
+      total_text_height = sum(ts.y for ts in self._text_size) or self._font_size * FONT_SCALE
+      text_pos = rl.Vector2(self._rect.x, (self._rect.y + (self._rect.height - total_text_height) // 2))
+    else:
+      text_pos = rl.Vector2(self._rect.x, self._rect.y)
+
+    if self._icon:
+      icon_y = self._rect.y + (self._rect.height - self._icon.height) / 2
+      if len(self._text_wrapped) > 0:
+        if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+          icon_x = self._rect.x + self._text_padding
+          text_pos.x = self._icon.width + ICON_PADDING
+        elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+          total_width = self._icon.width + ICON_PADDING + text_size.x
+          icon_x = self._rect.x + (self._rect.width - total_width) / 2
+          text_pos.x = self._icon.width + ICON_PADDING
+        else:
+          icon_x = (self._rect.x + self._rect.width - text_size.x - self._text_padding) - ICON_PADDING - self._icon.width
+      else:
+        icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
+      rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE)
+
+    for text, text_size, emojis in zip_longest(self._text_wrapped, self._text_size, self._emojis, fillvalue=[]):
+      line_pos = rl.Vector2(text_pos.x, text_pos.y)
+      if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+        line_pos.x += self._text_padding
+      elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+        line_pos.x += (self._rect.width - text_size.x) // 2
+      elif self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+        line_pos.x += self._rect.width - text_size.x - self._text_padding
+
+      prev_index = 0
+      for start, end, emoji in emojis:
+        text_before = text[prev_index:start]
+        width_before = measure_text_cached(self._font, text_before, self._font_size)
+        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, 0, self._text_color)
+        line_pos.x += width_before.x
+
+        tex = emoji_tex(emoji)
+        rl.draw_texture_ex(tex, line_pos, 0.0, self._font_size / tex.height * FONT_SCALE, self._text_color)
+        line_pos.x += self._font_size * FONT_SCALE
+        prev_index = end
+      rl.draw_text_ex(self._font, text[prev_index:], line_pos, self._font_size, 0, self._text_color)
+      text_pos.y += (text_size.y or self._font_size * FONT_SCALE) * self._line_scale
+
+
+class UnifiedLabel(Widget):
+  """
+  Unified label widget that combines functionality from gui_label, gui_text_box, Label, and MiciLabel.
+
+  Supports:
+  - Emoji rendering
+  - Text wrapping
+  - Automatic eliding (single-line or multiline)
+  - Proper multiline vertical alignment
+  - Height calculation for layout purposes
+  """
+  def __init__(self,
+               text: str | Callable[[], str],
+               font_size: int = DEFAULT_TEXT_SIZE,
+               font_weight: FontWeight = FontWeight.NORMAL,
+               text_color: rl.Color = DEFAULT_TEXT_COLOR,
+               alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+               alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+               text_padding: int = 0,
+               max_width: int | None = None,
+               elide: bool = True,
+               wrap_text: bool = True,
+               scroll: bool = False,
+               line_height: float = 1.0,
+               letter_spacing: float = 0.0):
+    super().__init__()
+    self._text = text
+    self._font_size = font_size
+    self._font_weight = font_weight
+    self._font = gui_app.font(self._font_weight)
+    self._text_color = text_color
+    self._alignment = alignment
+    self._alignment_vertical = alignment_vertical
+    self._text_padding = text_padding
+    self._max_width = max_width
+    self._elide = elide
+    self._wrap_text = wrap_text
+    self._scroll = scroll
+    self._line_height = line_height * 0.9
+    self._letter_spacing = letter_spacing  # 0.1 = 10%
+    self._spacing_pixels = font_size * letter_spacing
+
+    # Scroll state
+    self._scroll = scroll
+    self._needs_scroll = False
+    self._scroll_offset = 0
+    self._scroll_pause_t: float | None = None
+    self._scroll_state: ScrollState = ScrollState.STARTING
+
+    # Scroll mode does not support eliding or multiline wrapping
+    if self._scroll:
+      self._elide = False
+      self._wrap_text = False
+
+    # Cached data
+    self._cached_text: str | None = None
+    self._cached_wrapped_lines: list[str] = []
+    self._cached_line_sizes: list[rl.Vector2] = []
+    self._cached_line_emojis: list[list[tuple[int, int, str]]] = []
+    self._cached_total_height: float | None = None
+    self._cached_width: int = -1
+
+    # If max_width is set, initialize rect size for Scroller support
+    if max_width is not None:
+      self._rect.width = max_width
+      self._rect.height = self.get_content_height(max_width)
+
+  def set_text(self, text: str | Callable[[], str]):
+    """Update the text content."""
+    self._text = text
+    # No need to update cache here, will be done on next render if needed
+
+  @property
+  def text(self) -> str:
+    """Get the current text content."""
+    return str(_resolve_value(self._text))
+
+  def set_text_color(self, color: rl.Color):
+    """Update the text color."""
+    self._text_color = color
+
+  def set_color(self, color: rl.Color):
+    """Update the text color (alias for set_text_color)."""
+    self.set_text_color(color)
+
+  def set_font_size(self, size: int):
+    """Update the font size."""
+    if self._font_size != size:
+      self._font_size = size
+      self._spacing_pixels = size * self._letter_spacing  # Recalculate spacing
+      self._cached_text = None  # Invalidate cache
+
+  def set_letter_spacing(self, letter_spacing: float):
+    """Update letter spacing (as percentage, e.g., 0.1 = 10%)."""
+    if self._letter_spacing != letter_spacing:
+      self._letter_spacing = letter_spacing
+      self._spacing_pixels = self._font_size * letter_spacing
+      self._cached_text = None  # Invalidate cache
+
+  def set_line_height(self, line_height: float):
+    """Update line height (multiplier, e.g., 1.0 = default)."""
+    new_line_height = line_height * 0.9
+    if self._line_height != new_line_height:
+      self._line_height = new_line_height
+      self._cached_text = None  # Invalidate cache (affects total height)
+
+  def set_font_weight(self, font_weight: FontWeight):
+    """Update the font weight."""
+    if self._font_weight != font_weight:
+      self._font_weight = font_weight
+      self._font = gui_app.font(self._font_weight)
+      self._cached_text = None  # Invalidate cache
+
+  def set_alignment(self, alignment: int):
+    """Update the horizontal text alignment."""
+    self._alignment = alignment
+
+  def set_alignment_vertical(self, alignment_vertical: int):
+    """Update the vertical text alignment."""
+    self._alignment_vertical = alignment_vertical
+
+  def reset_scroll(self):
+    """Reset scroll state to initial position."""
+    self._scroll_offset = 0
+    self._scroll_pause_t = None
+    self._scroll_state = ScrollState.STARTING
+
+  def set_max_width(self, max_width: int | None):
+    """Set the maximum width constraint for wrapping/eliding."""
+    if self._max_width != max_width:
+      self._max_width = max_width
+      self._cached_text = None  # Invalidate cache
+      # Update rect size for Scroller support
+      if max_width is not None:
+        self._rect.width = max_width
+        self._rect.height = self.get_content_height(max_width)
+
+  def _update_text_cache(self, available_width: int):
+    """Update cached text processing data."""
+    text = self.text
+
+    # Check if cache is still valid
+    if (self._cached_text == text and
+        self._cached_width == available_width and
+        self._cached_wrapped_lines):
+      return
+
+    self._cached_text = text
+    self._cached_width = available_width
+
+    # Determine wrapping width
+    content_width = available_width - (self._text_padding * 2)
+    if content_width <= 0:
+      content_width = 1
+
+    # Wrap text if enabled
+    if self._wrap_text:
+      self._cached_wrapped_lines = wrap_text(self._font, text, self._font_size, content_width, self._spacing_pixels)
+    else:
+      # Split by newlines but don't wrap
+      self._cached_wrapped_lines = text.split('\n') if text else [""]
+
+    # Elide lines if needed (for width constraint)
+    self._cached_wrapped_lines = [self._elide_line(line, content_width) for line in self._cached_wrapped_lines]
+
+    if self._scroll:
+      self._cached_wrapped_lines = self._cached_wrapped_lines[:1]  # Only first line for scrolling
+
+    # Process each line: measure and find emojis
+    self._cached_line_sizes = []
+    self._cached_line_emojis = []
+
+    for line in self._cached_wrapped_lines:
+      emojis = find_emoji(line)
+      self._cached_line_emojis.append(emojis)
+      # Empty lines should still have height (use font size as line height)
+      if not line:
+        size = rl.Vector2(0, self._font_size * FONT_SCALE)
+      else:
+        size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
+
+      # This is the only line
+      if self._scroll:
+        self._needs_scroll = size.x > content_width
+
+      self._cached_line_sizes.append(size)
+
+    # Calculate total height
+    # Each line contributes its measured height * line_height (matching Label's behavior)
+    # This includes spacing to the next line
+    if self._cached_line_sizes:
+      # Match the rendering logic: first line doesn't get line_height scaling
+      total_height = 0.0
+      for idx, size in enumerate(self._cached_line_sizes):
+        if idx == 0:
+          total_height += size.y
+        else:
+          total_height += size.y * self._line_height
+      self._cached_total_height = total_height
+    else:
+      self._cached_total_height = 0.0
+
+  def _elide_line(self, line: str, max_width: int, force: bool = False) -> str:
+    """Elide a single line if it exceeds max_width. If force is True, always elide even if it fits."""
+    if not self._elide and not force:
+      return line
+
+    text_size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
+    if text_size.x <= max_width and not force:
+      return line
+
+    ellipsis = "..."
+    # If force=True and line fits, just append ellipsis without truncating
+    if force and text_size.x <= max_width:
+      ellipsis_size = measure_text_cached(self._font, ellipsis, self._font_size, self._spacing_pixels)
+      if text_size.x + ellipsis_size.x <= max_width:
+        return line + ellipsis
+      # If line + ellipsis doesn't fit, need to truncate
+      # Fall through to binary search below
+
+    left, right = 0, len(line)
+    while left < right:
+      mid = (left + right) // 2
+      candidate = line[:mid] + ellipsis
+      candidate_size = measure_text_cached(self._font, candidate, self._font_size, self._spacing_pixels)
+      if candidate_size.x <= max_width:
+        left = mid + 1
+      else:
+        right = mid
+    return line[:left - 1] + ellipsis if left > 0 else ellipsis
+
+  def get_content_height(self, max_width: int) -> float:
+    """
+    Returns the height needed for text at given max_width.
+    Similar to HtmlRenderer.get_total_height().
+    """
+    # Use max_width if provided, otherwise use self._max_width or a default
+    width = max_width if max_width > 0 else (self._max_width if self._max_width else 1000)
+    self._update_text_cache(width)
+
+    if self._cached_total_height is not None:
+      return self._cached_total_height
+    return 0.0
+
+  def _render(self, _):
+    """Render the label."""
+    if self._rect.width <= 0 or self._rect.height <= 0:
+      return
+
+    # Determine available width
+    available_width = self._rect.width
+    if self._max_width is not None:
+      available_width = min(available_width, self._max_width)
+
+    # Update text cache
+    self._update_text_cache(int(available_width))
+
+    if not self._cached_wrapped_lines:
+      return
+
+    # Calculate which lines fit in the available height
+    visible_lines: list[str] = []
+    visible_sizes: list[rl.Vector2] = []
+    visible_emojis: list[list[tuple[int, int, str]]] = []
+
+    current_height = 0.0
+    broke_early = False
+    for line, size, emojis in zip(
+      self._cached_wrapped_lines,
+      self._cached_line_sizes,
+      self._cached_line_emojis,
+      strict=True):
+
+      # Calculate height needed for this line
+      # Each line contributes its height * line_height (matching Label's behavior)
+      line_height_needed = size.y * self._line_height
+
+      # Check if this line fits
+      if current_height + line_height_needed > self._rect.height:
+        # This line doesn't fit
+        if len(visible_lines) == 0:
+          # First line doesn't fit by height - still show it (will be clipped by scissor if needed)
+          # Continue to add this line below
+          pass
+        else:
+          # We have visible lines and this one doesn't fit - mark that we broke early
+          broke_early = True
+          break
+
+      visible_lines.append(line)
+      visible_sizes.append(size)
+      visible_emojis.append(emojis)
+
+      current_height += line_height_needed
+
+    # If we broke early (there are more lines that don't fit) and elide is enabled, elide the last visible line
+    if broke_early and len(visible_lines) > 0 and self._elide:
+      content_width = int(available_width - (self._text_padding * 2))
+      if content_width <= 0:
+        content_width = 1
+
+      last_line_idx = len(visible_lines) - 1
+      last_line = visible_lines[last_line_idx]
+      # Force elide the last line to show "..." even if it fits in width (to indicate more content)
+      elided = self._elide_line(last_line, content_width, force=True)
+      visible_lines[last_line_idx] = elided
+      visible_sizes[last_line_idx] = measure_text_cached(self._font, elided, self._font_size, self._spacing_pixels)
+
+    if not visible_lines:
+      return
+
+    # Calculate total visible text block height
+    # First line is not changed by line_height scaling
+    total_visible_height = 0.0
+    for idx, size in enumerate(visible_sizes):
+      if idx == 0:
+        total_visible_height += size.y
+      else:
+        total_visible_height += size.y * self._line_height
+
+    # Calculate vertical alignment offset
+    if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP:
+      start_y = self._rect.y
+    elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
+      start_y = self._rect.y + self._rect.height - total_visible_height
+    else:  # TEXT_ALIGN_MIDDLE
+      start_y = self._rect.y + (self._rect.height - total_visible_height) / 2
+
+    # Only scissor when we know there is a single scrolling line
+    # Pad a little since descenders like g or j may overflow below rect from font_scale
+    if self._needs_scroll:
+      rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y - self._font_size / 2), int(self._rect.width), int(self._rect.height + self._font_size))
+
+    # Render each line
+    current_y = start_y
+    for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
+      if self._needs_scroll:
+        if self._scroll_state == ScrollState.STARTING:
+          if self._scroll_pause_t is None:
+            self._scroll_pause_t = rl.get_time() + 2.0
+          if rl.get_time() >= self._scroll_pause_t:
+            self._scroll_state = ScrollState.SCROLLING
+            self._scroll_pause_t = None
+
+        elif self._scroll_state == ScrollState.SCROLLING:
+          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
+          # don't fully hide
+          if self._scroll_offset <= -size.x - self._rect.width / 3:
+            self._scroll_offset = 0
+            self._scroll_state = ScrollState.STARTING
+            self._scroll_pause_t = None
+      else:
+        self.reset_scroll()
+
+      self._render_line(line, size, emojis, current_y)
+
+      # Draw 2nd instance for scrolling
+      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
+        text2_scroll_offset = size.x + self._rect.width / 3
+        self._render_line(line, size, emojis, current_y, text2_scroll_offset)
+
+      # Move to next line (if not last line)
+      if idx < len(visible_lines) - 1:
+        # Use current line's height * line_height for spacing to next line
+        current_y += size.y * self._line_height
+
+    if self._needs_scroll:
+      # draw black fade on left and right
+      fade_width = 20
+      rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK)
+
+      # stop drawing left fade once text scrolls past
+      text_width = visible_sizes[0].x if visible_sizes else 0
+      first_copy_in_view = self._scroll_offset + text_width > 0
+      draw_left_fade = self._scroll_state != ScrollState.STARTING and first_copy_in_view
+      if draw_left_fade:
+        rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK)
+
+      rl.end_scissor_mode()
+
+  def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
+    # Calculate horizontal position
+    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+      line_x = self._rect.x + self._text_padding
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+      line_x = self._rect.x + (self._rect.width - size.x) / 2
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+      line_x = self._rect.x + self._rect.width - size.x - self._text_padding
+    else:
+      line_x = self._rect.x + self._text_padding
+    line_x += self._scroll_offset + x_offset
+
+    # Render line with emojis
+    line_pos = rl.Vector2(line_x, current_y)
+    prev_index = 0
+
+    for start, end, emoji in emojis:
+      # Draw text before emoji
+      text_before = line[prev_index:start]
+      if text_before:
+        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+        width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
+        line_pos.x += width_before.x
+
+      # Draw emoji
+      tex = emoji_tex(emoji)
+      emoji_scale = self._font_size / tex.height * FONT_SCALE
+      rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
+      # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
+      line_pos.x += self._font_size * FONT_SCALE
+      prev_index = end
+
+    # Draw remaining text after last emoji
+    text_after = line[prev_index:]
+    if text_after:
+      rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
diff --git a/system/ui/widgets/layouts.py b/system/ui/widgets/layouts.py
new file mode 100644
index 0000000000..6f97fe5ed8
--- /dev/null
+++ b/system/ui/widgets/layouts.py
@@ -0,0 +1,60 @@
+from enum import IntFlag
+from openpilot.system.ui.widgets import Widget
+
+
+class Alignment(IntFlag):
+  LEFT = 0
+  # TODO: implement
+  # H_CENTER = 2
+  # RIGHT = 4
+
+  TOP = 8
+  V_CENTER = 16
+  BOTTOM = 32
+
+
+class HBoxLayout(Widget):
+  """
+  A Widget that lays out child Widgets horizontally.
+  """
+
+  def __init__(self, widgets: list[Widget] | None = None, spacing: int = 0,
+               alignment: Alignment = Alignment.LEFT | Alignment.V_CENTER):
+    super().__init__()
+    self._widgets: list[Widget] = []
+    self._spacing = spacing
+    self._alignment = alignment
+
+    if widgets is not None:
+      for widget in widgets:
+        self.add_widget(widget)
+
+  @property
+  def widgets(self) -> list[Widget]:
+    return self._widgets
+
+  def add_widget(self, widget: Widget) -> None:
+    self._widgets.append(widget)
+
+  def _render(self, _):
+    visible_widgets = [w for w in self._widgets if w.is_visible]
+
+    cur_offset_x = 0
+
+    for idx, widget in enumerate(visible_widgets):
+      spacing = self._spacing if (idx > 0) else 0
+
+      x = self._rect.x + cur_offset_x + spacing
+      cur_offset_x += widget.rect.width + spacing
+
+      if self._alignment & Alignment.TOP:
+        y = self._rect.y
+      elif self._alignment & Alignment.BOTTOM:
+        y = self._rect.y + self._rect.height - widget.rect.height
+      else:  # center
+        y = self._rect.y + (self._rect.height - widget.rect.height) / 2
+
+      # Update widget position and render
+      widget.set_position(round(x), round(y))
+      widget.set_parent_rect(self._rect)
+      widget.render()
diff --git a/system/ui/widgets/list_view.py b/system/ui/widgets/list_view.py
new file mode 100644
index 0000000000..32bf01cfc8
--- /dev/null
+++ b/system/ui/widgets/list_view.py
@@ -0,0 +1,467 @@
+import os
+import pyray as rl
+from collections.abc import Callable
+from abc import ABC
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.toggle import Toggle, WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.html_render import HtmlRenderer, ElementType
+
+ITEM_BASE_WIDTH = 600
+ITEM_BASE_HEIGHT = 170
+ITEM_PADDING = 20
+ITEM_TEXT_FONT_SIZE = 50
+ITEM_TEXT_COLOR = rl.WHITE
+ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255)
+ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+ITEM_DESC_FONT_SIZE = 40
+ITEM_DESC_V_OFFSET = 140
+RIGHT_ITEM_PADDING = 20
+ICON_SIZE = 80
+BUTTON_WIDTH = 250
+BUTTON_HEIGHT = 100
+BUTTON_BORDER_RADIUS = 50
+BUTTON_FONT_SIZE = 35
+BUTTON_FONT_WEIGHT = FontWeight.MEDIUM
+
+TEXT_PADDING = 20
+
+
+def _resolve_value(value, default=""):
+  if callable(value):
+    return value()
+  return value if value is not None else default
+
+
+# Abstract base class for right-side items
+class ItemAction(Widget, ABC):
+  def __init__(self, width: int = BUTTON_HEIGHT, enabled: bool | Callable[[], bool] = True):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, width, 0))
+    self._enabled_source = enabled
+
+  def get_width_hint(self) -> float:
+    # Return's action ideal width, 0 means use full width
+    return self._rect.width
+
+  def set_enabled(self, enabled: bool | Callable[[], bool]):
+    self._enabled_source = enabled
+
+  @property
+  def enabled(self):
+    return _resolve_value(self._enabled_source, False)
+
+
+class ToggleAction(ItemAction):
+  def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True,
+               callback: Callable[[bool], None] | None = None):
+    super().__init__(width, enabled)
+    self.toggle = Toggle(initial_state=initial_state, callback=callback)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self.toggle.set_touch_valid_callback(touch_callback)
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    self.toggle.set_enabled(self.enabled)
+    clicked = self.toggle.render(rl.Rectangle(rect.x, rect.y + (rect.height - TOGGLE_HEIGHT) / 2, self._rect.width, TOGGLE_HEIGHT))
+    return bool(clicked)
+
+  def set_state(self, state: bool):
+    self.toggle.set_state(state)
+
+  def get_state(self) -> bool:
+    return self.toggle.get_state()
+
+
+class ButtonAction(ItemAction):
+  def __init__(self, text: str | Callable[[], str], width: int = BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True):
+    super().__init__(width, enabled)
+    self._text_source = text
+    self._value_source: str | Callable[[], str] | None = None
+    self._pressed = False
+    self._font = gui_app.font(FontWeight.NORMAL)
+
+    def pressed():
+      self._pressed = True
+
+    self._button = Button(
+      self.text,
+      font_size=BUTTON_FONT_SIZE,
+      font_weight=BUTTON_FONT_WEIGHT,
+      button_style=ButtonStyle.LIST_ACTION,
+      border_radius=BUTTON_BORDER_RADIUS,
+      click_callback=pressed,
+      text_padding=0,
+    )
+    self.set_enabled(enabled)
+
+  def get_width_hint(self) -> float:
+    value_text = self.value
+    if value_text:
+      text_width = measure_text_cached(self._font, value_text, ITEM_TEXT_FONT_SIZE).x
+      return text_width + BUTTON_WIDTH + TEXT_PADDING
+    else:
+      return BUTTON_WIDTH
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self._button.set_touch_valid_callback(touch_callback)
+
+  def set_text(self, text: str | Callable[[], str]):
+    self._text_source = text
+
+  def set_value(self, value: str | Callable[[], str]):
+    self._value_source = value
+
+  @property
+  def text(self):
+    return _resolve_value(self._text_source, tr("Error"))
+
+  @property
+  def value(self):
+    return _resolve_value(self._value_source, "")
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    self._button.set_text(self.text)
+    self._button.set_enabled(_resolve_value(self.enabled))
+    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
+    self._button.render(button_rect)
+
+    value_text = self.value
+    if value_text:
+      value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height)
+      gui_label(value_rect, value_text, font_size=ITEM_TEXT_FONT_SIZE, color=ITEM_TEXT_VALUE_COLOR,
+                font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
+                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+    # TODO: just use the generic Widget click callbacks everywhere, no returning from render
+    pressed = self._pressed
+    self._pressed = False
+    return pressed
+
+
+class TextAction(ItemAction):
+  def __init__(self, text: str | Callable[[], str], color: rl.Color = ITEM_TEXT_COLOR, enabled: bool | Callable[[], bool] = True):
+    self._text_source = text
+    self.color = color
+
+    self._font = gui_app.font(FontWeight.NORMAL)
+    initial_text = _resolve_value(text, "")
+    text_width = measure_text_cached(self._font, initial_text, ITEM_TEXT_FONT_SIZE).x
+    super().__init__(int(text_width + TEXT_PADDING), enabled)
+
+  @property
+  def text(self):
+    return _resolve_value(self._text_source, tr("Error"))
+
+  def get_width_hint(self) -> float:
+    text_width = measure_text_cached(self._font, self.text, ITEM_TEXT_FONT_SIZE).x
+    return text_width + TEXT_PADDING
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    gui_label(self._rect, self.text, font_size=ITEM_TEXT_FONT_SIZE, color=self.color,
+              font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+              alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+    return False
+
+  def set_text(self, text: str | Callable[[], str]):
+    self._text_source = text
+
+
+class DualButtonAction(ItemAction):
+  def __init__(self, left_text: str | Callable[[], str], right_text: str | Callable[[], str], left_callback: Callable | None = None,
+               right_callback: Callable | None = None, enabled: bool | Callable[[], bool] = True):
+    super().__init__(width=0, enabled=enabled)  # Width 0 means use full width
+    self.left_button = Button(left_text, click_callback=left_callback, button_style=ButtonStyle.NORMAL, text_padding=0)
+    self.right_button = Button(right_text, click_callback=right_callback, button_style=ButtonStyle.DANGER, text_padding=0)
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    self.left_button.set_touch_valid_callback(touch_callback)
+    self.right_button.set_touch_valid_callback(touch_callback)
+
+  def _render(self, rect: rl.Rectangle):
+    button_spacing = 30
+    button_height = 120
+    button_width = (rect.width - button_spacing) / 2
+    button_y = rect.y + (rect.height - button_height) / 2
+
+    left_rect = rl.Rectangle(rect.x, button_y, button_width, button_height)
+    right_rect = rl.Rectangle(rect.x + button_width + button_spacing, button_y, button_width, button_height)
+
+    # expand one to full width if other is not visible
+    if not self.left_button.is_visible:
+      right_rect.x = rect.x
+      right_rect.width = rect.width
+    elif not self.right_button.is_visible:
+      left_rect.width = rect.width
+
+    # Render buttons
+    self.left_button.render(left_rect)
+    self.right_button.render(right_rect)
+
+
+class MultipleButtonAction(ItemAction):
+  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable | None = None):
+    super().__init__(width=len(buttons) * button_width + (len(buttons) - 1) * RIGHT_ITEM_PADDING, enabled=True)
+    self.buttons = buttons
+    self.button_width = button_width
+    self.selected_button = selected_index
+    self.callback = callback
+    self._font = gui_app.font(FontWeight.MEDIUM)
+
+  def set_selected_button(self, index: int):
+    if 0 <= index < len(self.buttons):
+      self.selected_button = index
+
+  def get_selected_button(self) -> int:
+    return self.selected_button
+
+  def _render(self, rect: rl.Rectangle):
+    spacing = RIGHT_ITEM_PADDING
+    button_y = rect.y + (rect.height - BUTTON_HEIGHT) / 2
+
+    for i, _text in enumerate(self.buttons):
+      button_x = rect.x + i * (self.button_width + spacing)
+      button_rect = rl.Rectangle(button_x, button_y, self.button_width, BUTTON_HEIGHT)
+
+      # Check button state
+      mouse_pos = rl.get_mouse_position()
+      is_pressed = rl.check_collision_point_rec(mouse_pos, button_rect) and self.enabled and self.is_pressed
+      is_selected = i == self.selected_button
+
+      # Button colors
+      if is_selected:
+        bg_color = rl.Color(51, 171, 76, 255)  # Green
+      elif is_pressed:
+        bg_color = rl.Color(74, 74, 74, 255)  # Dark gray
+      else:
+        bg_color = rl.Color(57, 57, 57, 255)  # Gray
+
+      if not self.enabled:
+        bg_color = rl.Color(bg_color.r, bg_color.g, bg_color.b, 150)  # Dim
+
+      # Draw button
+      rl.draw_rectangle_rounded(button_rect, 1.0, 20, bg_color)
+
+      # Draw text
+      text = _resolve_value(_text, "")
+      text_size = measure_text_cached(self._font, text, 40)
+      text_x = button_x + (self.button_width - text_size.x) / 2
+      text_y = button_y + (BUTTON_HEIGHT - text_size.y) / 2
+      text_color = rl.Color(228, 228, 228, 255) if self.enabled else rl.Color(150, 150, 150, 255)
+      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, text_color)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    spacing = RIGHT_ITEM_PADDING
+    button_y = self._rect.y + (self._rect.height - BUTTON_HEIGHT) / 2
+    for i, _ in enumerate(self.buttons):
+      button_x = self._rect.x + i * (self.button_width + spacing)
+      button_rect = rl.Rectangle(button_x, button_y, self.button_width, BUTTON_HEIGHT)
+      if rl.check_collision_point_rec(mouse_pos, button_rect):
+        self.selected_button = i
+        if self.callback:
+          self.callback(i)
+
+
+class ListItem(Widget):
+  def __init__(self, title: str | Callable[[], str] = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
+               description_visible: bool = False, callback: Callable | None = None,
+               action_item: ItemAction | None = None):
+    super().__init__()
+    self._title = title
+    self.set_icon(icon)
+    self._description = description
+    self.description_visible = description_visible
+    self.callback = callback
+    self.description_opened_callback: Callable | None = None
+    self.action_item = action_item
+
+    self.set_rect(rl.Rectangle(0, 0, ITEM_BASE_WIDTH, ITEM_BASE_HEIGHT))
+    self._font = gui_app.font(FontWeight.NORMAL)
+
+    self._html_renderer = HtmlRenderer(text="", text_size={ElementType.P: ITEM_DESC_FONT_SIZE},
+                                       text_color=ITEM_DESC_TEXT_COLOR)
+    self._parse_description(self.description)
+
+    # Cached properties for performance
+    self._prev_description: str | None = self.description
+
+  def show_event(self):
+    self._set_description_visible(False)
+
+  def set_description_opened_callback(self, callback: Callable) -> None:
+    self.description_opened_callback = callback
+
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(touch_callback)
+    if self.action_item:
+      self.action_item.set_touch_valid_callback(touch_callback)
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle):
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if not self.is_visible:
+      return
+
+    # Check not in action rect
+    if self.action_item:
+      action_rect = self.get_right_item_rect(self._rect)
+      if rl.check_collision_point_rec(mouse_pos, action_rect):
+        # Click was on right item, don't toggle description
+        return
+
+    self._set_description_visible(not self.description_visible)
+
+  def _set_description_visible(self, visible: bool):
+    if self.description and self.description_visible != visible:
+      self.description_visible = visible
+      # do callback first in case receiver changes description
+      if self.description_visible and self.description_opened_callback is not None:
+        self.description_opened_callback()
+        # Call _update_state to catch any description changes
+        self._update_state()
+
+      content_width = int(self._rect.width - ITEM_PADDING * 2)
+      self._rect.height = self.get_item_height(self._font, content_width)
+
+  def _update_state(self):
+    # Detect changes if description is callback
+    new_description = self.description
+    if new_description != self._prev_description:
+      self._parse_description(new_description)
+
+  def _render(self, _):
+    if not self.is_visible:
+      return
+
+    # Don't draw items that are not in parent's viewport
+    if ((self._rect.y + self.rect.height) <= self._parent_rect.y or
+      self._rect.y >= (self._parent_rect.y + self._parent_rect.height)):
+      return
+
+    content_x = self._rect.x + ITEM_PADDING
+    text_x = content_x
+
+    # Only draw title and icon for items that have them
+    if self.title:
+      # Draw icon if present
+      if self.icon:
+        rl.draw_texture(self._icon_texture, int(content_x), int(self._rect.y + (ITEM_BASE_HEIGHT - self._icon_texture.height) // 2), rl.WHITE)
+        text_x += ICON_SIZE + ITEM_PADDING
+
+      # Draw main text
+      text_size = measure_text_cached(self._font, self.title, ITEM_TEXT_FONT_SIZE)
+      item_y = self._rect.y + (ITEM_BASE_HEIGHT - text_size.y) // 2
+      rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), ITEM_TEXT_FONT_SIZE, 0, ITEM_TEXT_COLOR)
+
+    # Draw description if visible
+    if self.description_visible:
+      content_width = int(self._rect.width - ITEM_PADDING * 2)
+      description_height = self._html_renderer.get_total_height(content_width)
+      description_rect = rl.Rectangle(
+        self._rect.x + ITEM_PADDING,
+        self._rect.y + ITEM_DESC_V_OFFSET,
+        content_width,
+        description_height
+      )
+      self._html_renderer.render(description_rect)
+
+    # Draw right item if present
+    if self.action_item:
+      right_rect = self.get_right_item_rect(self._rect)
+      right_rect.y = self._rect.y
+      if self.action_item.render(right_rect) and self.action_item.enabled:
+        # Right item was clicked/activated
+        if self.callback:
+          self.callback()
+
+  def set_icon(self, icon: str | None):
+    self.icon = icon
+    self._icon_texture = gui_app.texture(os.path.join("icons", self.icon), ICON_SIZE, ICON_SIZE) if self.icon else None
+
+  def set_description(self, description: str | Callable[[], str] | None):
+    self._description = description
+
+  def _parse_description(self, new_desc):
+    self._html_renderer.parse_html_content(new_desc)
+    self._prev_description = new_desc
+
+  @property
+  def title(self):
+    return _resolve_value(self._title, "")
+
+  @property
+  def description(self):
+    return _resolve_value(self._description, "")
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    if not self.is_visible:
+      return 0
+
+    height = float(ITEM_BASE_HEIGHT)
+    if self.description_visible:
+      description_height = self._html_renderer.get_total_height(max_width)
+      height += description_height - (ITEM_BASE_HEIGHT - ITEM_DESC_V_OFFSET) + ITEM_PADDING
+    return height
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.action_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    right_width = self.action_item.get_width_hint()
+    if right_width == 0:  # Full width action (like DualButtonAction)
+      return rl.Rectangle(item_rect.x + ITEM_PADDING, item_rect.y,
+                          item_rect.width - (ITEM_PADDING * 2), ITEM_BASE_HEIGHT)
+
+    # Clip width to available space, never overlapping this Item's title
+    content_width = item_rect.width - (ITEM_PADDING * 2)
+    title_width = measure_text_cached(self._font, self.title, ITEM_TEXT_FONT_SIZE).x
+    right_width = min(content_width - title_width, right_width)
+
+    right_x = item_rect.x + item_rect.width - right_width
+    right_y = item_rect.y
+    return rl.Rectangle(right_x, right_y, right_width, ITEM_BASE_HEIGHT)
+
+
+# Factory functions
+def simple_item(title: str | Callable[[], str], callback: Callable | None = None) -> ListItem:
+  return ListItem(title=title, callback=callback)
+
+
+def toggle_item(title: str | Callable[[], str], description: str | Callable[[], str] | None = None, initial_state: bool = False,
+                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True) -> ListItem:
+  action = ToggleAction(initial_state=initial_state, enabled=enabled, callback=callback)
+  return ListItem(title=title, description=description, action_item=action, icon=icon)
+
+
+def button_item(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
+                callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
+  action = ButtonAction(text=button_text, enabled=enabled)
+  return ListItem(title=title, description=description, action_item=action, callback=callback)
+
+
+def text_item(title: str | Callable[[], str], value: str | Callable[[], str], description: str | Callable[[], str] | None = None,
+              callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
+  action = TextAction(text=value, color=ITEM_TEXT_VALUE_COLOR, enabled=enabled)
+  return ListItem(title=title, description=description, action_item=action, callback=callback)
+
+
+def dual_button_item(left_text: str | Callable[[], str], right_text: str | Callable[[], str],
+                     left_callback: Callable | None = None, right_callback: Callable | None = None,
+                     description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
+  action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled)
+  return ListItem(title="", description=description, action_item=action)
+
+
+def multiple_button_item(title: str | Callable[[], str], description: str | Callable[[], str], buttons: list[str | Callable[[], str]], selected_index: int,
+                         button_width: int = BUTTON_WIDTH, callback: Callable | None = None, icon: str = ""):
+  action = MultipleButtonAction(buttons, button_width, selected_index, callback=callback)
+  return ListItem(title=title, description=description, icon=icon, action_item=action)
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
new file mode 100644
index 0000000000..74f1f56346
--- /dev/null
+++ b/system/ui/widgets/mici_keyboard.py
@@ -0,0 +1,405 @@
+from enum import IntEnum
+import pyray as rl
+import numpy as np
+from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+
+CHAR_FONT_SIZE = 42
+CHAR_NEAR_FONT_SIZE = CHAR_FONT_SIZE * 2
+SELECTED_CHAR_FONT_SIZE = 128
+CHAR_CAPS_FONT_SIZE = 38  # TODO: implement this
+NUMBER_LAYER_SWITCH_FONT_SIZE = 24
+KEYBOARD_COLUMN_PADDING = 33
+KEYBOARD_ROW_PADDING = {0: 44, 1: 33, 2: 44}  # TODO: 2 should be 116 with extra control keys added in
+
+KEY_TOUCH_AREA_OFFSET = 10  # px
+KEY_DRAG_HYSTERESIS = 5  # px
+KEY_MIN_ANIMATION_TIME = 0.075  # s
+
+DEBUG = False
+ANIMATION_SCALE = 0.65
+
+
+def zip_repeat(a, b):
+  la, lb = len(a), len(b)
+  for i in range(max(la, lb)):
+    yield (a[i] if i < la else a[-1],
+           b[i] if i < lb else b[-1])
+
+
+def fast_euclidean_distance(dx, dy):
+  # https://en.wikibooks.org/wiki/Algorithms/Distance_approximations
+  max_d, min_d = abs(dx), abs(dy)
+  if max_d < min_d:
+    max_d, min_d = min_d, max_d
+  return 0.941246 * max_d + 0.41 * min_d
+
+
+class Key(Widget):
+  def __init__(self, char: str, font_weight: FontWeight = FontWeight.SEMI_BOLD):
+    super().__init__()
+    self.char = char
+    self._font = gui_app.font(font_weight)
+    self._x_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._y_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._size_filter = BounceFilter(CHAR_FONT_SIZE, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._alpha_filter = BounceFilter(1.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+
+    self._color = rl.Color(255, 255, 255, 255)
+
+    self._position_initialized = False
+    self.original_position = rl.Vector2(0, 0)
+
+  def set_position(self, x: float, y: float, smooth: bool = True):
+    # Smooth keys within parent rect
+    base_y = self._parent_rect.y if self._parent_rect else 0.0
+    local_y = y - base_y
+
+    if not self._position_initialized:
+      self._x_filter.x = x
+      self._y_filter.x = local_y
+      # keep track of original position so dragging around feels consistent. also move touch area down a bit
+      self.original_position = rl.Vector2(x, local_y + KEY_TOUCH_AREA_OFFSET)
+      self._position_initialized = True
+
+    if not smooth:
+      self._x_filter.x = x
+      self._y_filter.x = local_y
+
+    self._rect.x = self._x_filter.update(x)
+    self._rect.y = base_y + self._y_filter.update(local_y)
+
+  def set_alpha(self, alpha: float):
+    self._alpha_filter.update(alpha)
+
+  def get_position(self) -> tuple[float, float]:
+    return self._rect.x, self._rect.y
+
+  def _update_state(self):
+    self._color.a = min(int(255 * self._alpha_filter.x), 255)
+
+  def _render(self, _):
+    # center char at rect position
+    text_size = measure_text_cached(self._font, self.char, self._get_font_size())
+    x = self._rect.x + self._rect.width / 2 - text_size.x / 2
+    y = self._rect.y + self._rect.height / 2 - text_size.y / 2
+    rl.draw_text_ex(self._font, self.char, (x, y), self._get_font_size(), 0, self._color)
+
+    if DEBUG:
+      rl.draw_circle(int(self._rect.x), int(self._rect.y), 5, rl.RED)  # Debug: draw circle around key
+      rl.draw_rectangle_lines_ex(self._rect, 2, rl.RED)
+
+  def set_font_size(self, size: float):
+    self._size_filter.update(size)
+
+  def _get_font_size(self) -> int:
+    return int(round(self._size_filter.x))
+
+
+class SmallKey(Key):
+  def __init__(self, chars: str):
+    super().__init__(chars, FontWeight.BOLD)
+    self._size_filter.x = NUMBER_LAYER_SWITCH_FONT_SIZE
+
+  def set_font_size(self, size: float):
+    self._size_filter.update(size * (NUMBER_LAYER_SWITCH_FONT_SIZE / CHAR_FONT_SIZE))
+
+
+class IconKey(Key):
+  def __init__(self, icon: str, vertical_align: str = "center", char: str = "", icon_size: tuple[int, int] = (38, 38)):
+    super().__init__(char)
+    self._icon_size = icon_size
+    self._icon = gui_app.texture(icon, *icon_size)
+    self._vertical_align = vertical_align
+
+  def set_icon(self, icon: str, icon_size: tuple[int, int] | None = None):
+    size = icon_size if icon_size is not None else self._icon_size
+    self._icon = gui_app.texture(icon, *size)
+
+  def _render(self, _):
+    scale = np.interp(self._size_filter.x, [CHAR_FONT_SIZE, CHAR_NEAR_FONT_SIZE], [1, 1.5])
+
+    if self._vertical_align == "center":
+      dest_rec = rl.Rectangle(self._rect.x + (self._rect.width - self._icon.width * scale) / 2,
+                              self._rect.y + (self._rect.height - self._icon.height * scale) / 2,
+                              self._icon.width * scale, self._icon.height * scale)
+      src_rec = rl.Rectangle(0, 0, self._icon.width, self._icon.height)
+      rl.draw_texture_pro(self._icon, src_rec, dest_rec, rl.Vector2(0, 0), 0, self._color)
+
+    elif self._vertical_align == "bottom":
+      dest_rec = rl.Rectangle(self._rect.x + (self._rect.width - self._icon.width * scale) / 2, self._rect.y,
+                              self._icon.width * scale, self._icon.height * scale)
+      src_rec = rl.Rectangle(0, 0, self._icon.width, self._icon.height)
+      rl.draw_texture_pro(self._icon, src_rec, dest_rec, rl.Vector2(0, 0), 0, self._color)
+
+    if DEBUG:
+      rl.draw_circle(int(self._rect.x), int(self._rect.y), 5, rl.RED)  # Debug: draw circle around key
+      rl.draw_rectangle_lines_ex(self._rect, 2, rl.RED)
+
+
+class CapsState(IntEnum):
+  LOWER = 0
+  UPPER = 1
+  LOCK = 2
+
+
+class MiciKeyboard(Widget):
+  def __init__(self, auto_return_to_letters: str = ""):
+    super().__init__()
+    self._auto_return_to_letters = auto_return_to_letters
+
+    lower_chars = [
+      "qwertyuiop",
+      "asdfghjkl",
+      "zxcvbnm",
+    ]
+    upper_chars = ["".join([char.upper() for char in row]) for row in lower_chars]
+    special_chars = [
+      "1234567890",
+      "-/:;()$&@\"",
+      "~.,?!'#%",
+    ]
+    super_special_chars = [
+      "1234567890",
+      "`[]{}^*+=_",
+      "\\|<>¥€£•",
+    ]
+
+    self._lower_keys = [[Key(char) for char in row] for row in lower_chars]
+    self._upper_keys = [[Key(char) for char in row] for row in upper_chars]
+    self._special_keys = [[Key(char) for char in row] for row in special_chars]
+    self._super_special_keys = [[Key(char) for char in row] for row in super_special_chars]
+
+    # control keys
+    self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom", icon_size=(43, 14))
+    self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33))
+    # these two are in different places on some layouts
+    self._123_key, self._123_key2 = SmallKey("123"), SmallKey("123")
+    self._abc_key = SmallKey("abc")
+    self._super_special_key = SmallKey("#+=")
+
+    # insert control keys
+    for keys in (self._lower_keys, self._upper_keys):
+      keys[2].insert(0, self._caps_key)
+      keys[2].append(self._123_key)
+
+    for keys in (self._lower_keys, self._upper_keys, self._special_keys, self._super_special_keys):
+      keys[1].append(self._space_key)
+
+    for keys in (self._special_keys, self._super_special_keys):
+      keys[2].append(self._abc_key)
+
+    self._special_keys[2].insert(0, self._super_special_key)
+    self._super_special_keys[2].insert(0, self._123_key2)
+
+    # set initial keys
+    self._current_keys: list[list[Key]] = []
+    self._set_keys(self._lower_keys)
+    self._caps_state = CapsState.LOWER
+    self._initialized = False
+
+    self._load_images()
+
+    self._closest_key: tuple[Key | None, float] = None, float('inf')
+    self._selected_key_t: float | None = None  # time key was initially selected
+    self._unselect_key_t: float | None = None  # time to unselect key after release
+    self._dragging_on_keyboard = False
+
+    self._text: str = ""
+
+    self._bg_scale_filter = BounceFilter(1.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._selected_key_filter = FirstOrderFilter(0.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+
+  def get_candidate_character(self) -> str:
+    # return str of character about to be added to text
+    key = self._closest_key[0]
+    return key.char if key is not None and key.__class__ is Key and self._dragging_on_keyboard else ""
+
+  def get_keyboard_height(self) -> int:
+    return int(self._txt_bg.height)
+
+  def _load_images(self):
+    self._txt_bg = gui_app.texture("icons_mici/settings/keyboard/keyboard_background.png", 520, 170, keep_aspect_ratio=False)
+
+  def _set_keys(self, keys: list[list[Key]]):
+    # inherit previous keys' positions to fix switching animation
+    for current_row, row in zip(self._current_keys, keys, strict=False):
+      # not all layouts have the same number of keys
+      for current_key, key in zip_repeat(current_row, row):
+        # reset parent rect for new keys
+        key.set_parent_rect(self._rect)
+        current_pos = current_key.get_position()
+        key.set_position(current_pos[0], current_pos[1], smooth=False)
+
+    self._current_keys = keys
+
+  def set_text(self, text: str):
+    self._text = text
+
+  def text(self) -> str:
+    return self._text
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    keyboard_pos_y = self._rect.y + self._rect.height - self._txt_bg.height
+    if mouse_event.left_pressed:
+      if mouse_event.pos.y > keyboard_pos_y:
+        self._dragging_on_keyboard = True
+    elif mouse_event.left_released:
+      self._dragging_on_keyboard = False
+
+    if mouse_event.left_down and self._dragging_on_keyboard:
+      self._closest_key = self._get_closest_key()
+      if self._selected_key_t is None:
+        self._selected_key_t = rl.get_time()
+
+      # unselect key temporarily if mouse goes above keyboard
+      if mouse_event.pos.y <= keyboard_pos_y:
+        self._closest_key = (None, float('inf'))
+
+    if DEBUG:
+      print('HANDLE MOUSE EVENT', mouse_event, self._closest_key[0].char if self._closest_key[0] else 'None')
+
+  def _get_closest_key(self) -> tuple[Key | None, float]:
+    closest_key: tuple[Key | None, float] = (None, float('inf'))
+    for row in self._current_keys:
+      for key in row:
+        mouse_pos = gui_app.last_mouse_event.pos
+        # approximate distance for comparison is accurate enough
+        # use local y coords so parent widget offset (e.g. during NavWidget animate-in) doesn't affect hit testing
+        dist = abs(key.original_position.x - mouse_pos.x) + abs(key.original_position.y - (mouse_pos.y - self._rect.y))
+        if dist < closest_key[1]:
+          if self._closest_key[0] is None or key is self._closest_key[0] or dist < self._closest_key[1] - KEY_DRAG_HYSTERESIS:
+            closest_key = (key, dist)
+    return closest_key
+
+  def _set_uppercase(self, cycle: bool):
+    self._set_keys(self._upper_keys if cycle else self._lower_keys)
+    if not cycle:
+      self._caps_state = CapsState.LOWER
+      self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33))
+    else:
+      if self._caps_state == CapsState.LOWER:
+        self._caps_state = CapsState.UPPER
+        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png", icon_size=(38, 33))
+      elif self._caps_state == CapsState.UPPER:
+        self._caps_state = CapsState.LOCK
+        self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png", icon_size=(39, 38))
+      else:
+        self._set_uppercase(False)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if self._closest_key[0] is not None:
+      if self._closest_key[0] == self._caps_key:
+        self._set_uppercase(True)
+      elif self._closest_key[0] in (self._123_key, self._123_key2):
+        self._set_keys(self._special_keys)
+      elif self._closest_key[0] == self._abc_key:
+        self._set_uppercase(False)
+      elif self._closest_key[0] == self._super_special_key:
+        self._set_keys(self._super_special_keys)
+      else:
+        self._text += self._closest_key[0].char
+
+        # Reset caps state
+        if self._caps_state == CapsState.UPPER:
+          self._set_uppercase(False)
+
+        # Switch back to letters after common URL delimiters
+        if self._closest_key[0].char in self._auto_return_to_letters and self._current_keys in (self._special_keys, self._super_special_keys):
+          self._set_uppercase(False)
+
+    # ensure minimum selected animation time
+    key_selected_dt = rl.get_time() - (self._selected_key_t or 0)
+    cur_t = rl.get_time()
+    self._unselect_key_t = cur_t + KEY_MIN_ANIMATION_TIME if (key_selected_dt < KEY_MIN_ANIMATION_TIME) else cur_t
+
+  def backspace(self):
+    if self._text:
+      self._text = self._text[:-1]
+
+  def space(self):
+    self._text += ' '
+
+  def _update_state(self):
+    # update selected key filter
+    self._selected_key_filter.update(self._closest_key[0] is not None)
+
+    # unselect key after animation plays
+    if (self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t) or not self.enabled:
+      self._closest_key = (None, float('inf'))
+      self._unselect_key_t = None
+      self._selected_key_t = None
+
+  def _lay_out_keys(self, bg_x, bg_y, keys: list[list[Key]]):
+    key_rect = rl.Rectangle(bg_x, bg_y, self._txt_bg.width, self._txt_bg.height)
+    for row_idx, row in enumerate(keys):
+      padding = KEYBOARD_ROW_PADDING[row_idx]
+      step_y = (key_rect.height - 2 * KEYBOARD_COLUMN_PADDING) / (len(keys) - 1)
+      for key_idx, key in enumerate(row):
+        key_x = key_rect.x + padding + key_idx * ((key_rect.width - 2 * padding) / (len(row) - 1))
+        key_y = key_rect.y + KEYBOARD_COLUMN_PADDING + row_idx * step_y
+
+        if self._closest_key[0] is None:
+          key.set_alpha(1.0)
+          key.set_font_size(CHAR_FONT_SIZE)
+        elif key == self._closest_key[0]:
+          # push key up with a max and inward so user can see key easier
+          key_y = max(key_y - 120, 40)
+          key_x += np.interp(key_x, [self._rect.x, self._rect.x + self._rect.width], [100, -100])
+          key.set_alpha(1.0)
+          key.set_font_size(SELECTED_CHAR_FONT_SIZE)
+
+          # draw black circle behind selected key
+          circle_alpha = int(self._selected_key_filter.x * 225)
+          rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
+                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
+        else:
+          # move other keys away from selected key a bit
+          dx = key.original_position.x - self._closest_key[0].original_position.x
+          dy = key.original_position.y - self._closest_key[0].original_position.y
+          distance_from_selected_key = fast_euclidean_distance(dx, dy)
+
+          inv = 1 / (distance_from_selected_key or 1.0)
+          ux = dx * inv
+          uy = dy * inv
+
+          # NOTE: hardcode to 20 to get entire keyboard to move
+          push_pixels = np.interp(distance_from_selected_key, [0, 250], [20, 0])
+          key_x += ux * push_pixels
+          key_y += uy * push_pixels
+
+          # TODO: slow enough to use an approximation or nah? also caching might work
+          font_size = np.interp(distance_from_selected_key, [0, 150], [CHAR_NEAR_FONT_SIZE, CHAR_FONT_SIZE])
+
+          key_alpha = np.interp(distance_from_selected_key, [0, 100], [1.0, 0.35])
+          key.set_alpha(key_alpha)
+          key.set_font_size(font_size)
+
+        # TODO: I like the push amount, so we should clip the pos inside the keyboard rect
+        key.set_parent_rect(self._rect)
+        key.set_position(key_x, key_y)
+
+  def _render(self, _):
+    # draw bg
+    bg_x = self._rect.x + (self._rect.width - self._txt_bg.width) / 2
+    bg_y = self._rect.y + self._rect.height - self._txt_bg.height
+
+    scale = self._bg_scale_filter.update(1.0307692307692307 if self._closest_key[0] is not None else 1.0)
+    src_rec = rl.Rectangle(0, 0, self._txt_bg.width, self._txt_bg.height)
+    dest_rec = rl.Rectangle(self._rect.x + self._rect.width / 2 - self._txt_bg.width * scale / 2, bg_y,
+                            self._txt_bg.width * scale, self._txt_bg.height)
+
+    rl.draw_texture_pro(self._txt_bg, src_rec, dest_rec, rl.Vector2(0, 0), 0.0, rl.WHITE)
+
+    # draw keys
+    if not self._initialized:
+      for keys in (self._lower_keys, self._upper_keys, self._special_keys, self._super_special_keys):
+        self._lay_out_keys(bg_x, bg_y, keys)
+      self._initialized = True
+
+    self._lay_out_keys(bg_x, bg_y, self._current_keys)
+    for row in self._current_keys:
+      for key in row:
+        key.render()
diff --git a/system/ui/widgets/nav_widget.py b/system/ui/widgets/nav_widget.py
new file mode 100644
index 0000000000..3292c53ce8
--- /dev/null
+++ b/system/ui/widgets/nav_widget.py
@@ -0,0 +1,219 @@
+from __future__ import annotations
+
+import abc
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.widgets import Widget
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+
+SWIPE_AWAY_THRESHOLD = 80  # px to dismiss after releasing
+START_DISMISSING_THRESHOLD = 40  # px to start dismissing while dragging
+BLOCK_SWIPE_AWAY_THRESHOLD = 60  # px horizontal movement to block swipe away
+
+NAV_BAR_MARGIN = 6
+NAV_BAR_WIDTH = 205
+NAV_BAR_HEIGHT = 8
+
+DISMISS_PUSH_OFFSET = NAV_BAR_MARGIN + NAV_BAR_HEIGHT + 50  # px extra to push down when dismissing
+DISMISS_ANIMATION_RC = 0.2  # slightly slower for non-user triggered dismiss animation
+
+
+class NavBar(Widget):
+  FADE_AFTER_SECONDS = 2.0
+
+  def __init__(self):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, NAV_BAR_WIDTH, NAV_BAR_HEIGHT))
+    self._alpha = 1.0
+    self._alpha_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._fade_time = 0.0
+
+  def set_alpha(self, alpha: float) -> None:
+    self._alpha = alpha
+    self._fade_time = rl.get_time()
+
+  def show_event(self):
+    super().show_event()
+    self._alpha = 1.0
+    self._alpha_filter.x = 1.0
+    self._fade_time = rl.get_time()
+
+  def _render(self, _):
+    if rl.get_time() - self._fade_time > self.FADE_AFTER_SECONDS:
+      self._alpha = 0.0
+    alpha = self._alpha_filter.update(self._alpha)
+
+    # white bar with black border
+    rl.draw_rectangle_rounded(self._rect, 1.0, 6, rl.Color(255, 255, 255, int(255 * 0.9 * alpha)))
+    rl.draw_rectangle_rounded_lines_ex(self._rect, 1.0, 6, 2, rl.Color(0, 0, 0, int(255 * 0.3 * alpha)))
+
+
+class NavWidget(Widget, abc.ABC):
+  """
+  A full screen widget that supports back navigation by swiping down from the top.
+  """
+  BACK_TOUCH_AREA_PERCENTAGE = 0.65
+
+  def __init__(self):
+    super().__init__()
+    # State
+    self._drag_start_pos: MousePos | None = None  # cleared after certain amount of horizontal movement
+    self._dragging_down = False  # swiped down enough to trigger dismissing on release
+    self._playing_dismiss_animation = False  # released and animating away
+    self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
+
+    self._back_callback: Callable[[], None] | None = None  # persistent callback for user-initiated back navigation
+    self._dismiss_callback: Callable[[], None] | None = None  # transient callback for programmatic dismiss
+
+    # TODO: move this state into NavBar
+    self._nav_bar = NavBar()
+    self._nav_bar_show_time = 0.0
+    self._nav_bar_y_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+
+  def _back_enabled(self) -> bool:
+    # Children can override this to block swipe away, like when not at
+    # the top of a vertical scroll panel to prevent erroneous swipes
+    return True
+
+  def set_back_callback(self, callback: Callable[[], None]) -> None:
+    self._back_callback = callback
+
+  def _handle_mouse_event(self, mouse_event: MouseEvent) -> None:
+    super()._handle_mouse_event(mouse_event)
+
+    # Don't let touch events change filter state during dismiss animation
+    if self._playing_dismiss_animation:
+      return
+
+    if mouse_event.left_pressed:
+      # user is able to swipe away if starting near top of screen
+      self._y_pos_filter.update_alpha(0.04)
+      in_dismiss_area = mouse_event.pos.y < self._rect.height * self.BACK_TOUCH_AREA_PERCENTAGE
+
+      if in_dismiss_area and self._back_enabled():
+        self._drag_start_pos = mouse_event.pos
+
+    elif mouse_event.left_down:
+      if self._drag_start_pos is not None:
+        # block swiping away if too much horizontal or upward movement
+        # block (lock-in) threshold is higher than start dismissing
+        horizontal_movement = abs(mouse_event.pos.x - self._drag_start_pos.x) > BLOCK_SWIPE_AWAY_THRESHOLD
+        upward_movement = mouse_event.pos.y - self._drag_start_pos.y < -BLOCK_SWIPE_AWAY_THRESHOLD
+
+        if not (horizontal_movement or upward_movement):
+          # no blocking movement, check if we should start dismissing
+          if mouse_event.pos.y - self._drag_start_pos.y > START_DISMISSING_THRESHOLD:
+            self._dragging_down = True
+        else:
+          if not self._dragging_down:
+            self._drag_start_pos = None
+
+    elif mouse_event.left_released:
+      # reset rc for either slide up or down animation
+      self._y_pos_filter.update_alpha(0.1)
+
+      # if far enough, trigger back navigation callback
+      if self._drag_start_pos is not None:
+        if mouse_event.pos.y - self._drag_start_pos.y > SWIPE_AWAY_THRESHOLD:
+          self._playing_dismiss_animation = True
+
+      self._drag_start_pos = None
+      self._dragging_down = False
+
+  def _update_state(self):
+    super()._update_state()
+
+    new_y = 0.0
+
+    if self._dragging_down:
+      self._nav_bar.set_alpha(1.0)
+
+    # FIXME: disabling this widget on new push_widget still causes this widget to track mouse events without mouse down
+    if not self.enabled:
+      self._drag_start_pos = None
+
+    if self._drag_start_pos is not None:
+      last_mouse_event = gui_app.last_mouse_event
+      # push entire widget as user drags it away
+      new_y = max(last_mouse_event.pos.y - self._drag_start_pos.y, 0)
+      if new_y < SWIPE_AWAY_THRESHOLD:
+        new_y /= 2  # resistance until mouse release would dismiss widget
+
+    if self._playing_dismiss_animation:
+      new_y = self._rect.height + DISMISS_PUSH_OFFSET
+
+    new_y = round(self._y_pos_filter.update(new_y))
+    if abs(new_y) < 1 and self._y_pos_filter.velocity.x == 0.0:
+      new_y = self._y_pos_filter.x = 0.0
+
+    if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
+      gui_app.pop_widget()
+
+      # Only one callback should ever be fired
+      if self._dismiss_callback is not None:
+        self._dismiss_callback()
+        self._dismiss_callback = None
+      elif self._back_callback is not None:
+        self._back_callback()
+
+      self._playing_dismiss_animation = False
+      self._drag_start_pos = None
+      self._dragging_down = False
+
+    self.set_position(self._rect.x, new_y)
+
+  def _layout(self):
+    # Dim whatever is behind this widget, fading with position (runs after _update_state so position is correct)
+    overlay_alpha = int(200 * max(0.0, min(1.0, 1.0 - self._rect.y / self._rect.height))) if self._rect.height > 0 else 0
+    rl.draw_rectangle(0, 0, int(self._rect.width), int(self._rect.height), rl.Color(0, 0, 0, overlay_alpha))
+
+    bounce_height = 20
+    rl.draw_rectangle(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height + bounce_height), rl.BLACK)
+
+  def render(self, rect: rl.Rectangle | None = None) -> bool | int | None:
+    ret = super().render(rect)
+
+    bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2
+    nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4
+    # User dragging or dismissing, nav bar follows NavWidget
+    if self._drag_start_pos is not None or self._playing_dismiss_animation:
+      self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._y_pos_filter.x
+    # Waiting to show
+    elif nav_bar_delayed:
+      self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    # Animate back to top
+    else:
+      self._nav_bar_y_filter.update(NAV_BAR_MARGIN)
+
+    self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
+    self._nav_bar.render()
+
+    return ret
+
+  @property
+  def is_dismissing(self) -> bool:
+    return self._dragging_down or self._playing_dismiss_animation
+
+  def dismiss(self, callback: Callable[[], None] | None = None):
+    """Programmatically trigger the dismiss animation. Calls pop_widget when done, then callback."""
+    if not self._playing_dismiss_animation:
+      self._playing_dismiss_animation = True
+      self._y_pos_filter.update_alpha(DISMISS_ANIMATION_RC)
+      self._dismiss_callback = callback
+
+  def show_event(self):
+    super().show_event()
+    self._nav_bar.show_event()
+
+    # Reset state
+    self._drag_start_pos = None
+    self._dragging_down = False
+    self._playing_dismiss_animation = False
+    self._dismiss_callback = None
+    # Start NavWidget off-screen, no matter how tall it is
+    self._y_pos_filter.update_alpha(0.1)
+    self._y_pos_filter.x = gui_app.height
+
+    self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT
+    self._nav_bar_show_time = rl.get_time()
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
index 59427b57b8..6427a2f203 100644
--- a/system/ui/widgets/network.py
+++ b/system/ui/widgets/network.py
@@ -1,170 +1,498 @@
-from dataclasses import dataclass
-from typing import Literal
+from enum import IntEnum
+from functools import partial
+from typing import cast
 
 import pyray as rl
-from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.button import gui_button
-from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType, normalize_ssid
+from openpilot.system.ui.widgets import DialogResult, Widget
+from openpilot.system.ui.widgets.button import ButtonStyle, Button
+from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
 from openpilot.system.ui.widgets.keyboard import Keyboard
-from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
+
+if gui_app.sunnypilot_ui():
+  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
+  from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP as ListItem
+  from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction
+  from openpilot.system.ui.sunnypilot.widgets.list_view import MultipleButtonActionSP as MultipleButtonAction
+
+# These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
+try:
+  from openpilot.common.params import Params
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+except Exception:
+  Params = None
+  ui_state = None
+  PrimeType = None
 
 NM_DEVICE_STATE_NEED_AUTH = 60
+MIN_PASSWORD_LENGTH = 8
+MAX_PASSWORD_LENGTH = 64
 ITEM_HEIGHT = 160
+ICON_SIZE = 50
+
+STRENGTH_ICONS = [
+  "icons/wifi_strength_low.png",
+  "icons/wifi_strength_medium.png",
+  "icons/wifi_strength_high.png",
+  "icons/wifi_strength_full.png",
+]
 
 
-@dataclass
-class StateIdle:
-  action: Literal["idle"] = "idle"
-
-@dataclass
-class StateConnecting:
-  network: NetworkInfo
-  action: Literal["connecting"] = "connecting"
-
-@dataclass
-class StateNeedsAuth:
-  network: NetworkInfo
-  action: Literal["needs_auth"] = "needs_auth"
-
-@dataclass
-class StateShowForgetConfirm:
-  network: NetworkInfo
-  action: Literal["show_forget_confirm"] = "show_forget_confirm"
-
-@dataclass
-class StateForgetting:
-  network: NetworkInfo
-  action: Literal["forgetting"] = "forgetting"
-
-UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+class PanelType(IntEnum):
+  WIFI = 0
+  ADVANCED = 1
 
 
-class WifiManagerUI:
-  def __init__(self, wifi_manager: WifiManagerWrapper):
-    self.state: UIState = StateIdle()
-    self.btn_width = 200
+class UIState(IntEnum):
+  IDLE = 0
+  CONNECTING = 1
+  NEEDS_AUTH = 2
+  SHOW_FORGET_CONFIRM = 3
+  FORGETTING = 4
+
+
+class NavButton(Widget):
+  def __init__(self, text: str):
+    super().__init__()
+    self.text = text
+    self.set_rect(rl.Rectangle(0, 0, 400, 100))
+
+  def _render(self, _):
+    color = rl.Color(74, 74, 74, 255) if self.is_pressed else rl.Color(57, 57, 57, 255)
+    rl.draw_rectangle_rounded(self._rect, 0.6, 10, color)
+    gui_label(self.rect, self.text, font_size=60, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+
+class NetworkUI(Widget):
+  def __init__(self, wifi_manager: WifiManager):
+    super().__init__()
+    self._wifi_manager = wifi_manager
+    self._current_panel: PanelType = PanelType.WIFI
+    self._wifi_panel = WifiManagerUI(wifi_manager)
+    self._advanced_panel = AdvancedNetworkSettings(wifi_manager)
+    self._nav_button = NavButton(tr("Advanced"))
+    self._nav_button.set_click_callback(self._cycle_panel)
+
+  def show_event(self):
+    self._set_current_panel(PanelType.WIFI)
+    self._wifi_panel.show_event()
+
+  def hide_event(self):
+    self._wifi_panel.hide_event()
+
+  def _cycle_panel(self):
+    if self._current_panel == PanelType.WIFI:
+      self._set_current_panel(PanelType.ADVANCED)
+    else:
+      self._set_current_panel(PanelType.WIFI)
+
+  def _render(self, _):
+    # subtract button
+    content_rect = rl.Rectangle(self._rect.x, self._rect.y + self._nav_button.rect.height + 40,
+                                self._rect.width, self._rect.height - self._nav_button.rect.height - 40)
+    if self._current_panel == PanelType.WIFI:
+      self._nav_button.text = tr("Advanced")
+      self._nav_button.set_position(self._rect.x + self._rect.width - self._nav_button.rect.width, self._rect.y + 20)
+      self._wifi_panel.render(content_rect)
+    else:
+      self._nav_button.text = tr("Back")
+      self._nav_button.set_position(self._rect.x, self._rect.y + 20)
+      self._advanced_panel.render(content_rect)
+
+    self._nav_button.render()
+
+  def _set_current_panel(self, panel: PanelType):
+    self._current_panel = panel
+
+
+class AdvancedNetworkSettings(Widget):
+  def __init__(self, wifi_manager: WifiManager):
+    super().__init__()
+    self._wifi_manager = wifi_manager
+    self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
+    self._params = Params()
+
+    self._keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
+
+    # Tethering
+    self._tethering_action = ToggleAction(initial_state=False)
+    tethering_btn = ListItem(lambda: tr("Enable Tethering"), action_item=self._tethering_action, callback=self._toggle_tethering)
+
+    # Edit tethering password
+    self._tethering_password_action = ButtonAction(lambda: tr("EDIT"))
+    tethering_password_btn = ListItem(lambda: tr("Tethering Password"), action_item=self._tethering_password_action, callback=self._edit_tethering_password)
+
+    # Roaming toggle
+    roaming_enabled = self._params.get_bool("GsmRoaming")
+    self._roaming_action = ToggleAction(initial_state=roaming_enabled)
+    self._roaming_btn = ListItem(lambda: tr("Enable Roaming"), action_item=self._roaming_action, callback=self._toggle_roaming)
+
+    # Cellular metered toggle
+    cellular_metered = self._params.get_bool("GsmMetered")
+    self._cellular_metered_action = ToggleAction(initial_state=cellular_metered)
+    self._cellular_metered_btn = ListItem(lambda: tr("Cellular Metered"),
+                                          description=lambda: tr("Prevent large data uploads when on a metered cellular connection"),
+                                          action_item=self._cellular_metered_action, callback=self._toggle_cellular_metered)
+
+    # APN setting
+    self._apn_btn = button_item(lambda: tr("APN Setting"), lambda: tr("EDIT"), callback=self._edit_apn)
+
+    # Wi-Fi metered toggle
+    self._wifi_metered_action = MultipleButtonAction([lambda: tr("default"), lambda: tr("metered"), lambda: tr("unmetered")], 255, 0,
+                                                     callback=self._toggle_wifi_metered)
+    wifi_metered_btn = ListItem(lambda: tr("Wi-Fi Network Metered"), description=lambda: tr("Prevent large data uploads when on a metered Wi-Fi connection"),
+                                action_item=self._wifi_metered_action)
+
+    items: list[Widget] = [
+      tethering_btn,
+      tethering_password_btn,
+      text_item(lambda: tr("IP Address"), lambda: self._wifi_manager.ipv4_address),
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      wifi_metered_btn,
+      button_item(lambda: tr("Hidden Network"), lambda: tr("CONNECT"), callback=self._connect_to_hidden_network),
+    ]
+
+    self._scroller = Scroller(items, line_separator=True, spacing=0)
+
+    # Set initial config
+    metered = self._params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, self._params.get("GsmApn") or "", metered)
+
+  def _on_network_updated(self, networks: list[Network]):
+    self._tethering_action.set_enabled(True)
+    self._tethering_action.set_state(self._wifi_manager.is_tethering_active())
+    self._tethering_password_action.set_enabled(True)
+
+    if self._wifi_manager.is_tethering_active() or self._wifi_manager.ipv4_address == "":
+      self._wifi_metered_action.set_enabled(False)
+      self._wifi_metered_action.selected_button = 0
+    elif self._wifi_manager.ipv4_address != "":
+      metered = self._wifi_manager.current_network_metered
+      self._wifi_metered_action.set_enabled(True)
+      self._wifi_metered_action.selected_button = int(metered) if metered in (MeteredType.UNKNOWN, MeteredType.YES, MeteredType.NO) else 0
+
+  def _toggle_tethering(self):
+    checked = self._tethering_action.get_state()
+    self._tethering_action.set_enabled(False)
+    if checked:
+      self._wifi_metered_action.set_enabled(False)
+    self._wifi_manager.set_tethering_active(checked)
+
+  def _toggle_roaming(self):
+    roaming_state = self._roaming_action.get_state()
+    self._params.put_bool("GsmRoaming", roaming_state)
+    self._wifi_manager.update_gsm_settings(roaming_state, self._params.get("GsmApn") or "", self._params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(result: DialogResult):
+      if result != DialogResult.CONFIRM:
+        return
+
+      apn = self._keyboard.text.strip()
+      if apn == "":
+        self._params.remove("GsmApn")
+      else:
+        self._params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), apn, self._params.get_bool("GsmMetered"))
+
+    current_apn = self._params.get("GsmApn") or ""
+    self._keyboard.reset(min_text_size=0)
+    self._keyboard.set_title(tr("Enter APN"), tr("leave blank for automatic configuration"))
+    self._keyboard.set_text(current_apn)
+    self._keyboard.set_callback(update_apn)
+    gui_app.push_widget(self._keyboard)
+
+  def _toggle_cellular_metered(self):
+    metered = self._cellular_metered_action.get_state()
+    self._params.put_bool("GsmMetered", metered)
+    self._wifi_manager.update_gsm_settings(self._params.get_bool("GsmRoaming"), self._params.get("GsmApn") or "", metered)
+
+  def _toggle_wifi_metered(self, metered):
+    metered_type = {0: MeteredType.UNKNOWN, 1: MeteredType.YES, 2: MeteredType.NO}.get(metered, MeteredType.UNKNOWN)
+    self._wifi_metered_action.set_enabled(False)
+    self._wifi_manager.set_current_network_metered(metered_type)
+
+  def _connect_to_hidden_network(self):
+    def connect_hidden(result: DialogResult):
+      if result != DialogResult.CONFIRM:
+        return
+
+      ssid = self._keyboard.text
+      if not ssid:
+        return
+
+      def enter_password(result: DialogResult):
+        if result != DialogResult.CONFIRM:
+          return
+
+        password = self._keyboard.text
+        if password == "":
+          # connect without password
+          self._wifi_manager.connect_to_network(ssid, "", hidden=True)
+          return
+
+        self._wifi_manager.connect_to_network(ssid, password, hidden=True)
+
+      self._keyboard.reset(min_text_size=0)
+      self._keyboard.set_title(tr("Enter password"), tr("for \"{}\"").format(ssid))
+      self._keyboard.set_callback(enter_password)
+      gui_app.push_widget(self._keyboard)
+
+    self._keyboard.reset(min_text_size=1)
+    self._keyboard.set_title(tr("Enter SSID"), "")
+    self._keyboard.set_callback(connect_hidden)
+    gui_app.push_widget(self._keyboard)
+
+  def _edit_tethering_password(self):
+    def update_password(result: DialogResult):
+      if result != DialogResult.CONFIRM:
+        return
+
+      password = self._keyboard.text
+      self._wifi_manager.set_tethering_password(password)
+      self._tethering_password_action.set_enabled(False)
+
+    self._keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH)
+    self._keyboard.set_title(tr("Enter new tethering password"), "")
+    self._keyboard.set_text(self._wifi_manager.tethering_password)
+    self._keyboard.set_callback(update_password)
+    gui_app.push_widget(self._keyboard)
+
+  def _update_state(self):
+    self._wifi_manager.process_callbacks()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def _render(self, _):
+    self._scroller.render(self._rect)
+
+
+class WifiManagerUI(Widget):
+  def __init__(self, wifi_manager: WifiManager):
+    super().__init__()
+    self._wifi_manager = wifi_manager
+    self.state: UIState = UIState.IDLE
+    self._state_network: Network | None = None  # for CONNECTING / NEEDS_AUTH / SHOW_FORGET_CONFIRM / FORGETTING
+    self._password_retry: bool = False  # for NEEDS_AUTH
+    self.btn_width: int = 200
     self.scroll_panel = GuiScrollPanel()
-    self.keyboard = Keyboard()
+    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
+    self._load_icons()
 
-    self.wifi_manager = wifi_manager
-    self.wifi_manager.set_callbacks(WifiManagerCallbacks(self._on_need_auth, self._on_activated, self._on_forgotten))
-    self.wifi_manager.start()
-    self.wifi_manager.connect()
+    self._networks: list[Network] = []
+    self._networks_buttons: dict[str, Button] = {}
+    self._forget_networks_buttons: dict[str, Button] = {}
 
-  def render(self, rect: rl.Rectangle):
-    if not self.wifi_manager.networks:
-      gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._wifi_manager.add_callbacks(need_auth=self._on_need_auth,
+                                     activated=self._on_activated,
+                                     forgotten=self._on_forgotten,
+                                     networks_updated=self._on_network_updated,
+                                     disconnected=self._on_disconnected)
+
+  def show_event(self):
+    # start/stop scanning when widget is visible
+    self._wifi_manager.set_active(True)
+
+  def hide_event(self):
+    self._wifi_manager.set_active(False)
+
+  def _load_icons(self):
+    for icon in STRENGTH_ICONS + ["icons/checkmark.png", "icons/circled_slash.png", "icons/lock_closed.png"]:
+      gui_app.texture(icon, ICON_SIZE, ICON_SIZE)
+
+  def _update_state(self):
+    self._wifi_manager.process_callbacks()
+
+  def _render(self, rect: rl.Rectangle):
+    if not self._networks:
+      gui_label(rect, tr("Scanning Wi-Fi networks..."), 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
       return
 
-    match self.state:
-      case StateNeedsAuth(network):
-        result = self.keyboard.render(rect, "Enter password", f"for {network.ssid}")
-        if result == 1:
-          self.connect_to_network(network, self.keyboard.text)
-        elif result == 0:
-          self.state = StateIdle()
+    if self.state == UIState.NEEDS_AUTH and self._state_network:
+      self.keyboard.set_title(tr("Wrong password") if self._password_retry else tr("Enter password"),
+                              tr("for \"{}\"").format(normalize_ssid(self._state_network.ssid)))
+      self.keyboard.reset(min_text_size=MIN_PASSWORD_LENGTH)
+      self.keyboard.set_callback(lambda result: self._on_password_entered(cast(Network, self._state_network), result))
+      gui_app.push_widget(self.keyboard)
+    elif self.state == UIState.SHOW_FORGET_CONFIRM and self._state_network:
+      confirm_dialog = ConfirmDialog("", tr("Forget"), tr("Cancel"), callback=lambda result: self.on_forgot_confirm_finished(self._state_network, result))
+      confirm_dialog.set_text(tr("Forget Wi-Fi Network \"{}\"?").format(normalize_ssid(self._state_network.ssid)))
+      gui_app.push_widget(confirm_dialog)
+    else:
+      self._draw_network_list(rect)
 
-      case StateShowForgetConfirm(network):
-        result = confirm_dialog(rect, f'Forget Wi-Fi Network "{network.ssid}"?', "Forget")
-        if result == 1:
-          self.forget_network(network)
-        elif result == 0:
-          self.state = StateIdle()
+  def _on_password_entered(self, network: Network, result: DialogResult):
+    if result == DialogResult.CONFIRM:
+      password = self.keyboard.text
+      self.keyboard.clear()
 
-      case _:
-        self._draw_network_list(rect)
+      if len(password) >= MIN_PASSWORD_LENGTH:
+        self.connect_to_network(network, password)
+    elif result == DialogResult.CANCEL:
+      self.state = UIState.IDLE
+
+  def on_forgot_confirm_finished(self, network, result: DialogResult):
+    if result == DialogResult.CONFIRM:
+      self.forget_network(network)
+    elif result == DialogResult.CANCEL:
+      self.state = UIState.IDLE
 
   def _draw_network_list(self, rect: rl.Rectangle):
-    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self.wifi_manager.networks) * ITEM_HEIGHT)
-    offset = self.scroll_panel.handle_scroll(rect, content_rect)
-    clicked = self.scroll_panel.is_click_valid()
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
+    offset = self.scroll_panel.update(rect, content_rect)
 
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
-    for i, network in enumerate(self.wifi_manager.networks):
-      y_offset = rect.y + i * ITEM_HEIGHT + offset.y
+    for i, network in enumerate(self._networks):
+      y_offset = rect.y + i * ITEM_HEIGHT + offset
       item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT)
       if not rl.check_collision_recs(item_rect, rect):
         continue
 
-      self._draw_network_item(item_rect, network, clicked)
-      if i < len(self.wifi_manager.networks) - 1:
+      self._draw_network_item(item_rect, network)
+      if i < len(self._networks) - 1:
         line_y = int(item_rect.y + item_rect.height - 1)
         rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY)
 
     rl.end_scissor_mode()
 
-  def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool):
-    label_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
-    state_rect = rl.Rectangle(rect.x + rect.width - self.btn_width * 2 - 150, rect.y, 300, ITEM_HEIGHT)
-
-    gui_label(label_rect, network.ssid, 55)
+  def _draw_network_item(self, rect, network: Network):
+    spacing = 50
+    ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
+    signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
+    security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
 
     status_text = ""
-    if network.is_connected:
-      status_text = "Connected"
-    match self.state:
-      case StateConnecting(network=connecting):
-        if connecting.ssid == network.ssid:
-          status_text = "CONNECTING..."
-      case StateForgetting(network=forgetting):
-        if forgetting.ssid == network.ssid:
-          status_text = "FORGETTING..."
-    if status_text:
-      rl.gui_label(state_rect, status_text)
-
-    # If the network is saved, show the "Forget" button
-    if self.wifi_manager.is_saved(network.ssid):
-      forget_btn_rect = rl.Rectangle(
-        rect.x + rect.width - self.btn_width,
-        rect.y + (ITEM_HEIGHT - 80) / 2,
-        self.btn_width,
-        80,
-      )
-      if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget") and clicked:
-        self.state = StateShowForgetConfirm(network)
-
-    if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), label_rect) and clicked:
-      if not self.wifi_manager.is_saved(network.ssid):
-        self.state = StateNeedsAuth(network)
-      else:
-        self.connect_to_network(network)
-
-  def connect_to_network(self, network: NetworkInfo, password=''):
-    self.state = StateConnecting(network)
-    if self.wifi_manager.is_saved(network.ssid) and not password:
-      self.wifi_manager.activate_connection(network.ssid)
+    if self.state == UIState.CONNECTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = tr("CONNECTING...")
+    elif self.state == UIState.FORGETTING and self._state_network:
+      if self._state_network.ssid == network.ssid:
+        self._networks_buttons[network.ssid].set_enabled(False)
+        status_text = tr("FORGETTING...")
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      self._networks_buttons[network.ssid].set_enabled(False)
     else:
-      self.wifi_manager.connect_to_network(network.ssid, password)
+      self._networks_buttons[network.ssid].set_enabled(True)
 
-  def forget_network(self, network: NetworkInfo):
-    self.state = StateForgetting(network)
-    self.wifi_manager.forget_connection(network.ssid)
+    self._networks_buttons[network.ssid].render(ssid_rect)
 
-  def _on_need_auth(self):
-    match self.state:
-      case StateConnecting(network):
-        self.state = StateNeedsAuth(network)
+    if status_text:
+      status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT)
+      gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    else:
+      # If the network is saved, show the "Forget" button
+      if self._wifi_manager.is_connection_saved(network.ssid):
+        forget_btn_rect = rl.Rectangle(
+          security_icon_rect.x - self.btn_width - spacing,
+          rect.y + (ITEM_HEIGHT - 80) / 2,
+          self.btn_width,
+          80,
+        )
+        self._forget_networks_buttons[network.ssid].render(forget_btn_rect)
+
+    self._draw_status_icon(security_icon_rect, network)
+    self._draw_signal_strength_icon(signal_icon_rect, network)
+
+  def _networks_buttons_callback(self, network):
+    if not self._wifi_manager.is_connection_saved(network.ssid) and network.security_type != SecurityType.OPEN:
+      self.state = UIState.NEEDS_AUTH
+      self._state_network = network
+      self._password_retry = False
+    elif self._wifi_manager.wifi_state.ssid != network.ssid:
+      self.connect_to_network(network)
+
+  def _forget_networks_buttons_callback(self, network):
+    self.state = UIState.SHOW_FORGET_CONFIRM
+    self._state_network = network
+
+  def _draw_status_icon(self, rect, network: Network):
+    """Draw the status icon based on network's connection state"""
+    icon_file = None
+    if self._wifi_manager.connected_ssid == network.ssid and self.state != UIState.CONNECTING:
+      icon_file = "icons/checkmark.png"
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      icon_file = "icons/circled_slash.png"
+    elif network.security_type != SecurityType.OPEN:
+      icon_file = "icons/lock_closed.png"
+
+    if not icon_file:
+      return
+
+    texture = gui_app.texture(icon_file, ICON_SIZE, ICON_SIZE)
+    icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2)
+    rl.draw_texture_v(texture, icon_rect, rl.WHITE)
+
+  def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: Network):
+    """Draw the Wi-Fi signal strength icon based on network's signal strength"""
+    strength_level = max(0, min(3, round(network.strength / 33.0)))
+    rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)
+
+  def connect_to_network(self, network: Network, password=''):
+    self.state = UIState.CONNECTING
+    self._state_network = network
+    if self._wifi_manager.is_connection_saved(network.ssid) and not password:
+      self._wifi_manager.activate_connection(network.ssid)
+    else:
+      self._wifi_manager.connect_to_network(network.ssid, password)
+
+  def forget_network(self, network: Network):
+    self.state = UIState.FORGETTING
+    self._state_network = network
+    self._wifi_manager.forget_connection(network.ssid)
+
+  def _on_network_updated(self, networks: list[Network]):
+    self._networks = networks
+    for n in self._networks:
+      self._networks_buttons[n.ssid] = Button(normalize_ssid(n.ssid), partial(self._networks_buttons_callback, n), font_size=55,
+                                              text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.TRANSPARENT_WHITE_TEXT)
+      self._networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
+      self._forget_networks_buttons[n.ssid] = Button(tr("Forget"), partial(self._forget_networks_buttons_callback, n), button_style=ButtonStyle.FORGET_WIFI,
+                                                     font_size=45)
+      self._forget_networks_buttons[n.ssid].set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid())
+
+  def _on_need_auth(self, ssid):
+    network = next((n for n in self._networks if n.ssid == ssid), None)
+    if network:
+      self.state = UIState.NEEDS_AUTH
+      self._state_network = network
+      self._password_retry = True
 
   def _on_activated(self):
-    if isinstance(self.state, StateConnecting):
-      self.state = StateIdle()
+    if self.state == UIState.CONNECTING:
+      self.state = UIState.IDLE
 
-  def _on_forgotten(self):
-    if isinstance(self.state, StateForgetting):
-      self.state = StateIdle()
+  def _on_forgotten(self, _):
+    if self.state == UIState.FORGETTING:
+      self.state = UIState.IDLE
+
+  def _on_disconnected(self):
+    if self.state == UIState.CONNECTING:
+      self.state = UIState.IDLE
 
 
 def main():
   gui_app.init_window("Wi-Fi Manager")
-  wifi_manager = WifiManagerWrapper()
-  wifi_ui = WifiManagerUI(wifi_manager)
+  gui_app.push_widget(WifiManagerUI(WifiManager()))
 
   for _ in gui_app.render():
-    wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
+    pass
 
-  wifi_manager.shutdown()
   gui_app.close()
 
 
diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py
new file mode 100644
index 0000000000..206400a74f
--- /dev/null
+++ b/system/ui/widgets/option_dialog.py
@@ -0,0 +1,79 @@
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.multilang import tr
+from openpilot.system.ui.widgets import Widget, DialogResult
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.label import gui_label
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+
+# Constants
+MARGIN = 50
+TITLE_FONT_SIZE = 70
+ITEM_HEIGHT = 135
+BUTTON_SPACING = 50
+BUTTON_HEIGHT = 160
+ITEM_SPACING = 50
+LIST_ITEM_SPACING = 25
+
+
+class MultiOptionDialog(Widget):
+  def __init__(self, title, options, current="", option_font_weight=FontWeight.MEDIUM, callback: Callable[[DialogResult], None] | None = None):
+    super().__init__()
+    self.title = title
+    self.options = options
+    self.current = current
+    self.selection = current
+    self._callback = callback
+
+    # Create scroller with option buttons
+    self.option_buttons = [Button(option, click_callback=lambda opt=option: self._on_option_clicked(opt),
+                                  font_weight=option_font_weight,
+                                  text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.NORMAL,
+                                  text_padding=50, elide_right=True) for option in options]
+    self.scroller = Scroller(self.option_buttons, spacing=LIST_ITEM_SPACING)
+
+    self.cancel_button = Button(lambda: tr("Cancel"), click_callback=lambda: self._set_result(DialogResult.CANCEL))
+    self.select_button = Button(lambda: tr("Select"), click_callback=lambda: self._set_result(DialogResult.CONFIRM), button_style=ButtonStyle.PRIMARY)
+
+  def _set_result(self, result: DialogResult):
+    gui_app.pop_widget()
+    if self._callback:
+      self._callback(result)
+
+  def _on_option_clicked(self, option):
+    self.selection = option
+
+  def _render(self, rect):
+    dialog_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - 2 * MARGIN, rect.height - 2 * MARGIN)
+    rl.draw_rectangle_rounded(dialog_rect, 0.02, 20, rl.Color(30, 30, 30, 255))
+
+    content_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y + MARGIN,
+                                dialog_rect.width - 2 * MARGIN, dialog_rect.height - 2 * MARGIN)
+
+    gui_label(rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, TITLE_FONT_SIZE), self.title, 70, font_weight=FontWeight.BOLD)
+
+    # Options area
+    options_y = content_rect.y + TITLE_FONT_SIZE + ITEM_SPACING
+    options_h = content_rect.height - TITLE_FONT_SIZE - BUTTON_HEIGHT - 2 * ITEM_SPACING
+    options_rect = rl.Rectangle(content_rect.x, options_y, content_rect.width, options_h)
+
+    # Update button styles and set width based on selection
+    for i, option in enumerate(self.options):
+      selected = option == self.selection
+      button = self.option_buttons[i]
+      button.set_button_style(ButtonStyle.PRIMARY if selected else ButtonStyle.NORMAL)
+      button.set_rect(rl.Rectangle(0, 0, options_rect.width, ITEM_HEIGHT))
+
+    self.scroller.render(options_rect)
+
+    # Buttons
+    button_y = content_rect.y + content_rect.height - BUTTON_HEIGHT
+    button_w = (content_rect.width - BUTTON_SPACING) / 2
+
+    cancel_rect = rl.Rectangle(content_rect.x, button_y, button_w, BUTTON_HEIGHT)
+    self.cancel_button.render(cancel_rect)
+
+    select_rect = rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT)
+    self.select_button.set_enabled(self.selection != self.current)
+    self.select_button.render(select_rect)
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
new file mode 100644
index 0000000000..c48be6b80b
--- /dev/null
+++ b/system/ui/widgets/scroller.py
@@ -0,0 +1,469 @@
+import pyray as rl
+import numpy as np
+from collections.abc import Callable
+
+from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2, ScrollState
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+
+ITEM_SPACING = 20
+LINE_COLOR = rl.GRAY
+LINE_PADDING = 40
+ANIMATION_SCALE = 0.6
+
+MOVE_LIFT = 20
+MOVE_OVERLAY_ALPHA = 0.65
+SCROLL_RC = 0.15
+
+EDGE_SHADOW_WIDTH = 20
+
+MIN_ZOOM_ANIMATION_TIME = 0.075  # seconds
+DO_ZOOM = False
+DO_JELLO = False
+
+
+class ScrollIndicator(Widget):
+  HORIZONTAL_MARGIN = 4
+
+  def __init__(self):
+    super().__init__()
+    self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48)
+    self._scroll_offset: float = 0.0
+    self._content_size: float = 0.0
+    self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+
+  def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None:
+    self._scroll_offset = scroll_offset
+    self._content_size = content_size
+    self._viewport = viewport
+
+  def _render(self, _):
+    # scale indicator width based on content size
+    indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
+
+    # position based on scroll ratio
+    slide_range = self._viewport.width - indicator_w
+    max_scroll = self._content_size - self._viewport.width
+    scroll_ratio = -self._scroll_offset / max_scroll
+    x = self._viewport.x + scroll_ratio * slide_range
+    # don't bounce up when NavWidget shows
+    y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2
+
+    # squeeze when overscrolling past edges
+    dest_left = max(x, self._viewport.x)
+    dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width)
+    dest_w = max(indicator_w / 2, dest_right - dest_left)
+
+    # keep within viewport after applying minimum width
+    dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w)
+    dest_left = max(dest_left, self._viewport.x)
+
+    src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height)
+    dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height)
+    rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0,
+                        rl.Color(255, 255, 255, int(255 * 0.45)))
+
+
+class _Scroller(Widget):
+  """Should use wrapper below to reduce boilerplate"""
+  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
+               pad: int = ITEM_SPACING, scroll_indicator: bool = True, edge_shadows: bool = True):
+    super().__init__()
+    self._items: list[Widget] = []
+    self._horizontal = horizontal
+    self._snap_items = snap_items
+    self._spacing = spacing
+    self._pad = pad
+
+    self._reset_scroll_at_show = True
+
+    self._scrolling_to: tuple[float | None, bool] = (None, False)  # target offset, block_interaction
+    self._scrolling_to_filter = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
+    self._zoom_filter = FirstOrderFilter(1.0, 0.2, 1 / gui_app.target_fps)
+    self._zoom_out_t: float = 0.0
+
+    # layout state
+    self._visible_items: list[Widget] = []
+    self._content_size: float = 0.0
+    self._scroll_offset: float = 0.0
+
+    self._item_pos_filter = BounceFilter(0.0, 0.05, 1 / gui_app.target_fps)
+
+    # when not pressed, snap to closest item to be center
+    self._scroll_snap_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+
+    self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items)
+    self._scroll_enabled: bool | Callable[[], bool] = True
+
+    self._show_scroll_indicator = scroll_indicator and self._horizontal
+    self._scroll_indicator = ScrollIndicator()
+    self._edge_shadows = edge_shadows and self._horizontal
+
+    # move animation state
+    # on move; lift src widget -> wait -> move all -> wait -> drop src widget
+    self._overlay_filter = FirstOrderFilter(0.0, 0.05, 1 / gui_app.target_fps)
+    self._move_animations: dict[Widget, FirstOrderFilter] = {}
+    self._move_lift: dict[Widget, FirstOrderFilter] = {}
+    # these are used to wait before moving/dropping, also to move onto next part of the animation earlier for timing
+    self._pending_lift: set[Widget] = set()
+    self._pending_move: set[Widget] = set()
+
+    self.add_widgets(items)
+
+  def set_reset_scroll_at_show(self, scroll: bool):
+    self._reset_scroll_at_show = scroll
+
+  def scroll_to(self, pos: float, smooth: bool = False, block_interaction: bool = False):
+    assert not block_interaction or smooth, "Instant scroll cannot block user interaction"
+
+    # already there
+    if abs(pos) < 1:
+      return
+
+    # FIXME: the padding correction doesn't seem correct
+    scroll_offset = self.scroll_panel.get_offset() - pos
+    if smooth:
+      self._scrolling_to_filter.x = self.scroll_panel.get_offset()
+      self._scrolling_to = scroll_offset, block_interaction
+    else:
+      self.scroll_panel.set_offset(scroll_offset)
+
+  @property
+  def is_auto_scrolling(self) -> bool:
+    return self._scrolling_to[0] is not None
+
+  @property
+  def items(self) -> list[Widget]:
+    return self._items
+
+  @property
+  def content_size(self) -> float:
+    return self._content_size
+
+  def add_widget(self, item: Widget) -> None:
+    self._items.append(item)
+
+    # preserve original touch valid callback
+    original_touch_valid_callback = item._touch_valid_callback
+    item.set_touch_valid_callback(lambda: self.scroll_panel.is_touch_valid() and self.enabled and self._scrolling_to[0] is None
+                                          and not self.moving_items and (original_touch_valid_callback() if
+                                                                         original_touch_valid_callback else True))
+
+  def add_widgets(self, items: list[Widget]) -> None:
+    for item in items:
+      self.add_widget(item)
+
+  def set_scrolling_enabled(self, enabled: bool | Callable[[], bool]) -> None:
+    """Set whether scrolling is enabled (does not affect widget enabled state)."""
+    self._scroll_enabled = enabled
+
+  def _update_state(self):
+    if DO_ZOOM:
+      if self._scrolling_to[0] is not None or self.scroll_panel.state != ScrollState.STEADY:
+        self._zoom_out_t = rl.get_time() + MIN_ZOOM_ANIMATION_TIME
+        self._zoom_filter.update(0.85)
+      else:
+        if self._zoom_out_t is not None:
+          if rl.get_time() > self._zoom_out_t:
+            self._zoom_filter.update(1.0)
+          else:
+            self._zoom_filter.update(0.85)
+
+    # Cancel auto-scroll if user starts manually scrolling (unless block_interaction)
+    if (self.scroll_panel.state in (ScrollState.PRESSED, ScrollState.MANUAL_SCROLL) and
+        self._scrolling_to[0] is not None and not self._scrolling_to[1]):
+      self._scrolling_to = None, False
+
+    if self._scrolling_to[0] is not None and len(self._pending_lift) == 0:
+      self._scrolling_to_filter.update(self._scrolling_to[0])
+      self.scroll_panel.set_offset(self._scrolling_to_filter.x)
+
+      if abs(self._scrolling_to_filter.x - self._scrolling_to[0]) < 1:
+        self.scroll_panel.set_offset(self._scrolling_to[0])
+        self._scrolling_to = None, False
+
+  def _get_scroll(self, visible_items: list[Widget], content_size: float) -> float:
+    scroll_enabled = self._scroll_enabled() if callable(self._scroll_enabled) else self._scroll_enabled
+    self.scroll_panel.set_enabled(scroll_enabled and self.enabled and not self._scrolling_to[1])
+    self.scroll_panel.update(self._rect, content_size)
+    if not self._snap_items:
+      return round(self.scroll_panel.get_offset())
+
+    # Snap closest item to center
+    center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
+    closest_delta_pos = float('inf')
+    scroll_snap_idx: int | None = None
+    for idx, item in enumerate(visible_items):
+      if self._horizontal:
+        delta_pos = (item.rect.x + item.rect.width / 2) - center_pos
+      else:
+        delta_pos = (item.rect.y + item.rect.height / 2) - center_pos
+      if abs(delta_pos) < abs(closest_delta_pos):
+        closest_delta_pos = delta_pos
+        scroll_snap_idx = idx
+
+    if scroll_snap_idx is not None:
+      snap_item = visible_items[scroll_snap_idx]
+      if self.is_pressed:
+        # no snapping until released
+        self._scroll_snap_filter.x = 0
+      else:
+        # TODO: this doesn't handle two small buttons at the edges well
+        if self._horizontal:
+          snap_delta_pos = (center_pos - (snap_item.rect.x + snap_item.rect.width / 2)) / 10
+          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
+          snap_delta_pos = max(snap_delta_pos, (self._rect.width - self.scroll_panel.get_offset() - content_size) / 10)
+        else:
+          snap_delta_pos = (center_pos - (snap_item.rect.y + snap_item.rect.height / 2)) / 10
+          snap_delta_pos = min(snap_delta_pos, -self.scroll_panel.get_offset() / 10)
+          snap_delta_pos = max(snap_delta_pos, (self._rect.height - self.scroll_panel.get_offset() - content_size) / 10)
+        self._scroll_snap_filter.update(snap_delta_pos)
+
+      self.scroll_panel.set_offset(self.scroll_panel.get_offset() + self._scroll_snap_filter.x)
+
+    return self.scroll_panel.get_offset()
+
+  @property
+  def moving_items(self) -> bool:
+    return len(self._move_animations) > 0 or len(self._move_lift) > 0
+
+  def move_item(self, from_idx: int, to_idx: int):
+    assert self._horizontal
+    if from_idx == to_idx:
+      return
+
+    if self.moving_items:
+      cloudlog.warning(f"Already moving items, cannot move from {from_idx} to {to_idx}")
+      return
+
+    item = self._items.pop(from_idx)
+    self._items.insert(to_idx, item)
+
+    # store original position in content space of all affected widgets to animate from
+    for idx in range(min(from_idx, to_idx), max(from_idx, to_idx) + 1):
+      affected_item = self._items[idx]
+      self._move_animations[affected_item] = FirstOrderFilter(affected_item.rect.x - self._scroll_offset, SCROLL_RC, 1 / gui_app.target_fps)
+      self._pending_move.add(affected_item)
+
+    # lift only src widget to make it more clear which one is moving
+    self._move_lift[item] = FirstOrderFilter(0.0, SCROLL_RC, 1 / gui_app.target_fps)
+    self._pending_lift.add(item)
+
+  def _do_move_animation(self, item: Widget, target_x: float, target_y: float) -> tuple[float, float]:
+    # wait a frame before moving so we match potential pending scroll animation
+    can_start_move = len(self._pending_lift) == 0
+
+    if item in self._move_lift:
+      lift_filter = self._move_lift[item]
+
+      # Animate lift
+      if len(self._pending_move) > 0:
+        lift_filter.update(MOVE_LIFT)
+        # start moving when almost lifted
+        if abs(lift_filter.x - MOVE_LIFT) < 2:
+          self._pending_lift.discard(item)
+      else:
+        # if done moving, animate down
+        lift_filter.update(0)
+        if abs(lift_filter.x) < 1:
+          del self._move_lift[item]
+      target_y -= lift_filter.x
+
+    # Animate move
+    if item in self._move_animations:
+      move_filter = self._move_animations[item]
+
+      # compare/update in content space to match filter
+      content_x = target_x - self._scroll_offset
+      if can_start_move:
+        move_filter.update(content_x)
+
+        # drop when close to target
+        if abs(move_filter.x - content_x) < 10:
+          self._pending_move.discard(item)
+
+        # finished moving
+        if abs(move_filter.x - content_x) < 1:
+          del self._move_animations[item]
+      target_x = move_filter.x + self._scroll_offset
+
+    return target_x, target_y
+
+  def _layout(self):
+    self._visible_items = [item for item in self._items if item.is_visible]
+
+    self._content_size = sum(item.rect.width if self._horizontal else item.rect.height for item in self._visible_items)
+    self._content_size += self._spacing * (len(self._visible_items) - 1)
+    self._content_size += self._pad * 2
+
+    self._scroll_offset = self._get_scroll(self._visible_items, self._content_size)
+
+    self._item_pos_filter.update(self._scroll_offset)
+
+    cur_pos = 0
+    for idx, item in enumerate(self._visible_items):
+      spacing = self._spacing if (idx > 0) else self._pad
+      # Nicely lay out items horizontally/vertically
+      if self._horizontal:
+        x = self._rect.x + cur_pos + spacing
+        y = self._rect.y + (self._rect.height - item.rect.height) / 2
+        cur_pos += item.rect.width + spacing
+      else:
+        x = self._rect.x + (self._rect.width - item.rect.width) / 2
+        y = self._rect.y + cur_pos + spacing
+        cur_pos += item.rect.height + spacing
+
+      # Consider scroll
+      if self._horizontal:
+        x += self._scroll_offset
+      else:
+        y += self._scroll_offset
+
+      # Add some jello effect when scrolling
+      if DO_JELLO:
+        if self._horizontal:
+          cx = self._rect.x + self._rect.width / 2
+          jello_offset = self._scroll_offset - np.interp(x + item.rect.width / 2,
+                                                         [self._rect.x, cx, self._rect.x + self._rect.width],
+                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
+          x -= np.clip(jello_offset, -20, 20)
+        else:
+          cy = self._rect.y + self._rect.height / 2
+          jello_offset = self._scroll_offset - np.interp(y + item.rect.height / 2,
+                                                         [self._rect.y, cy, self._rect.y + self._rect.height],
+                                                         [self._item_pos_filter.x, self._scroll_offset, self._item_pos_filter.x])
+          y -= np.clip(jello_offset, -20, 20)
+
+      # Animate moves if needed
+      x, y = self._do_move_animation(item, x, y)
+
+      # Update item state
+      item.set_position(round(x), round(y))  # round to prevent jumping when settling
+      item.set_parent_rect(self._rect)
+
+  def _render_item(self, item: Widget):
+    # Skip rendering if not in viewport
+    if not rl.check_collision_recs(item.rect, self._rect):
+      return
+
+    # Scale each element around its own origin when scrolling
+    scale = self._zoom_filter.x
+    if scale != 1.0:
+      rl.rl_push_matrix()
+      rl.rl_scalef(scale, scale, 1.0)
+      rl.rl_translatef((1 - scale) * (item.rect.x + item.rect.width / 2) / scale,
+                       (1 - scale) * (item.rect.y + item.rect.height / 2) / scale, 0)
+      item.render()
+      rl.rl_pop_matrix()
+    else:
+      item.render()
+
+  def _render(self, _):
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
+                          int(self._rect.width), int(self._rect.height))
+
+    for item in reversed(self._visible_items):
+      if item in self._move_lift:
+        continue
+      self._render_item(item)
+
+    # Dim background if moving items, lifted items are above
+    self._overlay_filter.update(MOVE_OVERLAY_ALPHA if len(self._pending_move) else 0.0)
+    if self._overlay_filter.x > 0.01:
+      rl.draw_rectangle_rec(self._rect, rl.Color(0, 0, 0, int(255 * self._overlay_filter.x)))
+
+    for item in self._move_lift:
+      self._render_item(item)
+
+    rl.end_scissor_mode()
+
+    # Draw edge shadows on top of scroller content
+    if self._edge_shadows:
+      rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.Color(0, 0, 0, 204), rl.BLANK)
+
+      right_x = int(self._rect.x + self._rect.width - EDGE_SHADOW_WIDTH)
+      rl.draw_rectangle_gradient_h(right_x, int(self._rect.y),
+                                   EDGE_SHADOW_WIDTH, int(self._rect.height),
+                                   rl.BLANK, rl.Color(0, 0, 0, 204))
+
+    # Draw scroll indicator on top of edge shadows
+    if self._show_scroll_indicator and len(self._visible_items) > 0:
+      self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect)
+      self._scroll_indicator.render()
+
+  def show_event(self):
+    super().show_event()
+    for item in self._items:
+      item.show_event()
+
+    if self._reset_scroll_at_show:
+      self.scroll_panel.set_offset(0.0)
+
+    self._overlay_filter.x = 0.0
+    self._move_animations.clear()
+    self._move_lift.clear()
+    self._pending_lift.clear()
+    self._pending_move.clear()
+    self._scrolling_to = None, False
+    self._scrolling_to_filter.x = 0.0
+
+  def hide_event(self):
+    super().hide_event()
+    for item in self._items:
+      item.hide_event()
+
+
+class Scroller(Widget):
+  """Wrapper for _Scroller so that children do not need to call events or pass down enabled for nav stack."""
+  def __init__(self, **kwargs):
+    super().__init__()
+    self._scroller = _Scroller([], **kwargs)
+    # pass down enabled to child widget for nav stack
+    self._scroller.set_enabled(lambda: self.enabled)
+
+  def show_event(self):
+    super().show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._scroller.hide_event()
+
+  def _render(self, _):
+    self._scroller.render(self._rect)
+
+
+class NavScroller(NavWidget, Scroller):
+  """Full screen Scroller that properly supports nav stack w/ animations"""
+  def __init__(self, **kwargs):
+    super().__init__(**kwargs)
+    # pass down enabled to child widget for nav stack + disable while swiping away NavWidget
+    self._scroller.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def _back_enabled(self) -> bool:
+    # Vertical scrollers need to be at the top to swipe away to prevent erroneous swipes
+    # TODO: only used for offroad alerts, remove when horizontal
+    return self._scroller._horizontal or self._scroller.scroll_panel.get_offset() >= -20  # some tolerance
+
+
+# TODO: only used for a few vertical scrollers, remove when horizontal
+class NavRawScrollPanel(NavWidget):
+  # can swipe anywhere, only when at top
+  BACK_TOUCH_AREA_PERCENTAGE = 1.0
+
+  def __init__(self):
+    super().__init__()
+    self._scroll_panel = GuiScrollPanel2(horizontal=False)
+    self._scroll_panel.set_enabled(lambda: self.enabled and not self.is_dismissing)
+
+  def show_event(self):
+    super().show_event()
+    self._scroll_panel.set_offset(0)
+
+  def _back_enabled(self) -> bool:
+    return self._scroll_panel.get_offset() >= -20
diff --git a/system/ui/widgets/scroller_tici.py b/system/ui/widgets/scroller_tici.py
new file mode 100644
index 0000000000..a843010d56
--- /dev/null
+++ b/system/ui/widgets/scroller_tici.py
@@ -0,0 +1,90 @@
+import pyray as rl
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.widgets import Widget
+
+ITEM_SPACING = 40
+LINE_COLOR = rl.GRAY
+LINE_PADDING = 40
+
+
+class LineSeparator(Widget):
+  def __init__(self, height: int = 1):
+    super().__init__()
+    self._rect = rl.Rectangle(0, 0, 0, height)
+
+  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
+    super().set_parent_rect(parent_rect)
+    self._rect.width = parent_rect.width
+
+  def _render(self, _):
+    rl.draw_line(int(self._rect.x) + LINE_PADDING, int(self._rect.y),
+                 int(self._rect.x + self._rect.width) - LINE_PADDING, int(self._rect.y),
+                 LINE_COLOR)
+
+
+class Scroller(Widget):
+  def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
+    super().__init__()
+    self._items: list[Widget] = []
+    self._spacing = spacing
+    self._line_separator = LineSeparator() if line_separator else None
+    self._pad_end = pad_end
+
+    self.scroll_panel = GuiScrollPanel()
+
+    for item in items:
+      self.add_widget(item)
+
+  def add_widget(self, item: Widget) -> None:
+    self._items.append(item)
+    item.set_touch_valid_callback(self.scroll_panel.is_touch_valid)
+
+  def _render(self, _):
+    # TODO: don't draw items that are not in the viewport
+    visible_items = [item for item in self._items if item.is_visible]
+
+    # Add line separator between items
+    if self._line_separator is not None:
+      l = len(visible_items)
+      for i in range(1, len(visible_items)):
+        visible_items.insert(l - i, self._line_separator)
+
+    content_height = sum(item.rect.height for item in visible_items) + self._spacing * (len(visible_items))
+    if not self._pad_end:
+      content_height -= self._spacing
+    scroll = self.scroll_panel.update(self._rect, rl.Rectangle(0, 0, self._rect.width, content_height))
+
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
+                          int(self._rect.width), int(self._rect.height))
+
+    cur_height = 0
+    for idx, item in enumerate(visible_items):
+      if not item.is_visible:
+        continue
+
+      # Nicely lay out items vertically
+      x = self._rect.x
+      y = self._rect.y + cur_height + self._spacing * (idx != 0)
+      cur_height += item.rect.height + self._spacing * (idx != 0)
+
+      # Consider scroll
+      y += scroll
+
+      # Update item state
+      item.set_position(x, y)
+      item.set_parent_rect(self._rect)
+      item.render()
+
+    rl.end_scissor_mode()
+
+  def show_event(self):
+    super().show_event()
+    # Reset to top
+    self.scroll_panel.set_offset(0)
+    for item in self._items:
+      item.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    for item in self._items:
+      item.hide_event()
diff --git a/system/ui/widgets/slider.py b/system/ui/widgets/slider.py
new file mode 100644
index 0000000000..8f4bbfc011
--- /dev/null
+++ b/system/ui/widgets/slider.py
@@ -0,0 +1,191 @@
+from collections.abc import Callable
+
+import pyray as rl
+
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.widgets import Widget
+from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.common.filter_simple import FirstOrderFilter
+
+
+class SmallSlider(Widget):
+  HORIZONTAL_PADDING = 8
+  CONFIRM_DELAY = 0.2
+
+  def __init__(self, title: str, confirm_callback: Callable | None = None):
+    # TODO: unify this with BigConfirmationDialogV2
+    super().__init__()
+    self._confirm_callback = confirm_callback
+
+    self._font = gui_app.font(FontWeight.DISPLAY)
+
+    self._load_assets()
+
+    self._drag_threshold = -self._rect.width // 2
+
+    # State
+    self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
+    self._confirmed_time = 0.0
+    self._confirm_callback_called = False  # we keep dialog open by default, only call once
+    self._start_x_circle = 0.0
+    self._scroll_x_circle = 0.0
+    self._scroll_x_circle_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
+
+    self._is_dragging_circle = False
+
+    self._label = UnifiedLabel(title, font_size=36, font_weight=FontWeight.SEMI_BOLD, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
+                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, line_height=0.9)
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 316 + self.HORIZONTAL_PADDING * 2, 100))
+
+    self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg.png", 316, 100)
+    self._circle_bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle.png", 100, 100)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/setup/small_slider/slider_red_circle_pressed.png", 100, 100)
+    self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 37, 32)
+
+  @property
+  def confirmed(self) -> bool:
+    return self._confirmed_time > 0.0
+
+  def reset(self):
+    # reset all slider state
+    self._is_dragging_circle = False
+    self._confirmed_time = 0.0
+    self._confirm_callback_called = False
+
+  def set_opacity(self, opacity: float, smooth: bool = False):
+    if smooth:
+      self._opacity_filter.update(opacity)
+    else:
+      self._opacity_filter.x = opacity
+
+  @property
+  def slider_percentage(self):
+    activated_pos = -self._bg_txt.width + self._circle_bg_txt.width
+    return min(max(-self._scroll_x_circle_filter.x / abs(activated_pos), 0.0), 1.0)
+
+  def _on_confirm(self):
+    if self._confirm_callback:
+      self._confirm_callback()
+
+  def _handle_mouse_event(self, mouse_event):
+    super()._handle_mouse_event(mouse_event)
+
+    if mouse_event.left_pressed:
+      # touch rect goes to the padding
+      circle_button_rect = rl.Rectangle(
+        self._rect.x + (self._rect.width - self._circle_bg_txt.width) + self._scroll_x_circle_filter.x - self.HORIZONTAL_PADDING * 2,
+        self._rect.y,
+        self._circle_bg_txt.width + self.HORIZONTAL_PADDING * 2,
+        self._rect.height,
+      )
+      if rl.check_collision_point_rec(mouse_event.pos, circle_button_rect):
+        self._start_x_circle = mouse_event.pos.x
+        self._is_dragging_circle = True
+
+    elif mouse_event.left_released:
+      # swiped to left
+      if self._scroll_x_circle_filter.x < self._drag_threshold:
+        self._confirmed_time = rl.get_time()
+
+      self._is_dragging_circle = False
+
+    if self._is_dragging_circle:
+      self._scroll_x_circle = mouse_event.pos.x - self._start_x_circle
+
+  def _update_state(self):
+    super()._update_state()
+    # TODO: this math can probably be cleaned up to remove duplicate stuff
+    activated_pos = int(-self._bg_txt.width + self._circle_bg_txt.width)
+    self._scroll_x_circle = max(min(self._scroll_x_circle, 0), activated_pos)
+
+    if self._confirmed_time > 0:
+      # swiped left to confirm
+      self._scroll_x_circle_filter.update(activated_pos)
+
+      # activate once animation completes, small threshold for small floats
+      if self._scroll_x_circle_filter.x < (activated_pos + 1):
+        if not self._confirm_callback_called and (rl.get_time() - self._confirmed_time) >= self.CONFIRM_DELAY:
+          self._confirm_callback_called = True
+          self._on_confirm()
+
+    elif not self._is_dragging_circle:
+      # reset back to right
+      self._scroll_x_circle_filter.update(0)
+    else:
+      # not activated yet, keep movement 1:1
+      self._scroll_x_circle_filter.x = self._scroll_x_circle
+
+  def _render(self, _):
+    # TODO: iOS text shimmering animation
+
+    white = rl.Color(255, 255, 255, int(255 * self._opacity_filter.x))
+
+    bg_txt_x = self._rect.x + (self._rect.width - self._bg_txt.width) / 2
+    bg_txt_y = self._rect.y + (self._rect.height - self._bg_txt.height) / 2
+    rl.draw_texture_ex(self._bg_txt, rl.Vector2(bg_txt_x, bg_txt_y), 0.0, 1.0, white)
+
+    btn_x = bg_txt_x + self._bg_txt.width - self._circle_bg_txt.width + self._scroll_x_circle_filter.x
+    btn_y = self._rect.y + (self._rect.height - self._circle_bg_txt.height) / 2
+
+    if self._confirmed_time == 0.0 or self._scroll_x_circle > 0:
+      self._label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.65 * (1.0 - self.slider_percentage) * self._opacity_filter.x)))
+      label_rect = rl.Rectangle(
+        self._rect.x + 20,
+        self._rect.y,
+        self._rect.width - self._circle_bg_txt.width - 20 * 2.5,
+        self._rect.height,
+      )
+      self._label.render(label_rect)
+
+    # circle and arrow
+    circle_bg_txt = self._circle_bg_pressed_txt if self._is_dragging_circle or self._confirmed_time > 0 else self._circle_bg_txt
+    rl.draw_texture_ex(circle_bg_txt, rl.Vector2(btn_x, btn_y), 0.0, 1.0, white)
+
+    arrow_x = btn_x + (self._circle_bg_txt.width - self._circle_arrow_txt.width) / 2
+    arrow_y = btn_y + (self._circle_bg_txt.height - self._circle_arrow_txt.height) / 2
+    rl.draw_texture_ex(self._circle_arrow_txt, rl.Vector2(arrow_x, arrow_y), 0.0, 1.0, white)
+
+
+class LargerSlider(SmallSlider):
+  def __init__(self, title: str, confirm_callback: Callable | None = None, green: bool = True):
+    self._green = green
+    super().__init__(title, confirm_callback=confirm_callback)
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 115))
+
+    self._bg_txt = gui_app.texture("icons_mici/setup/small_slider/slider_bg_larger.png", 520, 115)
+    circle_fn = "slider_green_rounded_rectangle" if self._green else "slider_black_rounded_rectangle"
+    self._circle_bg_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}.png", 180, 115)
+    self._circle_bg_pressed_txt = gui_app.texture(f"icons_mici/setup/small_slider/{circle_fn}_pressed.png", 180, 115)
+    self._circle_arrow_txt = gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 55)
+
+
+class BigSlider(SmallSlider):
+  def __init__(self, title: str, icon: rl.Texture, confirm_callback: Callable | None = None):
+    self._icon = icon
+    super().__init__(title, confirm_callback=confirm_callback)
+    self._label = UnifiedLabel(title, font_size=48, font_weight=FontWeight.DISPLAY, text_color=rl.Color(255, 255, 255, int(255 * 0.65)),
+                               alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                               line_height=0.875)
+
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
+
+    self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
+    self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_pressed.png", 180, 180)
+    self._circle_arrow_txt = self._icon
+
+
+class RedBigSlider(BigSlider):
+  def _load_assets(self):
+    self.set_rect(rl.Rectangle(0, 0, 520 + self.HORIZONTAL_PADDING * 2, 180))
+
+    self._bg_txt = gui_app.texture("icons_mici/buttons/slider_bg.png", 520, 180)
+    self._circle_bg_txt = gui_app.texture("icons_mici/buttons/button_circle_red.png", 180, 180)
+    self._circle_bg_pressed_txt = gui_app.texture("icons_mici/buttons/button_circle_red_pressed.png", 180, 180)
+    self._circle_arrow_txt = self._icon
diff --git a/system/ui/widgets/toggle.py b/system/ui/widgets/toggle.py
new file mode 100644
index 0000000000..0fbf3c844a
--- /dev/null
+++ b/system/ui/widgets/toggle.py
@@ -0,0 +1,81 @@
+import pyray as rl
+from collections.abc import Callable
+from openpilot.system.ui.lib.application import MousePos
+from openpilot.system.ui.widgets import Widget
+
+ON_COLOR = rl.Color(51, 171, 76, 255)
+OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
+KNOB_COLOR = rl.WHITE
+DISABLED_ON_COLOR = rl.Color(0x22, 0x77, 0x22, 255)  # Dark green when disabled + on
+DISABLED_OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
+DISABLED_KNOB_COLOR = rl.Color(0x88, 0x88, 0x88, 255)
+WIDTH, HEIGHT = 160, 80
+BG_HEIGHT = 60
+ANIMATION_SPEED = 8.0
+
+
+class Toggle(Widget):
+  def __init__(self, initial_state: bool = False, callback: Callable[[bool], None] | None = None):
+    super().__init__()
+    self._state = initial_state
+    self._callback = callback
+    self._enabled = True
+    self._progress = 1.0 if initial_state else 0.0
+    self._target = self._progress
+    self._clicked = False
+
+  def set_rect(self, rect: rl.Rectangle):
+    self._rect = rl.Rectangle(rect.x, rect.y, WIDTH, HEIGHT)
+
+  def _handle_mouse_release(self, mouse_pos: MousePos):
+    if not self._enabled:
+      return
+
+    self._clicked = True
+    self._state = not self._state
+    self._target = 1.0 if self._state else 0.0
+    if self._callback:
+      self._callback(self._state)
+
+  def get_state(self) -> bool:
+    return self._state
+
+  def set_state(self, state: bool):
+    self._state = state
+    self._target = 1.0 if state else 0.0
+
+  def is_enabled(self):
+    return self._enabled
+
+  def update(self):
+    if abs(self._progress - self._target) > 0.01:
+      delta = rl.get_frame_time() * ANIMATION_SPEED
+      self._progress += delta if self._progress < self._target else -delta
+      self._progress = max(0.0, min(1.0, self._progress))
+
+  def _render(self, rect: rl.Rectangle):
+    self.update()
+
+    if self._enabled:
+      bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress)
+      knob_color = KNOB_COLOR
+    else:
+      bg_color = self._blend_color(DISABLED_OFF_COLOR, DISABLED_ON_COLOR, self._progress)
+      knob_color = DISABLED_KNOB_COLOR
+
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT)
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
+
+    # Draw knob
+    knob_x = self._rect.x + HEIGHT / 2 + (WIDTH - HEIGHT) * self._progress
+    knob_y = self._rect.y + HEIGHT / 2
+    rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, knob_color)
+
+    # TODO: use click callback
+    clicked = self._clicked
+    self._clicked = False
+    return clicked
+
+  def _blend_color(self, c1, c2, t):
+    return rl.Color(int(c1.r + (c2.r - c1.r) * t), int(c1.g + (c2.g - c1.g) * t), int(c1.b + (c2.b - c1.b) * t), 255)
diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py
index 7a3303a9e9..2bd46a1ffb 100755
--- a/system/updated/casync/casync.py
+++ b/system/updated/casync/casync.py
@@ -99,7 +99,7 @@ class DirectoryTarChunkReader(BinaryChunkReader):
     create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
 
     self.f = open(cache_file, "rb")
-    return super().__init__(self.f)
+    super().__init__(self.f)
 
   def __del__(self):
     self.f.close()
@@ -168,7 +168,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
 def extract(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
-            progress: Callable[[int], None] = None):
+            progress: Callable[[int], None] | None = None):
   stats: dict[str, int] = defaultdict(int)
 
   mode = 'rb+' if os.path.exists(out_path) else 'wb'
@@ -208,7 +208,7 @@ def extract_directory(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
             tmp_file: str,
-            progress: Callable[[int], None] = None):
+            progress: Callable[[int], None] | None = None):
   """extract a directory stored as a casync tar archive"""
 
   stats = extract(target, sources, tmp_file, progress)
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index 52287c58f9..c4894f2711 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -132,8 +132,8 @@ class TestBaseUpdate:
 
 class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
-    assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}\n"
+    assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}")
+    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode()
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
@@ -143,16 +143,16 @@ class ParamsBaseUpdateTest(TestBaseUpdate):
     updated.signal(signal.SIGHUP.value)
 
   def _test_params(self, branch, fetch_available, update_available):
-    assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch
+    assert self.params.get("UpdaterTargetBranch") == branch
     assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available
     assert self.params.get_bool("UpdateAvailable") == update_available
 
   def wait_for_idle(self):
-    self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle")
+    self.wait_for_condition(lambda: self.params.get("UpdaterState") == "idle")
 
   def wait_for_failed(self):
-    self.wait_for_condition(lambda: self.params.get("UpdateFailedCount", encoding="utf-8") is not None and \
-                                              int(self.params.get("UpdateFailedCount", encoding="utf-8")) > 0)
+    self.wait_for_condition(lambda: self.params.get("UpdateFailedCount") is not None and \
+                                              self.params.get("UpdateFailedCount") > 0)
 
   def wait_for_fetch_available(self):
     self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable"))
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 0759c0a7aa..c10a7097ce 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -7,7 +7,6 @@ import psutil
 import shutil
 import signal
 import fcntl
-import time
 import threading
 from collections import defaultdict
 from pathlib import Path
@@ -19,7 +18,7 @@ from openpilot.common.markdown import parse_markdown
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import AGNOS, HARDWARE
-from openpilot.system.version import get_build_metadata
+from openpilot.system.version import get_build_metadata, SP_BRANCH_MIGRATIONS
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -31,8 +30,13 @@ FINALIZED = os.path.join(STAGING_ROOT, "finalized")
 
 OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))
 
-DAYS_NO_CONNECTIVITY_MAX = 14     # do not allow to engage after this many days
-DAYS_NO_CONNECTIVITY_PROMPT = 10  # send an offroad prompt after this many days
+# do not allow to engage after this many hours onroad and this many routes
+HOURS_NO_CONNECTIVITY_MAX = 27
+ROUTES_NO_CONNECTIVITY_MAX = 84
+# send an offroad prompt after this many hours onroad and this many routes
+HOURS_NO_CONNECTIVITY_PROMPT = 23
+ROUTES_NO_CONNECTIVITY_PROMPT = 80
+
 
 class UserRequest:
   NONE = 0
@@ -61,17 +65,9 @@ class WaitTimeHelper:
 
 def write_time_to_param(params, param) -> None:
   t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-  params.put(param, t.isoformat().encode('utf8'))
+  params.put(param, t)
 
-def read_time_from_param(params, param) -> datetime.datetime | None:
-  t = params.get(param, encoding='utf8')
-  try:
-    return datetime.datetime.fromisoformat(t)
-  except (TypeError, ValueError):
-    pass
-  return None
-
-def run(cmd: list[str], cwd: str = None) -> str:
+def run(cmd: list[str], cwd: str | None = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
 
 
@@ -86,7 +82,7 @@ def set_consistent_flag(consistent: bool) -> None:
 
 def parse_release_notes(basedir: str) -> bytes:
   try:
-    with open(os.path.join(basedir, "RELEASES.md"), "rb") as f:
+    with open(os.path.join(basedir, "CHANGELOG.md"), "rb") as f:
       r = f.read().split(b'\n\n', 1)[0]  # Slice latest release notes
     try:
       return bytes(parse_markdown(r.decode("utf-8")), encoding="utf-8")
@@ -193,15 +189,6 @@ def finalize_update() -> None:
   run(["git", "reset", "--hard"], FINALIZED)
   run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
 
-  cloudlog.info("Starting git cleanup in finalized update")
-  t = time.monotonic()
-  try:
-    run(["git", "gc"], FINALIZED)
-    run(["git", "lfs", "prune"], FINALIZED)
-    cloudlog.event("Done git cleanup", duration=time.monotonic() - t)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s")
-
   set_consistent_flag(True)
   cloudlog.info("done finalizing overlay")
 
@@ -242,9 +229,10 @@ class Updater:
 
   @property
   def target_branch(self) -> str:
-    b: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8')
+    b: str | None = self.params.get("UpdaterTargetBranch")
     if b is None:
       b = self.get_branch(BASEDIR)
+    b = SP_BRANCH_MIGRATIONS.get((HARDWARE.get_device_type(), b), b)
     return b
 
   @property
@@ -272,20 +260,22 @@ class Updater:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
   def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
-    self.params.put("UpdateFailedCount", str(failed_count))
+    self.params.put("UpdateFailedCount", failed_count)
     self.params.put("UpdaterTargetBranch", self.target_branch)
 
     self.params.put_bool("UpdaterFetchAvailable", self.update_available)
     if len(self.branches):
       self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
 
-    last_update = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
+    last_uptime_onroad = self.params.get("UptimeOnroad", return_default=True)
+    last_route_count = self.params.get("RouteCount", return_default=True)
     if update_success:
-      write_time_to_param(self.params, "LastUpdateTime")
+      self.params.put("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None))
+      self.params.put("LastUpdateUptimeOnroad", last_uptime_onroad)
+      self.params.put("LastUpdateRouteCount", last_route_count)
     else:
-      t = read_time_from_param(self.params, "LastUpdateTime")
-      if t is not None:
-        last_update = t
+      last_uptime_onroad = self.params.get("LastUpdateUptimeOnroad", return_default=True)
+      last_route_count = self.params.get("LastUpdateRouteCount", return_default=True)
 
     if exception is None:
       self.params.remove("LastUpdateException")
@@ -304,7 +294,7 @@ class Updater:
       try:
         branch = self.get_branch(basedir)
         commit = self.get_commit_hash(basedir)[:7]
-        with open(os.path.join(basedir, "common", "version.h")) as f:
+        with open(os.path.join(basedir, "sunnypilot", "common", "version.h")) as f:
           version = f.read().split('"')[1]
 
         commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
@@ -323,8 +313,8 @@ class Updater:
     for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"):
       set_offroad_alert(alert, False)
 
-    now = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
-    dt = now - last_update
+    dt_uptime_onroad = (self.params.get("UptimeOnroad", return_default=True) - last_uptime_onroad) / (60*60)
+    dt_route_count = self.params.get("RouteCount", return_default=True) - last_route_count
     build_metadata = get_build_metadata()
     if failed_count > 15 and exception is not None and self.has_internet:
       if build_metadata.tested_channel:
@@ -333,11 +323,11 @@ class Updater:
         extra_text = exception
       set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text)
     elif failed_count > 0:
-      if dt.days > DAYS_NO_CONNECTIVITY_MAX:
+      if dt_uptime_onroad > HOURS_NO_CONNECTIVITY_MAX and dt_route_count > ROUTES_NO_CONNECTIVITY_MAX:
         set_offroad_alert("Offroad_ConnectivityNeeded", True)
-      elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-        remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
-        set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
+      elif dt_uptime_onroad > HOURS_NO_CONNECTIVITY_PROMPT and dt_route_count > ROUTES_NO_CONNECTIVITY_PROMPT:
+        remaining = max(HOURS_NO_CONNECTIVITY_MAX - dt_uptime_onroad, 1)
+        set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} hour{'' if remaining == 1 else 's'}.")
 
   def check_for_update(self) -> None:
     cloudlog.info("checking for updates")
@@ -380,6 +370,8 @@ class Updater:
 
     setup_git_options(OVERLAY_MERGED)
 
+    run(["git", "config", "--replace-all", "remote.origin.fetch", "+refs/heads/*:refs/remotes/origin/*"], OVERLAY_MERGED)
+
     branch = self.target_branch
     git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED)
     cloudlog.info("git fetch success: %s", git_fetch_output)
@@ -387,6 +379,7 @@ class Updater:
     cloudlog.info("git reset in progress")
     cmds = [
       ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"],
+      ["git", "branch", "--set-upstream-to", f"origin/{branch}"],
       ["git", "reset", "--hard"],
       ["git", "clean", "-xdff"],
       ["git", "submodule", "sync"],
@@ -429,8 +422,8 @@ def main() -> None:
       cloudlog.event("update installed")
 
     if not params.get("InstallDate"):
-      t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat()
-      params.put("InstallDate", t.encode('utf8'))
+      t = datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
+      params.put("InstallDate", t)
 
     updater = Updater()
     update_failed_count = 0 # TODO: Load from param?
@@ -468,7 +461,7 @@ def main() -> None:
         updater.check_for_update()
 
         # download update
-        last_fetch = read_time_from_param(params, "UpdaterLastFetchTime")
+        last_fetch = params.get("UpdaterLastFetchTime")
         timed_out = last_fetch is None or (datetime.datetime.now(datetime.UTC).replace(tzinfo=None) - last_fetch > datetime.timedelta(days=3))
         user_requested_fetch = wait_helper.user_request == UserRequest.FETCH
         if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch:
diff --git a/system/version.py b/system/version.py
index 11c6ced2b7..ae6ac1b13a 100755
--- a/system/version.py
+++ b/system/version.py
@@ -10,26 +10,39 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_SP_BRANCHES = ['release-c3']
-TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new']
-MASTER_SP_BRANCHES = ['master', 'master-new']
-RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] + RELEASE_SP_BRANCHES
-TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
+RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
+MASTER_SP_BRANCHES = ['master']
+RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
+TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
+
+SP_BRANCH_MIGRATIONS = {
+  ("tici", "staging-c3-new"): "staging-tici",
+  ("tici", "dev-c3-new"): "staging-tici",
+  ("tici", "master"): "master-tici",
+  ("tici", "master-dev-c3-new"): "master-tici",
+  ("tizi", "staging-c3-new"): "staging",
+  ("tizi", "dev-c3-new"): "dev",
+  ("tizi", "master-dev-c3-new"): "master-dev",
+}
 
 BUILD_METADATA_FILENAME = "build.json"
 
-training_version: bytes = b"0.2.0"
-terms_version: bytes = b"2"
+training_version: str = "0.2.0"
+terms_version: str = "2"
+terms_version_sp: str = "1.0"
+sunnylink_consent_version: str = "1.0"
+sunnylink_consent_declined: str = "-1"
 
 
 def get_version(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "common", "version.h")) as _versionf:
+  with open(os.path.join(path, "sunnypilot", "common", "version.h")) as _versionf:
     version = _versionf.read().split('"')[1]
   return version
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "RELEASES.md")) as f:
+  with open(os.path.join(path, "CHANGELOG.md")) as f:
     return f.read().split('\n\n', 1)[0]
 
 
@@ -40,9 +53,7 @@ def is_prebuilt(path: str = BASEDIR) -> bool:
 
 @cache
 def is_dirty(cwd: str = BASEDIR) -> bool:
-  origin = get_origin()
-  branch = get_branch()
-  if not origin or not branch:
+  if not get_origin() or not get_short_branch():
     return True
 
   dirty = False
@@ -55,6 +66,9 @@ def is_dirty(cwd: str = BASEDIR) -> bool:
       except subprocess.CalledProcessError:
         pass
 
+      branch = get_branch()
+      if not branch:
+        return True
       dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"], cwd=cwd)) != 0
   except subprocess.CalledProcessError:
     cloudlog.exception("git subprocess failed while checking dirty")
@@ -83,6 +97,13 @@ class OpenpilotMetadata:
     # touch this to get rid of the orange startup alert. there's better ways to do that
     return self.git_normalized_origin == "github.com/commaai/openpilot"
 
+  @property
+  def sunnypilot_remote(self) -> bool:
+    return self.git_normalized_origin in ("github.com/sunnypilot/sunnypilot",
+                                          "github.com/sunnypilot/openpilot",
+                                          "github.com/sunnyhaibin/sunnypilot",
+                                          "github.com/sunnyhaibin/openpilot")
+
   @property
   def git_normalized_origin(self) -> str:
     return self.git_origin \
@@ -105,6 +126,10 @@ class BuildMetadata:
   def release_channel(self) -> bool:
     return self.channel in RELEASE_BRANCHES
 
+  @property
+  def release_sp_channel(self) -> bool:
+    return self.channel in RELEASE_SP_BRANCHES
+
   @property
   def canonical(self) -> str:
     return f"{self.openpilot.version}-{self.openpilot.git_commit}-{self.openpilot.build_style}"
@@ -117,15 +142,21 @@ class BuildMetadata:
   def master_channel(self) -> bool:
     return self.channel in MASTER_SP_BRANCHES
 
+  @property
+  def development_channel(self) -> bool:
+    return self.channel == "dev" or self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
+
   @property
   def channel_type(self) -> str:
-    if self.channel.startswith("dev-"):
+    if self.channel.endswith("-tici"):
+      return "tici"
+    elif self.development_channel:
       return "development"
-    elif self.channel.startswith("staging-"):
+    elif self.tested_channel:
       return "staging"
     elif self.master_channel:
       return "master"
-    elif self.tested_channel:
+    elif self.release_channel or self.release_sp_channel:
       return "release"
     else:
       return "feature"
@@ -176,10 +207,4 @@ def get_build_metadata(path: str = BASEDIR) -> BuildMetadata:
 
 
 if __name__ == "__main__":
-  from openpilot.common.params import Params
-
-  params = Params()
-  params.put("TermsVersion", terms_version)
-  params.put("TrainingVersion", training_version)
-
   print(get_build_metadata())
diff --git a/system/webrtc/device/audio.py b/system/webrtc/device/audio.py
deleted file mode 100644
index 4b22033e03..0000000000
--- a/system/webrtc/device/audio.py
+++ /dev/null
@@ -1,109 +0,0 @@
-import asyncio
-import io
-
-import aiortc
-import av
-import numpy as np
-import pyaudio
-
-
-class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
-  PYAUDIO_TO_AV_FORMAT_MAP = {
-      pyaudio.paUInt8: 'u8',
-      pyaudio.paInt16: 's16',
-      pyaudio.paInt24: 's24',
-      pyaudio.paInt32: 's32',
-      pyaudio.paFloat32: 'flt',
-  }
-
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None):
-    super().__init__()
-
-    self.p = pyaudio.PyAudio()
-    chunk_size = int(packet_time * rate)
-    self.stream = self.p.open(format=audio_format,
-                              channels=channels,
-                              rate=rate,
-                              frames_per_buffer=chunk_size,
-                              input=True,
-                              input_device_index=device_index)
-    self.format = audio_format
-    self.rate = rate
-    self.channels = channels
-    self.packet_time = packet_time
-    self.chunk_size = chunk_size
-    self.pts = 0
-
-  async def recv(self):
-    mic_data = self.stream.read(self.chunk_size)
-    mic_array = np.frombuffer(mic_data, dtype=np.int16)
-    mic_array = np.expand_dims(mic_array, axis=0)
-    layout = 'stereo' if self.channels > 1 else 'mono'
-    frame = av.AudioFrame.from_ndarray(mic_array, format=self.PYAUDIO_TO_AV_FORMAT_MAP[self.format], layout=layout)
-    frame.rate = self.rate
-    frame.pts = self.pts
-    self.pts += frame.samples
-
-    return frame
-
-
-class AudioOutputSpeaker:
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None):
-
-    chunk_size = int(packet_time * rate)
-    self.p = pyaudio.PyAudio()
-    self.buffer = io.BytesIO()
-    self.channels = channels
-    self.stream = self.p.open(format=audio_format,
-                              channels=channels,
-                              rate=rate,
-                              frames_per_buffer=chunk_size,
-                              output=True,
-                              output_device_index=device_index,
-                              stream_callback=self.__pyaudio_callback)
-    self.tracks_and_tasks: list[tuple[aiortc.MediaStreamTrack, asyncio.Task | None]] = []
-
-  def __pyaudio_callback(self, in_data, frame_count, time_info, status):
-    if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
-      buff = b'\x00\x00' * frame_count * self.channels
-    elif self.buffer.getbuffer().nbytes > 115200:  # 3x the usual read size
-      self.buffer.seek(0)
-      buff = self.buffer.read(frame_count * self.channels * 4)
-      buff = buff[:frame_count * self.channels * 2]
-      self.buffer.seek(2)
-    else:
-      self.buffer.seek(0)
-      buff = self.buffer.read(frame_count * self.channels * 2)
-      self.buffer.seek(2)
-    return (buff, pyaudio.paContinue)
-
-  async def __consume(self, track):
-    while True:
-      try:
-        frame = await track.recv()
-      except aiortc.MediaStreamError:
-        return
-
-      self.buffer.write(bytes(frame.planes[0]))
-
-  def hasTrack(self, track: aiortc.MediaStreamTrack) -> bool:
-    return any(t == track for t, _ in self.tracks_and_tasks)
-
-  def addTrack(self, track: aiortc.MediaStreamTrack):
-    if not self.hasTrack(track):
-      self.tracks_and_tasks.append((track, None))
-
-  def start(self):
-    for index, (track, task) in enumerate(self.tracks_and_tasks):
-      if task is None:
-        self.tracks_and_tasks[index] = (track, asyncio.create_task(self.__consume(track)))
-
-  def stop(self):
-    for _, task in self.tracks_and_tasks:
-      if task is not None:
-        task.cancel()
-
-    self.tracks_and_tasks = []
-    self.stream.stop_stream()
-    self.stream.close()
-    self.p.terminate()
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 1bca909294..50feab4f4a 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -1,4 +1,5 @@
 import asyncio
+import time
 
 import av
 from teleoprtc.tracks import TiciVideoStreamTrack
@@ -20,6 +21,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
     self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
     self._pts = 0
+    self._t0_ns = time.monotonic_ns()
 
   async def recv(self):
     while True:
@@ -32,10 +34,10 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
     packet = av.Packet(evta.header + evta.data)
     packet.time_base = self._time_base
-    packet.pts = self._pts
 
-    self.log_debug("track sending frame %s", self._pts)
-    self._pts += self._dt * self._clock_rate
+    self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
+    packet.pts = self._pts
+    self.log_debug("track sending frame %d", self._pts)
 
     return packet
 
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index 113fa5e7e6..f44d217d58 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -1,5 +1,6 @@
 import asyncio
 import json
+import time
 # for aiortc and its dependencies
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -8,13 +9,10 @@ warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this w
 from aiortc import RTCDataChannel
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
 import capnp
-import pyaudio
 from cereal import messaging, log
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from openpilot.system.webrtc.device.audio import AudioInputStreamTrack
-from openpilot.common.realtime import DT_DMON
 
 
 class TestStreamSession:
@@ -81,21 +79,9 @@ class TestStreamSession:
     for i in range(5):
       packet = self.loop.run_until_complete(track.recv())
       assert packet.time_base == VIDEO_TIME_BASE
-      assert packet.pts == int(i * DT_DMON * VIDEO_CLOCK_RATE)
+      if i == 0:
+        start_ns = time.monotonic_ns()
+        start_pts = packet.pts
+      assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
       assert packet.size == 0
 
-  def test_input_audio_track(self, mocker):
-    packet_time, rate = 0.02, 16000
-    sample_count = int(packet_time * rate)
-    mocked_stream = mocker.MagicMock(spec=pyaudio.Stream)
-    mocked_stream.read.return_value = b"\x00" * 2 * sample_count
-
-    config = {"open.side_effect": lambda *args, **kwargs: mocked_stream}
-    mocker.patch("pyaudio.PyAudio", spec=True, **config)
-    track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate)
-
-    for i in range(5):
-      frame = self.loop.run_until_complete(track.recv())
-      assert frame.rate == rate
-      assert frame.samples == sample_count
-      assert frame.pts == i * sample_count
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
deleted file mode 100644
index 4fa6d8953f..0000000000
--- a/system/webrtc/tests/test_webrtcd.py
+++ /dev/null
@@ -1,65 +0,0 @@
-import pytest
-import asyncio
-import json
-# for aiortc and its dependencies
-import warnings
-warnings.filterwarnings("ignore", category=DeprecationWarning)
-warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
-
-from openpilot.system.webrtc.webrtcd import get_stream
-
-import aiortc
-from teleoprtc import WebRTCOfferBuilder
-from parameterized import parameterized_class
-
-
-@parameterized_class(("in_services", "out_services"), [
-  (["testJoystick"], ["carState"]),
-  ([], ["carState"]),
-  (["testJoystick"], []),
-  ([], []),
-])
-@pytest.mark.asyncio
-class TestWebrtcdProc:
-  async def assertCompletesWithTimeout(self, awaitable, timeout=1):
-    try:
-      async with asyncio.timeout(timeout):
-        await awaitable
-    except TimeoutError:
-      pytest.fail("Timeout while waiting for awaitable to complete")
-
-  async def test_webrtcd(self, mocker):
-    mock_request = mocker.MagicMock()
-    async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
-      mock_request.json.side_effect = mocker.AsyncMock(return_value=body)
-      response = await get_stream(mock_request)
-      response_json = json.loads(response.text)
-      return aiortc.RTCSessionDescription(**response_json)
-
-    builder = WebRTCOfferBuilder(connect)
-    builder.offer_to_receive_video_stream("road")
-    builder.offer_to_receive_audio_stream()
-    if len(self.in_services) > 0 or len(self.out_services) > 0:
-      builder.add_messaging()
-
-    stream = builder.stream()
-
-    await self.assertCompletesWithTimeout(stream.start())
-    await self.assertCompletesWithTimeout(stream.wait_for_connection())
-
-    assert stream.has_incoming_video_track("road")
-    assert stream.has_incoming_audio_track()
-    assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0)
-
-    video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
-    await self.assertCompletesWithTimeout(video_track.recv())
-    await self.assertCompletesWithTimeout(audio_track.recv())
-
-    await self.assertCompletesWithTimeout(stream.stop())
-
-    # cleanup, very implementation specific, test may break if it changes
-    assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test"
-    _, session = mock_request.app["streams"].__setitem__.call_args.args
-    await self.assertCompletesWithTimeout(session.post_run_cleanup())
-
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index fb93e565ff..d2c90cafb5 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -119,10 +119,8 @@ class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
   def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
-    from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
-    from aiortc.contrib.media import MediaBlackhole
+    from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-    from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
     from teleoprtc import WebRTCAnswerBuilder
     from teleoprtc.info import parse_info_from_offer
 
@@ -132,11 +130,6 @@ class StreamSession:
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:
       builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
-    if config.expected_audio_track:
-      builder.add_audio_stream(AudioInputStreamTrack() if not debug_mode else AudioStreamTrack())
-    if config.incoming_audio_track:
-      self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole
-      builder.offer_to_receive_audio_stream()
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -151,11 +144,10 @@ class StreamSession:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
-    self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None
     self.run_task: asyncio.Task | None = None
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services)
+    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
+                      self.identifier, cameras, incoming_services, outgoing_services)
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
@@ -188,11 +180,6 @@ class StreamSession:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)
           self.outgoing_bridge_runner.start()
-      if self.stream.has_incoming_audio_track():
-        track = self.stream.get_incoming_audio_track(buffered=False)
-        self.audio_output = self.audio_output_cls()
-        self.audio_output.addTrack(track)
-        self.audio_output.start()
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -206,8 +193,6 @@ class StreamSession:
     await self.stream.stop()
     if self.outgoing_bridge is not None:
       self.outgoing_bridge_runner.stop()
-    if self.audio_output:
-      self.audio_output.stop()
 
 
 @dataclass
@@ -239,6 +224,20 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
+async def post_notify(request: 'web.Request'):
+  try:
+    payload = await request.json()
+  except Exception as e:
+    raise web.HTTPBadRequest(text="Invalid JSON") from e
+
+  for session in list(request.app.get('streams', {}).values()):
+    try:
+      ch = session.stream.get_messaging_channel()
+      ch.send(json.dumps(payload))
+    except Exception:
+      continue
+
+  return web.Response(status=200, text="OK")
 
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
@@ -258,6 +257,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
+  app.router.add_post("/notify", post_notify)
   app.router.add_get("/schema", get_schema)
 
   web.run_app(app, host=host, port=port)
diff --git a/third_party/SConscript b/third_party/SConscript
index 507c17c4a5..3a7497d162 100644
--- a/third_party/SConscript
+++ b/third_party/SConscript
@@ -1,4 +1,3 @@
 Import('env')
 
 env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call'])
-env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE'])
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
index 68858c62e4..0ae664dff6 100644
--- a/third_party/acados/.gitignore
+++ b/third_party/acados/.gitignore
@@ -1,5 +1,9 @@
 acados_repo/
-lib
+/lib
 !x86_64/
 !larch64/
 !aarch64/
+!Darwin/
+!*.so
+!*.so.*
+!*.dylib
diff --git a/third_party/acados/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
index ec02822ceb..d6236e1f6e 100644
--- a/third_party/acados/acados_template/acados_ocp.py
+++ b/third_party/acados/acados_template/acados_ocp.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
index ffc9cf4b0e..229bdf6039 100644
--- a/third_party/acados/acados_template/acados_ocp_solver.py
+++ b/third_party/acados/acados_template/acados_ocp_solver.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
index acd7f02d0a..bc03ba086f 100644
--- a/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
+++ b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
index c0d6937a49..7faa49fb12 100644
--- a/third_party/acados/acados_template/acados_sim.py
+++ b/third_party/acados/acados_template/acados_sim.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
index 612f439eaf..de5ee10709 100644
--- a/third_party/acados/acados_template/acados_sim_solver.py
+++ b/third_party/acados/acados_template/acados_sim_solver.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
index cc6a58efd7..7c20a6d24d 100644
--- a/third_party/acados/acados_template/acados_sim_solver_common.pxd
+++ b/third_party/acados/acados_template/acados_sim_solver_common.pxd
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
index be400addc7..01964fd7a0 100644
--- a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
+++ b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
index c6d59d40a5..75d021626f 100644
--- a/third_party/acados/acados_template/acados_solver_common.pxd
+++ b/third_party/acados/acados_template/acados_solver_common.pxd
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/acados_template/builders.py b/third_party/acados/acados_template/builders.py
index 6f21bfe8cd..8acc05b528 100644
--- a/third_party/acados/acados_template/builders.py
+++ b/third_party/acados/acados_template/builders.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
 # Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py
index e69de29bb2..8b13789179 100644
--- a/third_party/acados/acados_template/gnsf/__init__.py
+++ b/third_party/acados/acados_template/gnsf/__init__.py
@@ -0,0 +1 @@
+
diff --git a/third_party/acados/acados_template/utils.py b/third_party/acados/acados_template/utils.py
index d6f6c02f84..f27617fa30 100644
--- a/third_party/acados/acados_template/utils.py
+++ b/third_party/acados/acados_template/utils.py
@@ -1,4 +1,3 @@
-# -*- coding: future_fstrings -*-
 #
 # Copyright (c) The acados authors.
 #
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index b45c167b16..95b3913c4a 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -1,6 +1,9 @@
 #!/usr/bin/env bash
 set -e
 
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 
 ARCHNAME="x86_64"
@@ -13,7 +16,7 @@ fi
 ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
-  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_MACOSX_RPATH=1"
   ARCHNAME="Darwin"
 fi
 
@@ -44,12 +47,17 @@ cp -r $DIR/acados_repo/lib $INSTALL_DIR
 cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
 #pip3 install -e $DIR/acados/interfaces/acados_template
 
+# skip macOS - sed is different :/
+if [[ "$OSTYPE" != "darwin"* ]]; then
+  # strip future_fstrings to avoid having to install the compatibility package
+  find $DIR/acados_template/ -type f -exec sed -i '/future.fstrings/d' {} +
+fi
+
 # build tera
 cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
 if [[ "$OSTYPE" == "darwin"* ]]; then
   cargo build --verbose --release --target aarch64-apple-darwin
-  cargo build --verbose --release --target x86_64-apple-darwin
-  lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
+  cp target/aarch64-apple-darwin/release/t_renderer target/release/t_renderer
 else
   cargo build --verbose --release
 fi
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
index 4e80f7c76b..50d647a862 100644
--- a/third_party/acados/x86_64/lib/libacados.so
+++ b/third_party/acados/x86_64/lib/libacados.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:821ce18f417d211c4845b60482d465b809f90dc7d04f023d652d8221e87679b1
-size 553544
+oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263
+size 540488
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
index 26d5a3dbe9..a98f45abd2 100644
--- a/third_party/acados/x86_64/lib/libblasfeo.so
+++ b/third_party/acados/x86_64/lib/libblasfeo.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3feea7927d004064bbc5a13c3287467669ce801cb0a3c616cf9e089816da5a0b
-size 2155088
+oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15
+size 2416112
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
index 40e2e4e7d4..f40cb487cd 100644
--- a/third_party/acados/x86_64/lib/libhpipm.so
+++ b/third_party/acados/x86_64/lib/libhpipm.so
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a042716f515913786581dff39799eb71fc66caddfa18b1c9f0d54f00c1568fd2
-size 1572648
+oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d
+size 1531024
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
index cf5e550faa..81afd059f7 100644
--- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
+++ b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6abea4815e3f03cff06fe8a9602e97f9acf102f18f803571460a94595b93be4
-size 262824
+oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64
+size 262464
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
index e995a209b7..d41f6c3725 100755
--- a/third_party/acados/x86_64/t_renderer
+++ b/third_party/acados/x86_64/t_renderer
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7a360d4b53826b91ada3358156d44a14d497bdd8ace88707fd4b386ed6d194c7
-size 17503920
+oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791
+size 5088536
diff --git a/third_party/build.sh b/third_party/build.sh
new file mode 100755
index 0000000000..d3a9c6579c
--- /dev/null
+++ b/third_party/build.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+# Reproducible builds: pin timestamps to epoch
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
+pids=()
+names=()
+logs=()
+
+for script in "$DIR"/*/build.sh; do
+  [ -f "$script" ] || continue
+  name=$(basename "$(dirname "$script")")
+  log=$(mktemp)
+  names+=("$name")
+  logs+=("$log")
+  (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 &
+  pids+=($!)
+done
+
+failed=0
+for i in "${!pids[@]}"; do
+  echo "--- ${names[$i]} ---"
+  if wait "${pids[$i]}"; then
+    echo "OK"
+  else
+    echo "FAILED (exit $?)"
+    failed=1
+  fi
+  cat "${logs[$i]}"
+  rm -f "${logs[$i]}"
+  echo
+done
+
+[ $failed -ne 0 ] && exit $failed
+
+# Repack ar archives with deterministic headers (zero timestamps/uid/gid)
+# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux)
+while IFS= read -r -d '' lib; do
+  tmpdir=$(mktemp -d)
+  lib=$(realpath "$lib")
+  if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then
+    (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib")
+  fi
+  rm -rf "$tmpdir"
+done < <(find "$DIR" -name '*.a' \
+  \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \
+  -print0)
+
+echo -e "\033[32mAll third_party builds succeeded.\033[0m"
diff --git a/third_party/copyparty/copyparty-sfx.py b/third_party/copyparty/copyparty-sfx.py
new file mode 100755
index 0000000000..2506c39a93
--- /dev/null
+++ b/third_party/copyparty/copyparty-sfx.py
@@ -0,0 +1,512 @@
+#!/usr/bin/env python3
+# coding: latin-1
+from __future__ import print_function, unicode_literals
+import re, os, sys, time, shutil, signal, tarfile, hashlib, platform, tempfile, traceback
+import subprocess as sp
+
+
+"""
+to edit this file, use HxD or "vim -b"
+  (there is compressed stuff at the end)
+
+run me with python 2.7 or 3.3+ to unpack and run copyparty
+
+there's zero binaries! just plaintext python scripts all the way down
+  so you can easily unpack the archive and inspect it for shady stuff
+
+the archive data is attached after the b"\n# eof\n" archive marker,
+  b"?0" decodes to b"\x00"
+  b"?n" decodes to b"\n"
+  b"?r" decodes to b"\r"
+  b"??" decodes to b"?"
+"""
+
+
+# set by make-sfx.sh
+VER = "1.18.9"
+SIZE = 846007
+CKSUM = "53f9b019dbba5e9acb44f1e5"
+STAMP = 1754082544
+
+PY2 = sys.version_info < (3,)
+PY37 = sys.version_info > (3, 7)
+WINDOWS = sys.platform in ["win32", "msys"]
+sys.dont_write_bytecode = True
+me = os.path.abspath(os.path.realpath(__file__))
+
+
+def eprint(*a, **ka):
+	ka["file"] = sys.stderr
+	print(*a, **ka)
+
+
+def msg(*a, **ka):
+	if a:
+		a = ["[SFX]", a[0]] + list(a[1:])
+
+	eprint(*a, **ka)
+
+
+def u8(gen):
+	try:
+		for s in gen:
+			yield s.decode("utf-8", "ignore")
+	except:
+		yield s
+		for s in gen:
+			yield s
+
+
+def yieldfile(fn):
+	s = 64 * 1024
+	with open(fn, "rb", s * 4) as f:
+		for block in iter(lambda: f.read(s), b""):
+			yield block
+
+
+def hashfile(fn):
+	h = hashlib.sha1()
+	for block in yieldfile(fn):
+		h.update(block)
+
+	return h.hexdigest()[:24]
+
+
+def unpack():
+	"""unpacks the tar yielded by `data`"""
+	name = "pe-copyparty"
+	try:
+		name += "." + str(os.geteuid())
+	except:
+		pass
+
+	tag = "v" + str(STAMP)
+	top = tempfile.gettempdir()
+	opj = os.path.join
+	ofe = os.path.exists
+	final = opj(top, name)
+	san = opj(final, "copyparty/up2k.py")
+	for suf in range(0, 9001):
+		withpid = "%s.%d.%s" % (name, os.getpid(), suf)
+		mine = opj(top, withpid)
+		if not ofe(mine):
+			break
+
+	tar = opj(mine, "tar")
+
+	try:
+		if tag in os.listdir(final) and ofe(san):
+			msg("found early")
+			return final
+	except:
+		pass
+
+	sz = 0
+	os.mkdir(mine)
+	with open(tar, "wb") as f:
+		for buf in get_payload():
+			sz += len(buf)
+			f.write(buf)
+
+	ck = hashfile(tar)
+	if ck != CKSUM:
+		t = "\n\nexpected %s (%d byte)\nobtained %s (%d byte)\nsfx corrupt"
+		raise Exception(t % (CKSUM, SIZE, ck, sz))
+
+	with tarfile.open(tar, "r:gz") as tf:
+		# this is safe against traversal
+		try:
+			tf.extractall(mine, filter="tar")
+		except TypeError:
+			tf.extractall(mine)
+
+	os.remove(tar)
+
+	with open(opj(mine, tag), "wb") as f:
+		f.write(b"h\n")
+
+	try:
+		if tag in os.listdir(final) and ofe(san):
+			msg("found late")
+			return final
+	except:
+		pass
+
+	try:
+		if os.path.islink(final):
+			os.remove(final)
+		else:
+			shutil.rmtree(final)
+	except:
+		pass
+
+	for fn in u8(os.listdir(top)):
+		if fn.startswith(name) and fn != withpid:
+			try:
+				old = opj(top, fn)
+				if time.time() - os.path.getmtime(old) > 86400:
+					shutil.rmtree(old)
+			except:
+				pass
+
+	try:
+		os.symlink(mine, final)
+	except:
+		try:
+			os.rename(mine, final)
+			return final
+		except:
+			msg("reloc fail,", mine)
+
+	return mine
+
+
+def get_payload():
+	"""yields the binary data attached to script"""
+	with open(me, "rb") as f:
+		buf = f.read().rstrip(b"\r\n")
+
+	ptn = b"\n# eof\n#"
+	a = buf.find(ptn)
+	if a < 0:
+		raise Exception("could not find archive marker")
+
+	esc = {b"??": b"?", b"?r": b"\r", b"?n": b"\n", b"?0": b"\x00"}
+	buf = buf[a + len(ptn) :].replace(b"\n#", b"")
+	p = 0
+	while buf:
+		a = buf.find(b"?", p)
+		if a < 0:
+			yield buf[p:]
+			break
+		elif a == p:
+			yield esc[buf[p : p + 2]]
+			p += 2
+		else:
+			yield buf[p:a]
+			p = a
+
+
+def confirm(rv):
+	msg()
+	msg("retcode", rv if rv else traceback.format_exc())
+	if WINDOWS:
+		msg("*** hit enter to exit ***")
+		try:
+			raw_input() if PY2 else input()
+		except:
+			pass
+
+	sys.exit(rv or 1)
+
+
+def run(tmp, j2, ftp):
+	msg("jinja2:", j2 or "bundled")
+	msg("pyftpd:", ftp or "bundled")
+	msg("sfxdir:", tmp)
+	msg()
+
+	sys.argv.append("--sfx-tpoke=" + tmp)
+
+	ld = (("", ""), (j2, "j2"), (ftp, "ftp"), (not PY2, "py2"), (PY37, "py37"))
+	ld = [os.path.join(tmp, b) for a, b in ld if not a]
+
+	if any([re.match(r"^-.*j[0-9]", x) for x in sys.argv]):
+		run_s(ld)
+	else:
+		run_i(ld)
+
+
+def run_i(ld):
+	for x in ld:
+		sys.path.insert(0, x)
+
+	e = os.environ
+	e["PRTY_NO_IMPRESO"] = "1"
+
+	from copyparty.__main__ import main as p
+
+	p()
+
+
+def run_s(ld):
+	c = "import sys,runpy;" + "".join(['sys.path.insert(0,r"' + x.replace("\\", "/") + '");' for x in ld]) + 'runpy.run_module("copyparty",run_name="__main__")'
+	c = [str(x) for x in [sys.executable, "-c", c] + list(sys.argv[1:])]
+	msg("\n", c, "\n")
+	p = sp.Popen(c)
+
+	def bye(*a):
+		p.send_signal(signal.SIGINT)
+
+	signal.signal(signal.SIGTERM, bye)
+	p.wait()
+
+	raise SystemExit(p.returncode)
+
+
+def main():
+	sysver = str(sys.version).replace("\n", "\n" + " " * 18)
+	pktime = time.strftime("%Y-%m-%d, %H:%M:%S", time.gmtime(STAMP))
+	msg()
+	msg("   this is: copyparty", VER)
+	msg(" packed at:", pktime, "UTC,", STAMP)
+	msg("archive is:", me)
+	msg("python bin:", sys.executable)
+	msg("python ver:", platform.python_implementation(), sysver)
+	msg()
+
+	arg = ""
+	try:
+		arg = sys.argv[1]
+	except:
+		pass
+
+	tmp = os.path.realpath(unpack())
+
+	try:
+		from jinja2 import __version__ as j2
+	except:
+		j2 = None
+
+	try:
+		from pyftpdlib.__init__ import __ver__ as ftp
+	except:
+		ftp = None
+
+	try:
+		run(tmp, j2, ftp)
+	except SystemExit as ex:
+		c = ex.code
+		if c not in [0, -15]:
+			confirm(ex.code)
+	except KeyboardInterrupt:
+		pass
+	except:
+		confirm(0)
+
+
+if __name__ == "__main__":
+	main()
+
+
+# eof
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�t�U�<NW+[g��?nL�-��*��g�N��d�O�Ư<��_l�x ��p$�Y�Z�F_�����IL2�!����@n���D��r%h;S4����hP��~�=���??����s;�]�����\��n����r;��.��n|;������M�lG���I��&����}ي���|щI��E���.?0�$�LB������_8�4oMC�����+�|�_Z����Aۍ��t�;���9)�ZS������?n�}�_�H�Q[���/���(�5����59}҈���6��`�d��+M��5�����hD
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+
diff --git a/third_party/kaitai/custom_decoder.h b/third_party/kaitai/custom_decoder.h
deleted file mode 100644
index 6da7f5fd23..0000000000
--- a/third_party/kaitai/custom_decoder.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef KAITAI_CUSTOM_DECODER_H
-#define KAITAI_CUSTOM_DECODER_H
-
-#include <string>
-
-namespace kaitai {
-
-class custom_decoder {
-public:
-    virtual ~custom_decoder() {};
-    virtual std::string decode(std::string src) = 0;
-};
-
-}
-
-#endif
diff --git a/third_party/kaitai/exceptions.h b/third_party/kaitai/exceptions.h
deleted file mode 100644
index 5c09c4672b..0000000000
--- a/third_party/kaitai/exceptions.h
+++ /dev/null
@@ -1,189 +0,0 @@
-#ifndef KAITAI_EXCEPTIONS_H
-#define KAITAI_EXCEPTIONS_H
-
-#include <kaitai/kaitaistream.h>
-
-#include <string>
-#include <stdexcept>
-
-// We need to use "noexcept" in virtual destructor of our exceptions
-// subclasses. Different compilers have different ideas on how to
-// achieve that: C++98 compilers prefer `throw()`, C++11 and later
-// use `noexcept`. We define KS_NOEXCEPT macro for that.
-
-#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1900)
-#define KS_NOEXCEPT noexcept
-#else
-#define KS_NOEXCEPT throw()
-#endif
-
-namespace kaitai {
-
-/**
- * Common ancestor for all error originating from Kaitai Struct usage.
- * Stores KSY source path, pointing to an element supposedly guilty of
- * an error.
- */
-class kstruct_error: public std::runtime_error {
-public:
-    kstruct_error(const std::string what, const std::string src_path):
-        std::runtime_error(src_path + ": " + what),
-        m_src_path(src_path)
-    {
-    }
-
-    virtual ~kstruct_error() KS_NOEXCEPT {};
-
-protected:
-    const std::string m_src_path;
-};
-
-/**
- * Error that occurs when default endianness should be decided with
- * a switch, but nothing matches (although using endianness expression
- * implies that there should be some positive result).
- */
-class undecided_endianness_error: public kstruct_error {
-public:
-    undecided_endianness_error(const std::string src_path):
-        kstruct_error("unable to decide on endianness for a type", src_path)
-    {
-    }
-
-    virtual ~undecided_endianness_error() KS_NOEXCEPT {};
-};
-
-/**
- * Common ancestor for all validation failures. Stores pointer to
- * KaitaiStream IO object which was involved in an error.
- */
-class validation_failed_error: public kstruct_error {
-public:
-    validation_failed_error(const std::string what, kstream* io, const std::string src_path):
-        kstruct_error("at pos " + kstream::to_string(static_cast<int>(io->pos())) + ": validation failed: " + what, src_path),
-        m_io(io)
-    {
-    }
-
-// "at pos #{io.pos}: validation failed: #{msg}"
-
-    virtual ~validation_failed_error() KS_NOEXCEPT {};
-
-protected:
-    kstream* m_io;
-};
-
-/**
- * Signals validation failure: we required "actual" value to be equal to
- * "expected", but it turned out that it's not.
- */
-template<typename T>
-class validation_not_equal_error: public validation_failed_error {
-public:
-    validation_not_equal_error<T>(const T& expected, const T& actual, kstream* io, const std::string src_path):
-        validation_failed_error("not equal", io, src_path),
-        m_expected(expected),
-        m_actual(actual)
-    {
-    }
-
-    // "not equal, expected #{expected.inspect}, but got #{actual.inspect}"
-
-    virtual ~validation_not_equal_error<T>() KS_NOEXCEPT {};
-
-protected:
-    const T& m_expected;
-    const T& m_actual;
-};
-
-/**
- * Signals validation failure: we required "actual" value to be greater
- * than or equal to "min", but it turned out that it's not.
- */
-template<typename T>
-class validation_less_than_error: public validation_failed_error {
-public:
-    validation_less_than_error<T>(const T& min, const T& actual, kstream* io, const std::string src_path):
-        validation_failed_error("not in range", io, src_path),
-        m_min(min),
-        m_actual(actual)
-    {
-    }
-
-    // "not in range, min #{min.inspect}, but got #{actual.inspect}"
-
-    virtual ~validation_less_than_error<T>() KS_NOEXCEPT {};
-
-protected:
-    const T& m_min;
-    const T& m_actual;
-};
-
-/**
- * Signals validation failure: we required "actual" value to be less
- * than or equal to "max", but it turned out that it's not.
- */
-template<typename T>
-class validation_greater_than_error: public validation_failed_error {
-public:
-    validation_greater_than_error<T>(const T& max, const T& actual, kstream* io, const std::string src_path):
-        validation_failed_error("not in range", io, src_path),
-        m_max(max),
-        m_actual(actual)
-    {
-    }
-
-    // "not in range, max #{max.inspect}, but got #{actual.inspect}"
-
-    virtual ~validation_greater_than_error<T>() KS_NOEXCEPT {};
-
-protected:
-    const T& m_max;
-    const T& m_actual;
-};
-
-/**
- * Signals validation failure: we required "actual" value to be from
- * the list, but it turned out that it's not.
- */
-template<typename T>
-class validation_not_any_of_error: public validation_failed_error {
-public:
-    validation_not_any_of_error<T>(const T& actual, kstream* io, const std::string src_path):
-        validation_failed_error("not any of the list", io, src_path),
-        m_actual(actual)
-    {
-    }
-
-    // "not any of the list, got #{actual.inspect}"
-
-    virtual ~validation_not_any_of_error<T>() KS_NOEXCEPT {};
-
-protected:
-    const T& m_actual;
-};
-
-/**
- * Signals validation failure: we required "actual" value to match
- * the expression, but it turned out that it doesn't.
- */
-template<typename T>
-class validation_expr_error: public validation_failed_error {
-public:
-    validation_expr_error<T>(const T& actual, kstream* io, const std::string src_path):
-        validation_failed_error("not matching the expression", io, src_path),
-        m_actual(actual)
-    {
-    }
-
-    // "not matching the expression, got #{actual.inspect}"
-
-    virtual ~validation_expr_error<T>() KS_NOEXCEPT {};
-
-protected:
-    const T& m_actual;
-};
-
-}
-
-#endif
diff --git a/third_party/kaitai/kaitaistream.cpp b/third_party/kaitai/kaitaistream.cpp
deleted file mode 100644
index d82ddb7e82..0000000000
--- a/third_party/kaitai/kaitaistream.cpp
+++ /dev/null
@@ -1,689 +0,0 @@
-#include <kaitai/kaitaistream.h>
-
-#if defined(__APPLE__)
-#include <machine/endian.h>
-#include <libkern/OSByteOrder.h>
-#define bswap_16(x) OSSwapInt16(x)
-#define bswap_32(x) OSSwapInt32(x)
-#define bswap_64(x) OSSwapInt64(x)
-#define __BYTE_ORDER    BYTE_ORDER
-#define __BIG_ENDIAN    BIG_ENDIAN
-#define __LITTLE_ENDIAN LITTLE_ENDIAN
-#elif defined(_MSC_VER) // !__APPLE__
-#include <stdlib.h>
-#define __LITTLE_ENDIAN     1234
-#define __BIG_ENDIAN        4321
-#define __BYTE_ORDER        __LITTLE_ENDIAN
-#define bswap_16(x) _byteswap_ushort(x)
-#define bswap_32(x) _byteswap_ulong(x)
-#define bswap_64(x) _byteswap_uint64(x)
-#else // !__APPLE__ or !_MSC_VER
-#include <endian.h>
-#include <byteswap.h>
-#endif
-
-#include <iostream>
-#include <vector>
-#include <stdexcept>
-
-kaitai::kstream::kstream(std::istream* io) {
-    m_io = io;
-    init();
-}
-
-kaitai::kstream::kstream(std::string& data): m_io_str(data) {
-    m_io = &m_io_str;
-    init();
-}
-
-void kaitai::kstream::init() {
-    exceptions_enable();
-    align_to_byte();
-}
-
-void kaitai::kstream::close() {
-    //  m_io->close();
-}
-
-void kaitai::kstream::exceptions_enable() const {
-    m_io->exceptions(
-        std::istream::eofbit |
-        std::istream::failbit |
-        std::istream::badbit
-    );
-}
-
-// ========================================================================
-// Stream positioning
-// ========================================================================
-
-bool kaitai::kstream::is_eof() const {
-    if (m_bits_left > 0) {
-        return false;
-    }
-    char t;
-    m_io->exceptions(
-        std::istream::badbit
-    );
-    m_io->get(t);
-    if (m_io->eof()) {
-        m_io->clear();
-        exceptions_enable();
-        return true;
-    } else {
-        m_io->unget();
-        exceptions_enable();
-        return false;
-    }
-}
-
-void kaitai::kstream::seek(uint64_t pos) {
-    m_io->seekg(pos);
-}
-
-uint64_t kaitai::kstream::pos() {
-    return m_io->tellg();
-}
-
-uint64_t kaitai::kstream::size() {
-    std::iostream::pos_type cur_pos = m_io->tellg();
-    m_io->seekg(0, std::ios::end);
-    std::iostream::pos_type len = m_io->tellg();
-    m_io->seekg(cur_pos);
-    return len;
-}
-
-// ========================================================================
-// Integer numbers
-// ========================================================================
-
-// ------------------------------------------------------------------------
-// Signed
-// ------------------------------------------------------------------------
-
-int8_t kaitai::kstream::read_s1() {
-    char t;
-    m_io->get(t);
-    return t;
-}
-
-// ........................................................................
-// Big-endian
-// ........................................................................
-
-int16_t kaitai::kstream::read_s2be() {
-    int16_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 2);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_16(t);
-#endif
-    return t;
-}
-
-int32_t kaitai::kstream::read_s4be() {
-    int32_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 4);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_32(t);
-#endif
-    return t;
-}
-
-int64_t kaitai::kstream::read_s8be() {
-    int64_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 8);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_64(t);
-#endif
-    return t;
-}
-
-// ........................................................................
-// Little-endian
-// ........................................................................
-
-int16_t kaitai::kstream::read_s2le() {
-    int16_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 2);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_16(t);
-#endif
-    return t;
-}
-
-int32_t kaitai::kstream::read_s4le() {
-    int32_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 4);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_32(t);
-#endif
-    return t;
-}
-
-int64_t kaitai::kstream::read_s8le() {
-    int64_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 8);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_64(t);
-#endif
-    return t;
-}
-
-// ------------------------------------------------------------------------
-// Unsigned
-// ------------------------------------------------------------------------
-
-uint8_t kaitai::kstream::read_u1() {
-    char t;
-    m_io->get(t);
-    return t;
-}
-
-// ........................................................................
-// Big-endian
-// ........................................................................
-
-uint16_t kaitai::kstream::read_u2be() {
-    uint16_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 2);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_16(t);
-#endif
-    return t;
-}
-
-uint32_t kaitai::kstream::read_u4be() {
-    uint32_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 4);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_32(t);
-#endif
-    return t;
-}
-
-uint64_t kaitai::kstream::read_u8be() {
-    uint64_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 8);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_64(t);
-#endif
-    return t;
-}
-
-// ........................................................................
-// Little-endian
-// ........................................................................
-
-uint16_t kaitai::kstream::read_u2le() {
-    uint16_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 2);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_16(t);
-#endif
-    return t;
-}
-
-uint32_t kaitai::kstream::read_u4le() {
-    uint32_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 4);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_32(t);
-#endif
-    return t;
-}
-
-uint64_t kaitai::kstream::read_u8le() {
-    uint64_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 8);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_64(t);
-#endif
-    return t;
-}
-
-// ========================================================================
-// Floating point numbers
-// ========================================================================
-
-// ........................................................................
-// Big-endian
-// ........................................................................
-
-float kaitai::kstream::read_f4be() {
-    uint32_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 4);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_32(t);
-#endif
-    return reinterpret_cast<float&>(t);
-}
-
-double kaitai::kstream::read_f8be() {
-    uint64_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 8);
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-    t = bswap_64(t);
-#endif
-    return reinterpret_cast<double&>(t);
-}
-
-// ........................................................................
-// Little-endian
-// ........................................................................
-
-float kaitai::kstream::read_f4le() {
-    uint32_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 4);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_32(t);
-#endif
-    return reinterpret_cast<float&>(t);
-}
-
-double kaitai::kstream::read_f8le() {
-    uint64_t t;
-    m_io->read(reinterpret_cast<char *>(&t), 8);
-#if __BYTE_ORDER == __BIG_ENDIAN
-    t = bswap_64(t);
-#endif
-    return reinterpret_cast<double&>(t);
-}
-
-// ========================================================================
-// Unaligned bit values
-// ========================================================================
-
-void kaitai::kstream::align_to_byte() {
-    m_bits_left = 0;
-    m_bits = 0;
-}
-
-uint64_t kaitai::kstream::read_bits_int_be(int n) {
-    int bits_needed = n - m_bits_left;
-    if (bits_needed > 0) {
-        // 1 bit  => 1 byte
-        // 8 bits => 1 byte
-        // 9 bits => 2 bytes
-        int bytes_needed = ((bits_needed - 1) / 8) + 1;
-        if (bytes_needed > 8)
-            throw std::runtime_error("read_bits_int: more than 8 bytes requested");
-        char buf[8];
-        m_io->read(buf, bytes_needed);
-        for (int i = 0; i < bytes_needed; i++) {
-            uint8_t b = buf[i];
-            m_bits <<= 8;
-            m_bits |= b;
-            m_bits_left += 8;
-        }
-    }
-
-    // raw mask with required number of 1s, starting from lowest bit
-    uint64_t mask = get_mask_ones(n);
-    // shift mask to align with highest bits available in @bits
-    int shift_bits = m_bits_left - n;
-    mask <<= shift_bits;
-    // derive reading result
-    uint64_t res = (m_bits & mask) >> shift_bits;
-    // clear top bits that we've just read => AND with 1s
-    m_bits_left -= n;
-    mask = get_mask_ones(m_bits_left);
-    m_bits &= mask;
-
-    return res;
-}
-
-// Deprecated, use read_bits_int_be() instead.
-uint64_t kaitai::kstream::read_bits_int(int n) {
-    return read_bits_int_be(n);
-}
-
-uint64_t kaitai::kstream::read_bits_int_le(int n) {
-    int bits_needed = n - m_bits_left;
-    if (bits_needed > 0) {
-        // 1 bit  => 1 byte
-        // 8 bits => 1 byte
-        // 9 bits => 2 bytes
-        int bytes_needed = ((bits_needed - 1) / 8) + 1;
-        if (bytes_needed > 8)
-            throw std::runtime_error("read_bits_int_le: more than 8 bytes requested");
-        char buf[8];
-        m_io->read(buf, bytes_needed);
-        for (int i = 0; i < bytes_needed; i++) {
-            uint8_t b = buf[i];
-            m_bits |= (static_cast<uint64_t>(b) << m_bits_left);
-            m_bits_left += 8;
-        }
-    }
-
-    // raw mask with required number of 1s, starting from lowest bit
-    uint64_t mask = get_mask_ones(n);
-    // derive reading result
-    uint64_t res = m_bits & mask;
-    // remove bottom bits that we've just read by shifting
-    m_bits >>= n;
-    m_bits_left -= n;
-
-    return res;
-}
-
-uint64_t kaitai::kstream::get_mask_ones(int n) {
-    if (n == 64) {
-        return 0xFFFFFFFFFFFFFFFF;
-    } else {
-        return ((uint64_t) 1 << n) - 1;
-    }
-}
-
-// ========================================================================
-// Byte arrays
-// ========================================================================
-
-std::string kaitai::kstream::read_bytes(std::streamsize len) {
-    std::vector<char> result(len);
-
-    // NOTE: streamsize type is signed, negative values are only *supposed* to not be used.
-    // http://en.cppreference.com/w/cpp/io/streamsize
-    if (len < 0) {
-        throw std::runtime_error("read_bytes: requested a negative amount");
-    }
-
-    if (len > 0) {
-        m_io->read(&result[0], len);
-    }
-
-    return std::string(result.begin(), result.end());
-}
-
-std::string kaitai::kstream::read_bytes_full() {
-    std::iostream::pos_type p1 = m_io->tellg();
-    m_io->seekg(0, std::ios::end);
-    std::iostream::pos_type p2 = m_io->tellg();
-    size_t len = p2 - p1;
-
-    // Note: this requires a std::string to be backed with a
-    // contiguous buffer. Officially, it's a only requirement since
-    // C++11 (C++98 and C++03 didn't have this requirement), but all
-    // major implementations had contiguous buffers anyway.
-    std::string result(len, ' ');
-    m_io->seekg(p1);
-    m_io->read(&result[0], len);
-
-    return result;
-}
-
-std::string kaitai::kstream::read_bytes_term(char term, bool include, bool consume, bool eos_error) {
-    std::string result;
-    std::getline(*m_io, result, term);
-    if (m_io->eof()) {
-        // encountered EOF
-        if (eos_error) {
-            throw std::runtime_error("read_bytes_term: encountered EOF");
-        }
-    } else {
-        // encountered terminator
-        if (include)
-            result.push_back(term);
-        if (!consume)
-            m_io->unget();
-    }
-    return result;
-}
-
-std::string kaitai::kstream::ensure_fixed_contents(std::string expected) {
-    std::string actual = read_bytes(expected.length());
-
-    if (actual != expected) {
-        // NOTE: I think printing it outright is not best idea, it could contain non-ascii charactes like backspace and beeps and whatnot. It would be better to print hexlified version, and also to redirect it to stderr.
-        throw std::runtime_error("ensure_fixed_contents: actual data does not match expected data");
-    }
-
-    return actual;
-}
-
-std::string kaitai::kstream::bytes_strip_right(std::string src, char pad_byte) {
-    std::size_t new_len = src.length();
-
-    while (new_len > 0 && src[new_len - 1] == pad_byte)
-        new_len--;
-
-    return src.substr(0, new_len);
-}
-
-std::string kaitai::kstream::bytes_terminate(std::string src, char term, bool include) {
-    std::size_t new_len = 0;
-    std::size_t max_len = src.length();
-
-    while (new_len < max_len && src[new_len] != term)
-        new_len++;
-
-    if (include && new_len < max_len)
-        new_len++;
-
-    return src.substr(0, new_len);
-}
-
-// ========================================================================
-// Byte array processing
-// ========================================================================
-
-std::string kaitai::kstream::process_xor_one(std::string data, uint8_t key) {
-    size_t len = data.length();
-    std::string result(len, ' ');
-
-    for (size_t i = 0; i < len; i++)
-        result[i] = data[i] ^ key;
-
-    return result;
-}
-
-std::string kaitai::kstream::process_xor_many(std::string data, std::string key) {
-    size_t len = data.length();
-    size_t kl = key.length();
-    std::string result(len, ' ');
-
-    size_t ki = 0;
-    for (size_t i = 0; i < len; i++) {
-        result[i] = data[i] ^ key[ki];
-        ki++;
-        if (ki >= kl)
-            ki = 0;
-    }
-
-    return result;
-}
-
-std::string kaitai::kstream::process_rotate_left(std::string data, int amount) {
-    size_t len = data.length();
-    std::string result(len, ' ');
-
-    for (size_t i = 0; i < len; i++) {
-        uint8_t bits = data[i];
-        result[i] = (bits << amount) | (bits >> (8 - amount));
-    }
-
-    return result;
-}
-
-#ifdef KS_ZLIB
-#include <zlib.h>
-
-std::string kaitai::kstream::process_zlib(std::string data) {
-    int ret;
-
-    unsigned char *src_ptr = reinterpret_cast<unsigned char*>(&data[0]);
-    std::stringstream dst_strm;
-
-    z_stream strm;
-    strm.zalloc = Z_NULL;
-    strm.zfree = Z_NULL;
-    strm.opaque = Z_NULL;
-
-    ret = inflateInit(&strm);
-    if (ret != Z_OK)
-        throw std::runtime_error("process_zlib: inflateInit error");
-
-    strm.next_in = src_ptr;
-    strm.avail_in = data.length();
-
-    unsigned char outbuffer[ZLIB_BUF_SIZE];
-    std::string outstring;
-
-    // get the decompressed bytes blockwise using repeated calls to inflate
-    do {
-        strm.next_out = reinterpret_cast<Bytef*>(outbuffer);
-        strm.avail_out = sizeof(outbuffer);
-
-        ret = inflate(&strm, 0);
-
-        if (outstring.size() < strm.total_out)
-            outstring.append(reinterpret_cast<char*>(outbuffer), strm.total_out - outstring.size());
-    } while (ret == Z_OK);
-
-    if (ret != Z_STREAM_END) {          // an error occurred that was not EOF
-        std::ostringstream exc_msg;
-        exc_msg << "process_zlib: error #" << ret << "): " << strm.msg;
-        throw std::runtime_error(exc_msg.str());
-    }
-
-    if (inflateEnd(&strm) != Z_OK)
-        throw std::runtime_error("process_zlib: inflateEnd error");
-
-    return outstring;
-}
-#endif
-
-// ========================================================================
-// Misc utility methods
-// ========================================================================
-
-int kaitai::kstream::mod(int a, int b) {
-    if (b <= 0)
-        throw std::invalid_argument("mod: divisor b <= 0");
-    int r = a % b;
-    if (r < 0)
-        r += b;
-    return r;
-}
-
-#include <stdio.h>
-std::string kaitai::kstream::to_string(int val) {
-    // if int is 32 bits, "-2147483648" is the longest string representation
-    //   => 11 chars + zero => 12 chars
-    // if int is 64 bits, "-9223372036854775808" is the longest
-    //   => 20 chars + zero => 21 chars
-    char buf[25];
-    int got_len = snprintf(buf, sizeof(buf), "%d", val);
-
-    // should never happen, but check nonetheless
-    if (got_len > sizeof(buf))
-        throw std::invalid_argument("to_string: integer is longer than string buffer");
-
-    return std::string(buf);
-}
-
-#include <algorithm>
-std::string kaitai::kstream::reverse(std::string val) {
-    std::reverse(val.begin(), val.end());
-
-    return val;
-}
-
-uint8_t kaitai::kstream::byte_array_min(const std::string val) {
-    uint8_t min = 0xff; // UINT8_MAX
-    std::string::const_iterator end = val.end();
-    for (std::string::const_iterator it = val.begin(); it != end; ++it) {
-        uint8_t cur = static_cast<uint8_t>(*it);
-        if (cur < min) {
-            min = cur;
-        }
-    }
-    return min;
-}
-
-uint8_t kaitai::kstream::byte_array_max(const std::string val) {
-    uint8_t max = 0; // UINT8_MIN
-    std::string::const_iterator end = val.end();
-    for (std::string::const_iterator it = val.begin(); it != end; ++it) {
-        uint8_t cur = static_cast<uint8_t>(*it);
-        if (cur > max) {
-            max = cur;
-        }
-    }
-    return max;
-}
-
-// ========================================================================
-// Other internal methods
-// ========================================================================
-
-#ifndef KS_STR_DEFAULT_ENCODING
-#define KS_STR_DEFAULT_ENCODING "UTF-8"
-#endif
-
-#ifdef KS_STR_ENCODING_ICONV
-
-#include <iconv.h>
-#include <cerrno>
-#include <stdexcept>
-
-std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) {
-    iconv_t cd = iconv_open(KS_STR_DEFAULT_ENCODING, src_enc.c_str());
-
-    if (cd == (iconv_t) -1) {
-        if (errno == EINVAL) {
-            throw std::runtime_error("bytes_to_str: invalid encoding pair conversion requested");
-        } else {
-            throw std::runtime_error("bytes_to_str: error opening iconv");
-        }
-    }
-
-    size_t src_len = src.length();
-    size_t src_left = src_len;
-
-    // Start with a buffer length of double the source length.
-    size_t dst_len = src_len * 2;
-    std::string dst(dst_len, ' ');
-    size_t dst_left = dst_len;
-
-    char *src_ptr = &src[0];
-    char *dst_ptr = &dst[0];
-
-    while (true) {
-        size_t res = iconv(cd, &src_ptr, &src_left, &dst_ptr, &dst_left);
-
-        if (res == (size_t) -1) {
-            if (errno == E2BIG) {
-                // dst buffer is not enough to accomodate whole string
-                // enlarge the buffer and try again
-                size_t dst_used = dst_len - dst_left;
-                dst_left += dst_len;
-                dst_len += dst_len;
-                dst.resize(dst_len);
-
-                // dst.resize might have allocated destination buffer in another area
-                // of memory, thus our previous pointer "dst" will be invalid; re-point
-                // it using "dst_used".
-                dst_ptr = &dst[dst_used];
-            } else {
-                throw std::runtime_error("bytes_to_str: iconv error");
-            }
-        } else {
-            // conversion successful
-            dst.resize(dst_len - dst_left);
-            break;
-        }
-    }
-
-    if (iconv_close(cd) != 0) {
-        throw std::runtime_error("bytes_to_str: iconv close error");
-    }
-
-    return dst;
-}
-#elif defined(KS_STR_ENCODING_NONE)
-std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) {
-    return src;
-}
-#else
-#error Need to decide how to handle strings: please define one of: KS_STR_ENCODING_ICONV, KS_STR_ENCODING_NONE
-#endif
diff --git a/third_party/kaitai/kaitaistream.h b/third_party/kaitai/kaitaistream.h
deleted file mode 100644
index e7f4c6ce34..0000000000
--- a/third_party/kaitai/kaitaistream.h
+++ /dev/null
@@ -1,268 +0,0 @@
-#ifndef KAITAI_STREAM_H
-#define KAITAI_STREAM_H
-
-// Kaitai Struct runtime API version: x.y.z = 'xxxyyyzzz' decimal
-#define KAITAI_STRUCT_VERSION 9000L
-
-#include <istream>
-#include <sstream>
-#include <stdint.h>
-#include <sys/types.h>
-
-namespace kaitai {
-
-/**
- * Kaitai Stream class (kaitai::kstream) is an implementation of
- * <a href="https://doc.kaitai.io/stream_api.html">Kaitai Struct stream API</a>
- * for C++/STL. It's implemented as a wrapper over generic STL std::istream.
- *
- * It provides a wide variety of simple methods to read (parse) binary
- * representations of primitive types, such as integer and floating
- * point numbers, byte arrays and strings, and also provides stream
- * positioning / navigation methods with unified cross-language and
- * cross-toolkit semantics.
- *
- * Typically, end users won't access Kaitai Stream class manually, but would
- * describe a binary structure format using .ksy language and then would use
- * Kaitai Struct compiler to generate source code in desired target language.
- * That code, in turn, would use this class and API to do the actual parsing
- * job.
- */
-class kstream {
-public:
-    /**
-     * Constructs new Kaitai Stream object, wrapping a given std::istream.
-     * \param io istream object to use for this Kaitai Stream
-     */
-    kstream(std::istream* io);
-
-    /**
-     * Constructs new Kaitai Stream object, wrapping a given in-memory data
-     * buffer.
-     * \param data data buffer to use for this Kaitai Stream
-     */
-    kstream(std::string& data);
-
-    void close();
-
-    /** @name Stream positioning */
-    //@{
-    /**
-     * Check if stream pointer is at the end of stream. Note that the semantics
-     * are different from traditional STL semantics: one does *not* need to do a
-     * read (which will fail) after the actual end of the stream to trigger EOF
-     * flag, which can be accessed after that read. It is sufficient to just be
-     * at the end of the stream for this method to return true.
-     * \return "true" if we are located at the end of the stream.
-     */
-    bool is_eof() const;
-
-    /**
-     * Set stream pointer to designated position.
-     * \param pos new position (offset in bytes from the beginning of the stream)
-     */
-    void seek(uint64_t pos);
-
-    /**
-     * Get current position of a stream pointer.
-     * \return pointer position, number of bytes from the beginning of the stream
-     */
-    uint64_t pos();
-
-    /**
-     * Get total size of the stream in bytes.
-     * \return size of the stream in bytes
-     */
-    uint64_t size();
-    //@}
-
-    /** @name Integer numbers */
-    //@{
-
-    // ------------------------------------------------------------------------
-    // Signed
-    // ------------------------------------------------------------------------
-
-    int8_t read_s1();
-
-    // ........................................................................
-    // Big-endian
-    // ........................................................................
-
-    int16_t read_s2be();
-    int32_t read_s4be();
-    int64_t read_s8be();
-
-    // ........................................................................
-    // Little-endian
-    // ........................................................................
-
-    int16_t read_s2le();
-    int32_t read_s4le();
-    int64_t read_s8le();
-
-    // ------------------------------------------------------------------------
-    // Unsigned
-    // ------------------------------------------------------------------------
-
-    uint8_t read_u1();
-
-    // ........................................................................
-    // Big-endian
-    // ........................................................................
-
-    uint16_t read_u2be();
-    uint32_t read_u4be();
-    uint64_t read_u8be();
-
-    // ........................................................................
-    // Little-endian
-    // ........................................................................
-
-    uint16_t read_u2le();
-    uint32_t read_u4le();
-    uint64_t read_u8le();
-
-    //@}
-
-    /** @name Floating point numbers */
-    //@{
-
-    // ........................................................................
-    // Big-endian
-    // ........................................................................
-
-    float read_f4be();
-    double read_f8be();
-
-    // ........................................................................
-    // Little-endian
-    // ........................................................................
-
-    float read_f4le();
-    double read_f8le();
-
-    //@}
-
-    /** @name Unaligned bit values */
-    //@{
-
-    void align_to_byte();
-    uint64_t read_bits_int_be(int n);
-    uint64_t read_bits_int(int n);
-    uint64_t read_bits_int_le(int n);
-
-    //@}
-
-    /** @name Byte arrays */
-    //@{
-
-    std::string read_bytes(std::streamsize len);
-    std::string read_bytes_full();
-    std::string read_bytes_term(char term, bool include, bool consume, bool eos_error);
-    std::string ensure_fixed_contents(std::string expected);
-
-    static std::string bytes_strip_right(std::string src, char pad_byte);
-    static std::string bytes_terminate(std::string src, char term, bool include);
-    static std::string bytes_to_str(std::string src, std::string src_enc);
-
-    //@}
-
-    /** @name Byte array processing */
-    //@{
-
-    /**
-     * Performs a XOR processing with given data, XORing every byte of input with a single
-     * given value.
-     * @param data data to process
-     * @param key value to XOR with
-     * @return processed data
-     */
-    static std::string process_xor_one(std::string data, uint8_t key);
-
-    /**
-     * Performs a XOR processing with given data, XORing every byte of input with a key
-     * array, repeating key array many times, if necessary (i.e. if data array is longer
-     * than key array).
-     * @param data data to process
-     * @param key array of bytes to XOR with
-     * @return processed data
-     */
-    static std::string process_xor_many(std::string data, std::string key);
-
-    /**
-     * Performs a circular left rotation shift for a given buffer by a given amount of bits,
-     * using groups of 1 bytes each time. Right circular rotation should be performed
-     * using this procedure with corrected amount.
-     * @param data source data to process
-     * @param amount number of bits to shift by
-     * @return copy of source array with requested shift applied
-     */
-    static std::string process_rotate_left(std::string data, int amount);
-
-#ifdef KS_ZLIB
-    /**
-     * Performs an unpacking ("inflation") of zlib-compressed data with usual zlib headers.
-     * @param data data to unpack
-     * @return unpacked data
-     * @throws IOException
-     */
-    static std::string process_zlib(std::string data);
-#endif
-
-    //@}
-
-    /**
-     * Performs modulo operation between two integers: dividend `a`
-     * and divisor `b`. Divisor `b` is expected to be positive. The
-     * result is always 0 <= x <= b - 1.
-     */
-    static int mod(int a, int b);
-
-    /**
-     * Converts given integer `val` to a decimal string representation.
-     * Should be used in place of std::to_string() (which is available only
-     * since C++11) in older C++ implementations.
-     */
-    static std::string to_string(int val);
-
-    /**
-     * Reverses given string `val`, so that the first character becomes the
-     * last and the last one becomes the first. This should be used to avoid
-     * the need of local variables at the caller.
-     */
-    static std::string reverse(std::string val);
-
-    /**
-     * Finds the minimal byte in a byte array, treating bytes as
-     * unsigned values.
-     * @param val byte array to scan
-     * @return minimal byte in byte array as integer
-     */
-    static uint8_t byte_array_min(const std::string val);
-
-    /**
-     * Finds the maximal byte in a byte array, treating bytes as
-     * unsigned values.
-     * @param val byte array to scan
-     * @return maximal byte in byte array as integer
-     */
-    static uint8_t byte_array_max(const std::string val);
-
-private:
-    std::istream* m_io;
-    std::istringstream m_io_str;
-    int m_bits_left;
-    uint64_t m_bits;
-
-    void init();
-    void exceptions_enable() const;
-
-    static uint64_t get_mask_ones(int n);
-
-    static const int ZLIB_BUF_SIZE = 128 * 1024;
-};
-
-}
-
-#endif
diff --git a/third_party/kaitai/kaitaistruct.h b/third_party/kaitai/kaitaistruct.h
deleted file mode 100644
index 8172ede6c9..0000000000
--- a/third_party/kaitai/kaitaistruct.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef KAITAI_STRUCT_H
-#define KAITAI_STRUCT_H
-
-#include <kaitai/kaitaistream.h>
-
-namespace kaitai {
-
-class kstruct {
-public:
-    kstruct(kstream *_io) { m__io = _io; }
-    virtual ~kstruct() {}
-protected:
-    kstream *m__io;
-public:
-    kstream *_io() { return m__io; }
-};
-
-}
-
-#endif
diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore
deleted file mode 100644
index 450712e47d..0000000000
--- a/third_party/libyuv/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-libyuv/
diff --git a/third_party/libyuv/Darwin/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a
deleted file mode 100644
index b72979ef19..0000000000
--- a/third_party/libyuv/Darwin/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:497e01c39e1629a89afa730341fe066c2e926966c5f050003e7fde2ce46d9da3
-size 863648
diff --git a/third_party/libyuv/LICENSE b/third_party/libyuv/LICENSE
deleted file mode 100644
index c911747a6b..0000000000
--- a/third_party/libyuv/LICENSE
+++ /dev/null
@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64
deleted file mode 120000
index 062c65e8d9..0000000000
--- a/third_party/libyuv/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
deleted file mode 100755
index b960f60ef5..0000000000
--- a/third_party/libyuv/build.sh
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME=$(uname -m)
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-fi
-
-if [[ "$OSTYPE" == "darwin"* ]]; then
-  ARCHNAME="Darwin"
-fi
-
-cd $DIR
-if [ ! -d libyuv ]; then
-  git clone --single-branch https://chromium.googlesource.com/libyuv/libyuv
-fi
-
-cd libyuv
-git checkout 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
-
-# build
-cmake .
-make -j$(nproc)
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm -rf $DIR/include
-mkdir -p $INSTALL_DIR/lib
-cp $DIR/libyuv/libyuv.a $INSTALL_DIR/lib
-cp -r $DIR/libyuv/include $DIR
-
-## To create universal binary on Darwin:
-## ```
-## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a
-## ```
diff --git a/third_party/libyuv/include/libyuv.h b/third_party/libyuv/include/libyuv.h
deleted file mode 100644
index aeffd5ef7a..0000000000
--- a/third_party/libyuv/include/libyuv.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_H_
-#define INCLUDE_LIBYUV_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/compare.h"
-#include "libyuv/convert.h"
-#include "libyuv/convert_argb.h"
-#include "libyuv/convert_from.h"
-#include "libyuv/convert_from_argb.h"
-#include "libyuv/cpu_id.h"
-#include "libyuv/mjpeg_decoder.h"
-#include "libyuv/planar_functions.h"
-#include "libyuv/rotate.h"
-#include "libyuv/rotate_argb.h"
-#include "libyuv/row.h"
-#include "libyuv/scale.h"
-#include "libyuv/scale_argb.h"
-#include "libyuv/scale_row.h"
-#include "libyuv/version.h"
-#include "libyuv/video_common.h"
-
-#endif  // INCLUDE_LIBYUV_H_
diff --git a/third_party/libyuv/include/libyuv/basic_types.h b/third_party/libyuv/include/libyuv/basic_types.h
deleted file mode 100644
index 5b760ee0d4..0000000000
--- a/third_party/libyuv/include/libyuv/basic_types.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_BASIC_TYPES_H_
-#define INCLUDE_LIBYUV_BASIC_TYPES_H_
-
-#include <stddef.h>  // for NULL, size_t
-
-#if defined(_MSC_VER) && (_MSC_VER < 1600)
-#include <sys/types.h>  // for uintptr_t on x86
-#else
-#include <stdint.h>  // for uintptr_t
-#endif
-
-#ifndef GG_LONGLONG
-#ifndef INT_TYPES_DEFINED
-#define INT_TYPES_DEFINED
-#ifdef COMPILER_MSVC
-typedef unsigned __int64 uint64;
-typedef __int64 int64;
-#ifndef INT64_C
-#define INT64_C(x) x ## I64
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## UI64
-#endif
-#define INT64_F "I64"
-#else  // COMPILER_MSVC
-#if defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
-typedef unsigned long uint64;  // NOLINT
-typedef long int64;  // NOLINT
-#ifndef INT64_C
-#define INT64_C(x) x ## L
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## UL
-#endif
-#define INT64_F "l"
-#else  // defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
-typedef unsigned long long uint64;  // NOLINT
-typedef long long int64;  // NOLINT
-#ifndef INT64_C
-#define INT64_C(x) x ## LL
-#endif
-#ifndef UINT64_C
-#define UINT64_C(x) x ## ULL
-#endif
-#define INT64_F "ll"
-#endif  // __LP64__
-#endif  // COMPILER_MSVC
-typedef unsigned int uint32;
-typedef int int32;
-typedef unsigned short uint16;  // NOLINT
-typedef short int16;  // NOLINT
-typedef unsigned char uint8;
-typedef signed char int8;
-#endif  // INT_TYPES_DEFINED
-#endif  // GG_LONGLONG
-
-// Detect compiler is for x86 or x64.
-#if defined(__x86_64__) || defined(_M_X64) || \
-    defined(__i386__) || defined(_M_IX86)
-#define CPU_X86 1
-#endif
-// Detect compiler is for ARM.
-#if defined(__arm__) || defined(_M_ARM)
-#define CPU_ARM 1
-#endif
-
-#ifndef ALIGNP
-#ifdef __cplusplus
-#define ALIGNP(p, t) \
-    (reinterpret_cast<uint8*>(((reinterpret_cast<uintptr_t>(p) + \
-    ((t) - 1)) & ~((t) - 1))))
-#else
-#define ALIGNP(p, t) \
-    ((uint8*)((((uintptr_t)(p) + ((t) - 1)) & ~((t) - 1))))  /* NOLINT */
-#endif
-#endif
-
-#if !defined(LIBYUV_API)
-#if defined(_WIN32) || defined(__CYGWIN__)
-#if defined(LIBYUV_BUILDING_SHARED_LIBRARY)
-#define LIBYUV_API __declspec(dllexport)
-#elif defined(LIBYUV_USING_SHARED_LIBRARY)
-#define LIBYUV_API __declspec(dllimport)
-#else
-#define LIBYUV_API
-#endif  // LIBYUV_BUILDING_SHARED_LIBRARY
-#elif defined(__GNUC__) && (__GNUC__ >= 4) && !defined(__APPLE__) && \
-    (defined(LIBYUV_BUILDING_SHARED_LIBRARY) || \
-    defined(LIBYUV_USING_SHARED_LIBRARY))
-#define LIBYUV_API __attribute__ ((visibility ("default")))
-#else
-#define LIBYUV_API
-#endif  // __GNUC__
-#endif  // LIBYUV_API
-
-#define LIBYUV_BOOL int
-#define LIBYUV_FALSE 0
-#define LIBYUV_TRUE 1
-
-// Visual C x86 or GCC little endian.
-#if defined(__x86_64__) || defined(_M_X64) || \
-  defined(__i386__) || defined(_M_IX86) || \
-  defined(__arm__) || defined(_M_ARM) || \
-  (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
-#define LIBYUV_LITTLE_ENDIAN
-#endif
-
-#endif  // INCLUDE_LIBYUV_BASIC_TYPES_H_
diff --git a/third_party/libyuv/include/libyuv/compare.h b/third_party/libyuv/include/libyuv/compare.h
deleted file mode 100644
index 550712de6e..0000000000
--- a/third_party/libyuv/include/libyuv/compare.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_COMPARE_H_
-#define INCLUDE_LIBYUV_COMPARE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Compute a hash for specified memory. Seed of 5381 recommended.
-LIBYUV_API
-uint32 HashDjb2(const uint8* src, uint64 count, uint32 seed);
-
-// Scan an opaque argb image and return fourcc based on alpha offset.
-// Returns FOURCC_ARGB, FOURCC_BGRA, or 0 if unknown.
-LIBYUV_API
-uint32 ARGBDetect(const uint8* argb, int stride_argb, int width, int height);
-
-// Sum Square Error - used to compute Mean Square Error or PSNR.
-LIBYUV_API
-uint64 ComputeSumSquareError(const uint8* src_a,
-                             const uint8* src_b, int count);
-
-LIBYUV_API
-uint64 ComputeSumSquareErrorPlane(const uint8* src_a, int stride_a,
-                                  const uint8* src_b, int stride_b,
-                                  int width, int height);
-
-static const int kMaxPsnr = 128;
-
-LIBYUV_API
-double SumSquareErrorToPsnr(uint64 sse, uint64 count);
-
-LIBYUV_API
-double CalcFramePsnr(const uint8* src_a, int stride_a,
-                     const uint8* src_b, int stride_b,
-                     int width, int height);
-
-LIBYUV_API
-double I420Psnr(const uint8* src_y_a, int stride_y_a,
-                const uint8* src_u_a, int stride_u_a,
-                const uint8* src_v_a, int stride_v_a,
-                const uint8* src_y_b, int stride_y_b,
-                const uint8* src_u_b, int stride_u_b,
-                const uint8* src_v_b, int stride_v_b,
-                int width, int height);
-
-LIBYUV_API
-double CalcFrameSsim(const uint8* src_a, int stride_a,
-                     const uint8* src_b, int stride_b,
-                     int width, int height);
-
-LIBYUV_API
-double I420Ssim(const uint8* src_y_a, int stride_y_a,
-                const uint8* src_u_a, int stride_u_a,
-                const uint8* src_v_a, int stride_v_a,
-                const uint8* src_y_b, int stride_y_b,
-                const uint8* src_u_b, int stride_u_b,
-                const uint8* src_v_b, int stride_v_b,
-                int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_COMPARE_H_
diff --git a/third_party/libyuv/include/libyuv/compare_row.h b/third_party/libyuv/include/libyuv/compare_row.h
deleted file mode 100644
index 781cad3e65..0000000000
--- a/third_party/libyuv/include/libyuv/compare_row.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_COMPARE_ROW_H_
-#define INCLUDE_LIBYUV_COMPARE_ROW_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-#if !defined(LIBYUV_DISABLE_X86) && \
-    defined(_M_IX86) && (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_HASHDJB2_AVX2
-#endif
-
-// The following are available for Visual C and GCC:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__x86_64__) || (defined(__i386__) || defined(_M_IX86)))
-#define HAS_HASHDJB2_SSE41
-#define HAS_SUMSQUAREERROR_SSE2
-#endif
-
-// The following are available for Visual C and clangcl 32 bit:
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
-    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_HASHDJB2_AVX2
-#define HAS_SUMSQUAREERROR_AVX2
-#endif
-
-// The following are available for Neon:
-#if !defined(LIBYUV_DISABLE_NEON) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_SUMSQUAREERROR_NEON
-#endif
-
-uint32 SumSquareError_C(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_SSE2(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_AVX2(const uint8* src_a, const uint8* src_b, int count);
-uint32 SumSquareError_NEON(const uint8* src_a, const uint8* src_b, int count);
-
-uint32 HashDjb2_C(const uint8* src, int count, uint32 seed);
-uint32 HashDjb2_SSE41(const uint8* src, int count, uint32 seed);
-uint32 HashDjb2_AVX2(const uint8* src, int count, uint32 seed);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_COMPARE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/convert.h b/third_party/libyuv/include/libyuv/convert.h
deleted file mode 100644
index d44485847b..0000000000
--- a/third_party/libyuv/include/libyuv/convert.h
+++ /dev/null
@@ -1,259 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_H_
-#define INCLUDE_LIBYUV_CONVERT_H_
-
-#include "libyuv/basic_types.h"
-
-#include "libyuv/rotate.h"  // For enum RotationMode.
-
-// TODO(fbarchard): fix WebRTC source to include following libyuv headers:
-#include "libyuv/convert_argb.h"  // For WebRTC I420ToARGB. b/620
-#include "libyuv/convert_from.h"  // For WebRTC ConvertFromI420. b/620
-#include "libyuv/planar_functions.h"  // For WebRTC I420Rect, CopyPlane. b/618
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Convert I444 to I420.
-LIBYUV_API
-int I444ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert I422 to I420.
-LIBYUV_API
-int I422ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert I411 to I420.
-LIBYUV_API
-int I411ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Copy I420 to I420.
-#define I420ToI420 I420Copy
-LIBYUV_API
-int I420Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Convert I400 (grey) to I420.
-LIBYUV_API
-int I400ToI420(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-#define J400ToJ420 I400ToI420
-
-// Convert NV12 to I420.
-LIBYUV_API
-int NV12ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_uv, int src_stride_uv,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert NV21 to I420.
-LIBYUV_API
-int NV21ToI420(const uint8* src_y, int src_stride_y,
-               const uint8* src_vu, int src_stride_vu,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert YUY2 to I420.
-LIBYUV_API
-int YUY2ToI420(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert UYVY to I420.
-LIBYUV_API
-int UYVYToI420(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert M420 to I420.
-LIBYUV_API
-int M420ToI420(const uint8* src_m420, int src_stride_m420,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert Android420 to I420.
-LIBYUV_API
-int Android420ToI420(const uint8* src_y, int src_stride_y,
-                     const uint8* src_u, int src_stride_u,
-                     const uint8* src_v, int src_stride_v,
-                     int pixel_stride_uv,
-                     uint8* dst_y, int dst_stride_y,
-                     uint8* dst_u, int dst_stride_u,
-                     uint8* dst_v, int dst_stride_v,
-                     int width, int height);
-
-// ARGB little endian (bgra in memory) to I420.
-LIBYUV_API
-int ARGBToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// BGRA little endian (argb in memory) to I420.
-LIBYUV_API
-int BGRAToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// ABGR little endian (rgba in memory) to I420.
-LIBYUV_API
-int ABGRToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// RGBA little endian (abgr in memory) to I420.
-LIBYUV_API
-int RGBAToI420(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// RGB little endian (bgr in memory) to I420.
-LIBYUV_API
-int RGB24ToI420(const uint8* src_frame, int src_stride_frame,
-                uint8* dst_y, int dst_stride_y,
-                uint8* dst_u, int dst_stride_u,
-                uint8* dst_v, int dst_stride_v,
-                int width, int height);
-
-// RGB big endian (rgb in memory) to I420.
-LIBYUV_API
-int RAWToI420(const uint8* src_frame, int src_stride_frame,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int width, int height);
-
-// RGB16 (RGBP fourcc) little endian to I420.
-LIBYUV_API
-int RGB565ToI420(const uint8* src_frame, int src_stride_frame,
-                 uint8* dst_y, int dst_stride_y,
-                 uint8* dst_u, int dst_stride_u,
-                 uint8* dst_v, int dst_stride_v,
-                 int width, int height);
-
-// RGB15 (RGBO fourcc) little endian to I420.
-LIBYUV_API
-int ARGB1555ToI420(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_y, int dst_stride_y,
-                   uint8* dst_u, int dst_stride_u,
-                   uint8* dst_v, int dst_stride_v,
-                   int width, int height);
-
-// RGB12 (R444 fourcc) little endian to I420.
-LIBYUV_API
-int ARGB4444ToI420(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_y, int dst_stride_y,
-                   uint8* dst_u, int dst_stride_u,
-                   uint8* dst_v, int dst_stride_v,
-                   int width, int height);
-
-#ifdef HAVE_JPEG
-// src_width/height provided by capture.
-// dst_width/height for clipping determine final size.
-LIBYUV_API
-int MJPGToI420(const uint8* sample, size_t sample_size,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int src_width, int src_height,
-               int dst_width, int dst_height);
-
-// Query size of MJPG in pixels.
-LIBYUV_API
-int MJPGSize(const uint8* sample, size_t sample_size,
-             int* width, int* height);
-#endif
-
-// Convert camera sample to I420 with cropping, rotation and vertical flip.
-// "src_size" is needed to parse MJPG.
-// "dst_stride_y" number of bytes in a row of the dst_y plane.
-//   Normally this would be the same as dst_width, with recommended alignment
-//   to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected. The caller should
-//   allocate the I420 buffer according to rotation.
-// "dst_stride_u" number of bytes in a row of the dst_u plane.
-//   Normally this would be the same as (dst_width + 1) / 2, with
-//   recommended alignment to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected.
-// "crop_x" and "crop_y" are starting position for cropping.
-//   To center, crop_x = (src_width - dst_width) / 2
-//              crop_y = (src_height - dst_height) / 2
-// "src_width" / "src_height" is size of src_frame in pixels.
-//   "src_height" can be negative indicating a vertically flipped image source.
-// "crop_width" / "crop_height" is the size to crop the src to.
-//    Must be less than or equal to src_width/src_height
-//    Cropping parameters are pre-rotation.
-// "rotation" can be 0, 90, 180 or 270.
-// "format" is a fourcc. ie 'I420', 'YUY2'
-// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
-LIBYUV_API
-int ConvertToI420(const uint8* src_frame, size_t src_size,
-                  uint8* dst_y, int dst_stride_y,
-                  uint8* dst_u, int dst_stride_u,
-                  uint8* dst_v, int dst_stride_v,
-                  int crop_x, int crop_y,
-                  int src_width, int src_height,
-                  int crop_width, int crop_height,
-                  enum RotationMode rotation,
-                  uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_H_
diff --git a/third_party/libyuv/include/libyuv/convert_argb.h b/third_party/libyuv/include/libyuv/convert_argb.h
deleted file mode 100644
index dc03ac8d5d..0000000000
--- a/third_party/libyuv/include/libyuv/convert_argb.h
+++ /dev/null
@@ -1,319 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_ARGB_H_
-#define INCLUDE_LIBYUV_CONVERT_ARGB_H_
-
-#include "libyuv/basic_types.h"
-
-#include "libyuv/rotate.h"  // For enum RotationMode.
-
-// TODO(fbarchard): This set of functions should exactly match convert.h
-// TODO(fbarchard): Add tests. Create random content of right size and convert
-// with C vs Opt and or to I420 and compare.
-// TODO(fbarchard): Some of these functions lack parameter setting.
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Alias.
-#define ARGBToARGB ARGBCopy
-
-// Copy ARGB to ARGB.
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Convert I420 to ARGB.
-LIBYUV_API
-int I420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Duplicate prototype for function in convert_from.h for remoting.
-LIBYUV_API
-int I420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I422 to ARGB.
-LIBYUV_API
-int I422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I444 to ARGB.
-LIBYUV_API
-int I444ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J444 to ARGB.
-LIBYUV_API
-int J444ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I444 to ABGR.
-LIBYUV_API
-int I444ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert I411 to ARGB.
-LIBYUV_API
-int I411ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert I420 with Alpha to preattenuated ARGB.
-LIBYUV_API
-int I420AlphaToARGB(const uint8* src_y, int src_stride_y,
-                    const uint8* src_u, int src_stride_u,
-                    const uint8* src_v, int src_stride_v,
-                    const uint8* src_a, int src_stride_a,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height, int attenuate);
-
-// Convert I420 with Alpha to preattenuated ABGR.
-LIBYUV_API
-int I420AlphaToABGR(const uint8* src_y, int src_stride_y,
-                    const uint8* src_u, int src_stride_u,
-                    const uint8* src_v, int src_stride_v,
-                    const uint8* src_a, int src_stride_a,
-                    uint8* dst_abgr, int dst_stride_abgr,
-                    int width, int height, int attenuate);
-
-// Convert I400 (grey) to ARGB.  Reverse of ARGBToI400.
-LIBYUV_API
-int I400ToARGB(const uint8* src_y, int src_stride_y,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J400 (jpeg grey) to ARGB.
-LIBYUV_API
-int J400ToARGB(const uint8* src_y, int src_stride_y,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Alias.
-#define YToARGB I400ToARGB
-
-// Convert NV12 to ARGB.
-LIBYUV_API
-int NV12ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_uv, int src_stride_uv,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert NV21 to ARGB.
-LIBYUV_API
-int NV21ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_vu, int src_stride_vu,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert M420 to ARGB.
-LIBYUV_API
-int M420ToARGB(const uint8* src_m420, int src_stride_m420,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert YUY2 to ARGB.
-LIBYUV_API
-int YUY2ToARGB(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert UYVY to ARGB.
-LIBYUV_API
-int UYVYToARGB(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J420 to ARGB.
-LIBYUV_API
-int J420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J422 to ARGB.
-LIBYUV_API
-int J422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert J420 to ABGR.
-LIBYUV_API
-int J420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert J422 to ABGR.
-LIBYUV_API
-int J422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert H420 to ARGB.
-LIBYUV_API
-int H420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert H422 to ARGB.
-LIBYUV_API
-int H422ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert H420 to ABGR.
-LIBYUV_API
-int H420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert H422 to ABGR.
-LIBYUV_API
-int H422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// BGRA little endian (argb in memory) to ARGB.
-LIBYUV_API
-int BGRAToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// ABGR little endian (rgba in memory) to ARGB.
-LIBYUV_API
-int ABGRToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// RGBA little endian (abgr in memory) to ARGB.
-LIBYUV_API
-int RGBAToARGB(const uint8* src_frame, int src_stride_frame,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Deprecated function name.
-#define BG24ToARGB RGB24ToARGB
-
-// RGB little endian (bgr in memory) to ARGB.
-LIBYUV_API
-int RGB24ToARGB(const uint8* src_frame, int src_stride_frame,
-                uint8* dst_argb, int dst_stride_argb,
-                int width, int height);
-
-// RGB big endian (rgb in memory) to ARGB.
-LIBYUV_API
-int RAWToARGB(const uint8* src_frame, int src_stride_frame,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// RGB16 (RGBP fourcc) little endian to ARGB.
-LIBYUV_API
-int RGB565ToARGB(const uint8* src_frame, int src_stride_frame,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// RGB15 (RGBO fourcc) little endian to ARGB.
-LIBYUV_API
-int ARGB1555ToARGB(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_argb, int dst_stride_argb,
-                   int width, int height);
-
-// RGB12 (R444 fourcc) little endian to ARGB.
-LIBYUV_API
-int ARGB4444ToARGB(const uint8* src_frame, int src_stride_frame,
-                   uint8* dst_argb, int dst_stride_argb,
-                   int width, int height);
-
-#ifdef HAVE_JPEG
-// src_width/height provided by capture
-// dst_width/height for clipping determine final size.
-LIBYUV_API
-int MJPGToARGB(const uint8* sample, size_t sample_size,
-               uint8* dst_argb, int dst_stride_argb,
-               int src_width, int src_height,
-               int dst_width, int dst_height);
-#endif
-
-// Convert camera sample to ARGB with cropping, rotation and vertical flip.
-// "src_size" is needed to parse MJPG.
-// "dst_stride_argb" number of bytes in a row of the dst_argb plane.
-//   Normally this would be the same as dst_width, with recommended alignment
-//   to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected. The caller should
-//   allocate the I420 buffer according to rotation.
-// "dst_stride_u" number of bytes in a row of the dst_u plane.
-//   Normally this would be the same as (dst_width + 1) / 2, with
-//   recommended alignment to 16 bytes for better efficiency.
-//   If rotation of 90 or 270 is used, stride is affected.
-// "crop_x" and "crop_y" are starting position for cropping.
-//   To center, crop_x = (src_width - dst_width) / 2
-//              crop_y = (src_height - dst_height) / 2
-// "src_width" / "src_height" is size of src_frame in pixels.
-//   "src_height" can be negative indicating a vertically flipped image source.
-// "crop_width" / "crop_height" is the size to crop the src to.
-//    Must be less than or equal to src_width/src_height
-//    Cropping parameters are pre-rotation.
-// "rotation" can be 0, 90, 180 or 270.
-// "format" is a fourcc. ie 'I420', 'YUY2'
-// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
-LIBYUV_API
-int ConvertToARGB(const uint8* src_frame, size_t src_size,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int crop_x, int crop_y,
-                  int src_width, int src_height,
-                  int crop_width, int crop_height,
-                  enum RotationMode rotation,
-                  uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from.h b/third_party/libyuv/include/libyuv/convert_from.h
deleted file mode 100644
index 59c40474f1..0000000000
--- a/third_party/libyuv/include/libyuv/convert_from.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_FROM_H_
-#define INCLUDE_LIBYUV_CONVERT_FROM_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/rotate.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// See Also convert.h for conversions from formats to I420.
-
-// I420Copy in convert to I420ToI420.
-
-LIBYUV_API
-int I420ToI422(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int I420ToI444(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int I420ToI411(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Copy to I400. Source can be I420, I422, I444, I400, NV12 or NV21.
-LIBYUV_API
-int I400Copy(const uint8* src_y, int src_stride_y,
-             uint8* dst_y, int dst_stride_y,
-             int width, int height);
-
-LIBYUV_API
-int I420ToNV12(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-LIBYUV_API
-int I420ToNV21(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-LIBYUV_API
-int I420ToYUY2(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-LIBYUV_API
-int I420ToUYVY(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-LIBYUV_API
-int I420ToARGB(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToBGRA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-LIBYUV_API
-int I420ToRGBA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-LIBYUV_API
-int I420ToRGB24(const uint8* src_y, int src_stride_y,
-                const uint8* src_u, int src_stride_u,
-                const uint8* src_v, int src_stride_v,
-                uint8* dst_frame, int dst_stride_frame,
-                int width, int height);
-
-LIBYUV_API
-int I420ToRAW(const uint8* src_y, int src_stride_y,
-              const uint8* src_u, int src_stride_u,
-              const uint8* src_v, int src_stride_v,
-              uint8* dst_frame, int dst_stride_frame,
-              int width, int height);
-
-LIBYUV_API
-int I420ToRGB565(const uint8* src_y, int src_stride_y,
-                 const uint8* src_u, int src_stride_u,
-                 const uint8* src_v, int src_stride_v,
-                 uint8* dst_frame, int dst_stride_frame,
-                 int width, int height);
-
-// Convert I420 To RGB565 with 4x4 dither matrix (16 bytes).
-// Values in dither matrix from 0 to 7 recommended.
-// The order of the dither matrix is first byte is upper left.
-
-LIBYUV_API
-int I420ToRGB565Dither(const uint8* src_y, int src_stride_y,
-                       const uint8* src_u, int src_stride_u,
-                       const uint8* src_v, int src_stride_v,
-                       uint8* dst_frame, int dst_stride_frame,
-                       const uint8* dither4x4, int width, int height);
-
-LIBYUV_API
-int I420ToARGB1555(const uint8* src_y, int src_stride_y,
-                   const uint8* src_u, int src_stride_u,
-                   const uint8* src_v, int src_stride_v,
-                   uint8* dst_frame, int dst_stride_frame,
-                   int width, int height);
-
-LIBYUV_API
-int I420ToARGB4444(const uint8* src_y, int src_stride_y,
-                   const uint8* src_u, int src_stride_u,
-                   const uint8* src_v, int src_stride_v,
-                   uint8* dst_frame, int dst_stride_frame,
-                   int width, int height);
-
-// Convert I420 to specified format.
-// "dst_sample_stride" is bytes in a row for the destination. Pass 0 if the
-//    buffer has contiguous rows. Can be negative. A multiple of 16 is optimal.
-LIBYUV_API
-int ConvertFromI420(const uint8* y, int y_stride,
-                    const uint8* u, int u_stride,
-                    const uint8* v, int v_stride,
-                    uint8* dst_sample, int dst_sample_stride,
-                    int width, int height,
-                    uint32 format);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_FROM_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from_argb.h b/third_party/libyuv/include/libyuv/convert_from_argb.h
deleted file mode 100644
index 8d7f02f8c4..0000000000
--- a/third_party/libyuv/include/libyuv/convert_from_argb.h
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
-#define INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Copy ARGB to ARGB.
-#define ARGBToARGB ARGBCopy
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Convert ARGB To BGRA.
-LIBYUV_API
-int ARGBToBGRA(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_bgra, int dst_stride_bgra,
-               int width, int height);
-
-// Convert ARGB To ABGR.
-LIBYUV_API
-int ARGBToABGR(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert ARGB To RGBA.
-LIBYUV_API
-int ARGBToRGBA(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-// Convert ARGB To RGB24.
-LIBYUV_API
-int ARGBToRGB24(const uint8* src_argb, int src_stride_argb,
-                uint8* dst_rgb24, int dst_stride_rgb24,
-                int width, int height);
-
-// Convert ARGB To RAW.
-LIBYUV_API
-int ARGBToRAW(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_rgb, int dst_stride_rgb,
-              int width, int height);
-
-// Convert ARGB To RGB565.
-LIBYUV_API
-int ARGBToRGB565(const uint8* src_argb, int src_stride_argb,
-                 uint8* dst_rgb565, int dst_stride_rgb565,
-                 int width, int height);
-
-// Convert ARGB To RGB565 with 4x4 dither matrix (16 bytes).
-// Values in dither matrix from 0 to 7 recommended.
-// The order of the dither matrix is first byte is upper left.
-// TODO(fbarchard): Consider pointer to 2d array for dither4x4.
-// const uint8(*dither)[4][4];
-LIBYUV_API
-int ARGBToRGB565Dither(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_rgb565, int dst_stride_rgb565,
-                       const uint8* dither4x4, int width, int height);
-
-// Convert ARGB To ARGB1555.
-LIBYUV_API
-int ARGBToARGB1555(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb1555, int dst_stride_argb1555,
-                   int width, int height);
-
-// Convert ARGB To ARGB4444.
-LIBYUV_API
-int ARGBToARGB4444(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb4444, int dst_stride_argb4444,
-                   int width, int height);
-
-// Convert ARGB To I444.
-LIBYUV_API
-int ARGBToI444(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I422.
-LIBYUV_API
-int ARGBToI422(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I420. (also in convert.h)
-LIBYUV_API
-int ARGBToI420(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J420. (JPeg full range I420).
-LIBYUV_API
-int ARGBToJ420(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J422.
-LIBYUV_API
-int ARGBToJ422(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB To I411.
-LIBYUV_API
-int ARGBToI411(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert ARGB to J400. (JPeg full range).
-LIBYUV_API
-int ARGBToJ400(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yj, int dst_stride_yj,
-               int width, int height);
-
-// Convert ARGB to I400.
-LIBYUV_API
-int ARGBToI400(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Convert ARGB to G. (Reverse of J400toARGB, which replicates G back to ARGB)
-LIBYUV_API
-int ARGBToG(const uint8* src_argb, int src_stride_argb,
-            uint8* dst_g, int dst_stride_g,
-            int width, int height);
-
-// Convert ARGB To NV12.
-LIBYUV_API
-int ARGBToNV12(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-// Convert ARGB To NV21.
-LIBYUV_API
-int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-// Convert ARGB To NV21.
-LIBYUV_API
-int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_vu, int dst_stride_vu,
-               int width, int height);
-
-// Convert ARGB To YUY2.
-LIBYUV_API
-int ARGBToYUY2(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_yuy2, int dst_stride_yuy2,
-               int width, int height);
-
-// Convert ARGB To UYVY.
-LIBYUV_API
-int ARGBToUYVY(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_uyvy, int dst_stride_uyvy,
-               int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/cpu_id.h b/third_party/libyuv/include/libyuv/cpu_id.h
deleted file mode 100644
index 7c6c9aeb00..0000000000
--- a/third_party/libyuv/include/libyuv/cpu_id.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_CPU_ID_H_
-#define INCLUDE_LIBYUV_CPU_ID_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Internal flag to indicate cpuid requires initialization.
-static const int kCpuInitialized = 0x1;
-
-// These flags are only valid on ARM processors.
-static const int kCpuHasARM = 0x2;
-static const int kCpuHasNEON = 0x4;
-// 0x8 reserved for future ARM flag.
-
-// These flags are only valid on x86 processors.
-static const int kCpuHasX86 = 0x10;
-static const int kCpuHasSSE2 = 0x20;
-static const int kCpuHasSSSE3 = 0x40;
-static const int kCpuHasSSE41 = 0x80;
-static const int kCpuHasSSE42 = 0x100;
-static const int kCpuHasAVX = 0x200;
-static const int kCpuHasAVX2 = 0x400;
-static const int kCpuHasERMS = 0x800;
-static const int kCpuHasFMA3 = 0x1000;
-static const int kCpuHasAVX3 = 0x2000;
-// 0x2000, 0x4000, 0x8000 reserved for future X86 flags.
-
-// These flags are only valid on MIPS processors.
-static const int kCpuHasMIPS = 0x10000;
-static const int kCpuHasDSPR2 = 0x20000;
-static const int kCpuHasMSA = 0x40000;
-
-// Internal function used to auto-init.
-LIBYUV_API
-int InitCpuFlags(void);
-
-// Internal function for parsing /proc/cpuinfo.
-LIBYUV_API
-int ArmCpuCaps(const char* cpuinfo_name);
-
-// Detect CPU has SSE2 etc.
-// Test_flag parameter should be one of kCpuHas constants above.
-// returns non-zero if instruction set is detected
-static __inline int TestCpuFlag(int test_flag) {
-  LIBYUV_API extern int cpu_info_;
-  return (!cpu_info_ ? InitCpuFlags() : cpu_info_) & test_flag;
-}
-
-// For testing, allow CPU flags to be disabled.
-// ie MaskCpuFlags(~kCpuHasSSSE3) to disable SSSE3.
-// MaskCpuFlags(-1) to enable all cpu specific optimizations.
-// MaskCpuFlags(1) to disable all cpu specific optimizations.
-LIBYUV_API
-void MaskCpuFlags(int enable_flags);
-
-// Low level cpuid for X86. Returns zeros on other CPUs.
-// eax is the info type that you want.
-// ecx is typically the cpu number, and should normally be zero.
-LIBYUV_API
-void CpuId(uint32 eax, uint32 ecx, uint32* cpu_info);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_CPU_ID_H_
diff --git a/third_party/libyuv/include/libyuv/macros_msa.h b/third_party/libyuv/include/libyuv/macros_msa.h
deleted file mode 100644
index 92ed21c385..0000000000
--- a/third_party/libyuv/include/libyuv/macros_msa.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- *  Copyright 2016 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_MACROS_MSA_H_
-#define INCLUDE_LIBYUV_MACROS_MSA_H_
-
-#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
-#include <stdint.h>
-#include <msa.h>
-
-#define LD_B(RTYPE, psrc) *((RTYPE*)(psrc))   /* NOLINT */
-#define LD_UB(...) LD_B(v16u8, __VA_ARGS__)
-
-#define ST_B(RTYPE, in, pdst) *((RTYPE*)(pdst)) = (in)  /* NOLINT */
-#define ST_UB(...) ST_B(v16u8, __VA_ARGS__)
-
-/* Description : Load two vectors with 16 'byte' sized elements
-   Arguments   : Inputs  - psrc, stride
-                 Outputs - out0, out1
-                 Return Type - as per RTYPE
-   Details     : Load 16 byte elements in 'out0' from (psrc)
-                 Load 16 byte elements in 'out1' from (psrc + stride)
-*/
-#define LD_B2(RTYPE, psrc, stride, out0, out1) {  \
-  out0 = LD_B(RTYPE, (psrc));                     \
-  out1 = LD_B(RTYPE, (psrc) + stride);            \
-}
-#define LD_UB2(...) LD_B2(v16u8, __VA_ARGS__)
-
-#define LD_B4(RTYPE, psrc, stride, out0, out1, out2, out3) {  \
-  LD_B2(RTYPE, (psrc), stride, out0, out1);                   \
-  LD_B2(RTYPE, (psrc) + 2 * stride , stride, out2, out3);     \
-}
-#define LD_UB4(...) LD_B4(v16u8, __VA_ARGS__)
-
-/* Description : Store two vectors with stride each having 16 'byte' sized
-                 elements
-   Arguments   : Inputs - in0, in1, pdst, stride
-   Details     : Store 16 byte elements from 'in0' to (pdst)
-                 Store 16 byte elements from 'in1' to (pdst + stride)
-*/
-#define ST_B2(RTYPE, in0, in1, pdst, stride) {  \
-  ST_B(RTYPE, in0, (pdst));                     \
-  ST_B(RTYPE, in1, (pdst) + stride);            \
-}
-#define ST_UB2(...) ST_B2(v16u8, __VA_ARGS__)
-#
-#define ST_B4(RTYPE, in0, in1, in2, in3, pdst, stride) {  \
-  ST_B2(RTYPE, in0, in1, (pdst), stride);                 \
-  ST_B2(RTYPE, in2, in3, (pdst) + 2 * stride, stride);    \
-}
-#define ST_UB4(...) ST_B4(v16u8, __VA_ARGS__)
-#
-/* Description : Shuffle byte vector elements as per mask vector
-   Arguments   : Inputs  - in0, in1, in2, in3, mask0, mask1
-                 Outputs - out0, out1
-                 Return Type - as per RTYPE
-   Details     : Byte elements from 'in0' & 'in1' are copied selectively to
-                 'out0' as per control vector 'mask0'
-*/
-#define VSHF_B2(RTYPE, in0, in1, in2, in3, mask0, mask1, out0, out1) {   \
-  out0 = (RTYPE) __msa_vshf_b((v16i8) mask0, (v16i8) in1, (v16i8) in0);  \
-  out1 = (RTYPE) __msa_vshf_b((v16i8) mask1, (v16i8) in3, (v16i8) in2);  \
-}
-#define VSHF_B2_UB(...) VSHF_B2(v16u8, __VA_ARGS__)
-
-#endif  /* !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) */
-
-#endif  // INCLUDE_LIBYUV_MACROS_MSA_H_
diff --git a/third_party/libyuv/include/libyuv/mjpeg_decoder.h b/third_party/libyuv/include/libyuv/mjpeg_decoder.h
deleted file mode 100644
index 4975bae5b7..0000000000
--- a/third_party/libyuv/include/libyuv/mjpeg_decoder.h
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_MJPEG_DECODER_H_
-#define INCLUDE_LIBYUV_MJPEG_DECODER_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-// NOTE: For a simplified public API use convert.h MJPGToI420().
-
-struct jpeg_common_struct;
-struct jpeg_decompress_struct;
-struct jpeg_source_mgr;
-
-namespace libyuv {
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-LIBYUV_BOOL ValidateJpeg(const uint8* sample, size_t sample_size);
-
-#ifdef __cplusplus
-}  // extern "C"
-#endif
-
-static const uint32 kUnknownDataSize = 0xFFFFFFFF;
-
-enum JpegSubsamplingType {
-  kJpegYuv420,
-  kJpegYuv422,
-  kJpegYuv411,
-  kJpegYuv444,
-  kJpegYuv400,
-  kJpegUnknown
-};
-
-struct Buffer {
-  const uint8* data;
-  int len;
-};
-
-struct BufferVector {
-  Buffer* buffers;
-  int len;
-  int pos;
-};
-
-struct SetJmpErrorMgr;
-
-// MJPEG ("Motion JPEG") is a pseudo-standard video codec where the frames are
-// simply independent JPEG images with a fixed huffman table (which is omitted).
-// It is rarely used in video transmission, but is common as a camera capture
-// format, especially in Logitech devices. This class implements a decoder for
-// MJPEG frames.
-//
-// See http://tools.ietf.org/html/rfc2435
-class LIBYUV_API MJpegDecoder {
- public:
-  typedef void (*CallbackFunction)(void* opaque,
-                                   const uint8* const* data,
-                                   const int* strides,
-                                   int rows);
-
-  static const int kColorSpaceUnknown;
-  static const int kColorSpaceGrayscale;
-  static const int kColorSpaceRgb;
-  static const int kColorSpaceYCbCr;
-  static const int kColorSpaceCMYK;
-  static const int kColorSpaceYCCK;
-
-  MJpegDecoder();
-  ~MJpegDecoder();
-
-  // Loads a new frame, reads its headers, and determines the uncompressed
-  // image format.
-  // Returns LIBYUV_TRUE if image looks valid and format is supported.
-  // If return value is LIBYUV_TRUE, then the values for all the following
-  // getters are populated.
-  // src_len is the size of the compressed mjpeg frame in bytes.
-  LIBYUV_BOOL LoadFrame(const uint8* src, size_t src_len);
-
-  // Returns width of the last loaded frame in pixels.
-  int GetWidth();
-
-  // Returns height of the last loaded frame in pixels.
-  int GetHeight();
-
-  // Returns format of the last loaded frame. The return value is one of the
-  // kColorSpace* constants.
-  int GetColorSpace();
-
-  // Number of color components in the color space.
-  int GetNumComponents();
-
-  // Sample factors of the n-th component.
-  int GetHorizSampFactor(int component);
-
-  int GetVertSampFactor(int component);
-
-  int GetHorizSubSampFactor(int component);
-
-  int GetVertSubSampFactor(int component);
-
-  // Public for testability.
-  int GetImageScanlinesPerImcuRow();
-
-  // Public for testability.
-  int GetComponentScanlinesPerImcuRow(int component);
-
-  // Width of a component in bytes.
-  int GetComponentWidth(int component);
-
-  // Height of a component.
-  int GetComponentHeight(int component);
-
-  // Width of a component in bytes with padding for DCTSIZE. Public for testing.
-  int GetComponentStride(int component);
-
-  // Size of a component in bytes.
-  int GetComponentSize(int component);
-
-  // Call this after LoadFrame() if you decide you don't want to decode it
-  // after all.
-  LIBYUV_BOOL UnloadFrame();
-
-  // Decodes the entire image into a one-buffer-per-color-component format.
-  // dst_width must match exactly. dst_height must be <= to image height; if
-  // less, the image is cropped. "planes" must have size equal to at least
-  // GetNumComponents() and they must point to non-overlapping buffers of size
-  // at least GetComponentSize(i). The pointers in planes are incremented
-  // to point to after the end of the written data.
-  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
-  LIBYUV_BOOL DecodeToBuffers(uint8** planes, int dst_width, int dst_height);
-
-  // Decodes the entire image and passes the data via repeated calls to a
-  // callback function. Each call will get the data for a whole number of
-  // image scanlines.
-  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
-  LIBYUV_BOOL DecodeToCallback(CallbackFunction fn, void* opaque,
-                        int dst_width, int dst_height);
-
-  // The helper function which recognizes the jpeg sub-sampling type.
-  static JpegSubsamplingType JpegSubsamplingTypeHelper(
-     int* subsample_x, int* subsample_y, int number_of_components);
-
- private:
-  void AllocOutputBuffers(int num_outbufs);
-  void DestroyOutputBuffers();
-
-  LIBYUV_BOOL StartDecode();
-  LIBYUV_BOOL FinishDecode();
-
-  void SetScanlinePointers(uint8** data);
-  LIBYUV_BOOL DecodeImcuRow();
-
-  int GetComponentScanlinePadding(int component);
-
-  // A buffer holding the input data for a frame.
-  Buffer buf_;
-  BufferVector buf_vec_;
-
-  jpeg_decompress_struct* decompress_struct_;
-  jpeg_source_mgr* source_mgr_;
-  SetJmpErrorMgr* error_mgr_;
-
-  // LIBYUV_TRUE iff at least one component has scanline padding. (i.e.,
-  // GetComponentScanlinePadding() != 0.)
-  LIBYUV_BOOL has_scanline_padding_;
-
-  // Temporaries used to point to scanline outputs.
-  int num_outbufs_;  // Outermost size of all arrays below.
-  uint8*** scanlines_;
-  int* scanlines_sizes_;
-  // Temporary buffer used for decoding when we can't decode directly to the
-  // output buffers. Large enough for just one iMCU row.
-  uint8** databuf_;
-  int* databuf_strides_;
-};
-
-}  // namespace libyuv
-
-#endif  //  __cplusplus
-#endif  // INCLUDE_LIBYUV_MJPEG_DECODER_H_
diff --git a/third_party/libyuv/include/libyuv/planar_functions.h b/third_party/libyuv/include/libyuv/planar_functions.h
deleted file mode 100644
index 1b57b29261..0000000000
--- a/third_party/libyuv/include/libyuv/planar_functions.h
+++ /dev/null
@@ -1,529 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
-#define INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
-
-#include "libyuv/basic_types.h"
-
-// TODO(fbarchard): Remove the following headers includes.
-#include "libyuv/convert.h"
-#include "libyuv/convert_argb.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Copy a plane of data.
-LIBYUV_API
-void CopyPlane(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-LIBYUV_API
-void CopyPlane_16(const uint16* src_y, int src_stride_y,
-                  uint16* dst_y, int dst_stride_y,
-                  int width, int height);
-
-// Set a plane of data to a 32 bit value.
-LIBYUV_API
-void SetPlane(uint8* dst_y, int dst_stride_y,
-              int width, int height,
-              uint32 value);
-
-// Split interleaved UV plane into separate U and V planes.
-LIBYUV_API
-void SplitUVPlane(const uint8* src_uv, int src_stride_uv,
-                  uint8* dst_u, int dst_stride_u,
-                  uint8* dst_v, int dst_stride_v,
-                  int width, int height);
-
-// Merge separate U and V planes into one interleaved UV plane.
-LIBYUV_API
-void MergeUVPlane(const uint8* src_u, int src_stride_u,
-                  const uint8* src_v, int src_stride_v,
-                  uint8* dst_uv, int dst_stride_uv,
-                  int width, int height);
-
-// Copy I400.  Supports inverting.
-LIBYUV_API
-int I400ToI400(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-#define J400ToJ400 I400ToI400
-
-// Copy I422 to I422.
-#define I422ToI422 I422Copy
-LIBYUV_API
-int I422Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Copy I444 to I444.
-#define I444ToI444 I444Copy
-LIBYUV_API
-int I444Copy(const uint8* src_y, int src_stride_y,
-             const uint8* src_u, int src_stride_u,
-             const uint8* src_v, int src_stride_v,
-             uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int width, int height);
-
-// Convert YUY2 to I422.
-LIBYUV_API
-int YUY2ToI422(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Convert UYVY to I422.
-LIBYUV_API
-int UYVYToI422(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-LIBYUV_API
-int YUY2ToNV12(const uint8* src_yuy2, int src_stride_yuy2,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-LIBYUV_API
-int UYVYToNV12(const uint8* src_uyvy, int src_stride_uyvy,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_uv, int dst_stride_uv,
-               int width, int height);
-
-// Convert I420 to I400. (calls CopyPlane ignoring u/v).
-LIBYUV_API
-int I420ToI400(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alias
-#define J420ToJ400 I420ToI400
-#define I420ToI420Mirror I420Mirror
-
-// I420 mirror.
-LIBYUV_API
-int I420Mirror(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int width, int height);
-
-// Alias
-#define I400ToI400Mirror I400Mirror
-
-// I400 mirror.  A single plane is mirrored horizontally.
-// Pass negative height to achieve 180 degree rotation.
-LIBYUV_API
-int I400Mirror(const uint8* src_y, int src_stride_y,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alias
-#define ARGBToARGBMirror ARGBMirror
-
-// ARGB mirror.
-LIBYUV_API
-int ARGBMirror(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Convert NV12 to RGB565.
-LIBYUV_API
-int NV12ToRGB565(const uint8* src_y, int src_stride_y,
-                 const uint8* src_uv, int src_stride_uv,
-                 uint8* dst_rgb565, int dst_stride_rgb565,
-                 int width, int height);
-
-// I422ToARGB is in convert_argb.h
-// Convert I422 to BGRA.
-LIBYUV_API
-int I422ToBGRA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_bgra, int dst_stride_bgra,
-               int width, int height);
-
-// Convert I422 to ABGR.
-LIBYUV_API
-int I422ToABGR(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_abgr, int dst_stride_abgr,
-               int width, int height);
-
-// Convert I422 to RGBA.
-LIBYUV_API
-int I422ToRGBA(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_rgba, int dst_stride_rgba,
-               int width, int height);
-
-// Alias
-#define RGB24ToRAW RAWToRGB24
-
-LIBYUV_API
-int RAWToRGB24(const uint8* src_raw, int src_stride_raw,
-               uint8* dst_rgb24, int dst_stride_rgb24,
-               int width, int height);
-
-// Draw a rectangle into I420.
-LIBYUV_API
-int I420Rect(uint8* dst_y, int dst_stride_y,
-             uint8* dst_u, int dst_stride_u,
-             uint8* dst_v, int dst_stride_v,
-             int x, int y, int width, int height,
-             int value_y, int value_u, int value_v);
-
-// Draw a rectangle into ARGB.
-LIBYUV_API
-int ARGBRect(uint8* dst_argb, int dst_stride_argb,
-             int x, int y, int width, int height, uint32 value);
-
-// Convert ARGB to gray scale ARGB.
-LIBYUV_API
-int ARGBGrayTo(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int width, int height);
-
-// Make a rectangle of ARGB gray scale.
-LIBYUV_API
-int ARGBGray(uint8* dst_argb, int dst_stride_argb,
-             int x, int y, int width, int height);
-
-// Make a rectangle of ARGB Sepia tone.
-LIBYUV_API
-int ARGBSepia(uint8* dst_argb, int dst_stride_argb,
-              int x, int y, int width, int height);
-
-// Apply a matrix rotation to each ARGB pixel.
-// matrix_argb is 4 signed ARGB values. -128 to 127 representing -2 to 2.
-// The first 4 coefficients apply to B, G, R, A and produce B of the output.
-// The next 4 coefficients apply to B, G, R, A and produce G of the output.
-// The next 4 coefficients apply to B, G, R, A and produce R of the output.
-// The last 4 coefficients apply to B, G, R, A and produce A of the output.
-LIBYUV_API
-int ARGBColorMatrix(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_argb, int dst_stride_argb,
-                    const int8* matrix_argb,
-                    int width, int height);
-
-// Deprecated. Use ARGBColorMatrix instead.
-// Apply a matrix rotation to each ARGB pixel.
-// matrix_argb is 3 signed ARGB values. -128 to 127 representing -1 to 1.
-// The first 4 coefficients apply to B, G, R, A and produce B of the output.
-// The next 4 coefficients apply to B, G, R, A and produce G of the output.
-// The last 4 coefficients apply to B, G, R, A and produce R of the output.
-LIBYUV_API
-int RGBColorMatrix(uint8* dst_argb, int dst_stride_argb,
-                   const int8* matrix_rgb,
-                   int x, int y, int width, int height);
-
-// Apply a color table each ARGB pixel.
-// Table contains 256 ARGB values.
-LIBYUV_API
-int ARGBColorTable(uint8* dst_argb, int dst_stride_argb,
-                   const uint8* table_argb,
-                   int x, int y, int width, int height);
-
-// Apply a color table each ARGB pixel but preserve destination alpha.
-// Table contains 256 ARGB values.
-LIBYUV_API
-int RGBColorTable(uint8* dst_argb, int dst_stride_argb,
-                  const uint8* table_argb,
-                  int x, int y, int width, int height);
-
-// Apply a luma/color table each ARGB pixel but preserve destination alpha.
-// Table contains 32768 values indexed by [Y][C] where 7 it 7 bit luma from
-// RGB (YJ style) and C is an 8 bit color component (R, G or B).
-LIBYUV_API
-int ARGBLumaColorTable(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_argb, int dst_stride_argb,
-                       const uint8* luma_rgb_table,
-                       int width, int height);
-
-// Apply a 3 term polynomial to ARGB values.
-// poly points to a 4x4 matrix.  The first row is constants.  The 2nd row is
-// coefficients for b, g, r and a.  The 3rd row is coefficients for b squared,
-// g squared, r squared and a squared.  The 4rd row is coefficients for b to
-// the 3, g to the 3, r to the 3 and a to the 3.  The values are summed and
-// result clamped to 0 to 255.
-// A polynomial approximation can be dirived using software such as 'R'.
-
-LIBYUV_API
-int ARGBPolynomial(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_argb, int dst_stride_argb,
-                   const float* poly,
-                   int width, int height);
-
-// Convert plane of 16 bit shorts to half floats.
-// Source values are multiplied by scale before storing as half float.
-LIBYUV_API
-int HalfFloatPlane(const uint16* src_y, int src_stride_y,
-                   uint16* dst_y, int dst_stride_y,
-                   float scale,
-                   int width, int height);
-
-// Quantize a rectangle of ARGB. Alpha unaffected.
-// scale is a 16 bit fractional fixed point scaler between 0 and 65535.
-// interval_size should be a value between 1 and 255.
-// interval_offset should be a value between 0 and 255.
-LIBYUV_API
-int ARGBQuantize(uint8* dst_argb, int dst_stride_argb,
-                 int scale, int interval_size, int interval_offset,
-                 int x, int y, int width, int height);
-
-// Copy ARGB to ARGB.
-LIBYUV_API
-int ARGBCopy(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int width, int height);
-
-// Copy Alpha channel of ARGB to alpha of ARGB.
-LIBYUV_API
-int ARGBCopyAlpha(const uint8* src_argb, int src_stride_argb,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int width, int height);
-
-// Extract the alpha channel from ARGB.
-LIBYUV_API
-int ARGBExtractAlpha(const uint8* src_argb, int src_stride_argb,
-                     uint8* dst_a, int dst_stride_a,
-                     int width, int height);
-
-// Copy Y channel to Alpha of ARGB.
-LIBYUV_API
-int ARGBCopyYToAlpha(const uint8* src_y, int src_stride_y,
-                     uint8* dst_argb, int dst_stride_argb,
-                     int width, int height);
-
-typedef void (*ARGBBlendRow)(const uint8* src_argb0, const uint8* src_argb1,
-                             uint8* dst_argb, int width);
-
-// Get function to Alpha Blend ARGB pixels and store to destination.
-LIBYUV_API
-ARGBBlendRow GetARGBBlend();
-
-// Alpha Blend ARGB images and store to destination.
-// Source is pre-multiplied by alpha using ARGBAttenuate.
-// Alpha of destination is set to 255.
-LIBYUV_API
-int ARGBBlend(const uint8* src_argb0, int src_stride_argb0,
-              const uint8* src_argb1, int src_stride_argb1,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// Alpha Blend plane and store to destination.
-// Source is not pre-multiplied by alpha.
-LIBYUV_API
-int BlendPlane(const uint8* src_y0, int src_stride_y0,
-               const uint8* src_y1, int src_stride_y1,
-               const uint8* alpha, int alpha_stride,
-               uint8* dst_y, int dst_stride_y,
-               int width, int height);
-
-// Alpha Blend YUV images and store to destination.
-// Source is not pre-multiplied by alpha.
-// Alpha is full width x height and subsampled to half size to apply to UV.
-LIBYUV_API
-int I420Blend(const uint8* src_y0, int src_stride_y0,
-              const uint8* src_u0, int src_stride_u0,
-              const uint8* src_v0, int src_stride_v0,
-              const uint8* src_y1, int src_stride_y1,
-              const uint8* src_u1, int src_stride_u1,
-              const uint8* src_v1, int src_stride_v1,
-              const uint8* alpha, int alpha_stride,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int width, int height);
-
-// Multiply ARGB image by ARGB image. Shifted down by 8. Saturates to 255.
-LIBYUV_API
-int ARGBMultiply(const uint8* src_argb0, int src_stride_argb0,
-                 const uint8* src_argb1, int src_stride_argb1,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// Add ARGB image with ARGB image. Saturates to 255.
-LIBYUV_API
-int ARGBAdd(const uint8* src_argb0, int src_stride_argb0,
-            const uint8* src_argb1, int src_stride_argb1,
-            uint8* dst_argb, int dst_stride_argb,
-            int width, int height);
-
-// Subtract ARGB image (argb1) from ARGB image (argb0). Saturates to 0.
-LIBYUV_API
-int ARGBSubtract(const uint8* src_argb0, int src_stride_argb0,
-                 const uint8* src_argb1, int src_stride_argb1,
-                 uint8* dst_argb, int dst_stride_argb,
-                 int width, int height);
-
-// Convert I422 to YUY2.
-LIBYUV_API
-int I422ToYUY2(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-// Convert I422 to UYVY.
-LIBYUV_API
-int I422ToUYVY(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_frame, int dst_stride_frame,
-               int width, int height);
-
-// Convert unattentuated ARGB to preattenuated ARGB.
-LIBYUV_API
-int ARGBAttenuate(const uint8* src_argb, int src_stride_argb,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int width, int height);
-
-// Convert preattentuated ARGB to unattenuated ARGB.
-LIBYUV_API
-int ARGBUnattenuate(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height);
-
-// Internal function - do not call directly.
-// Computes table of cumulative sum for image where the value is the sum
-// of all values above and to the left of the entry. Used by ARGBBlur.
-LIBYUV_API
-int ARGBComputeCumulativeSum(const uint8* src_argb, int src_stride_argb,
-                             int32* dst_cumsum, int dst_stride32_cumsum,
-                             int width, int height);
-
-// Blur ARGB image.
-// dst_cumsum table of width * (height + 1) * 16 bytes aligned to
-//   16 byte boundary.
-// dst_stride32_cumsum is number of ints in a row (width * 4).
-// radius is number of pixels around the center.  e.g. 1 = 3x3. 2=5x5.
-// Blur is optimized for radius of 5 (11x11) or less.
-LIBYUV_API
-int ARGBBlur(const uint8* src_argb, int src_stride_argb,
-             uint8* dst_argb, int dst_stride_argb,
-             int32* dst_cumsum, int dst_stride32_cumsum,
-             int width, int height, int radius);
-
-// Multiply ARGB image by ARGB value.
-LIBYUV_API
-int ARGBShade(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height, uint32 value);
-
-// Interpolate between two images using specified amount of interpolation
-// (0 to 255) and store to destination.
-// 'interpolation' is specified as 8 bit fraction where 0 means 100% src0
-// and 255 means 1% src0 and 99% src1.
-LIBYUV_API
-int InterpolatePlane(const uint8* src0, int src_stride0,
-                     const uint8* src1, int src_stride1,
-                     uint8* dst, int dst_stride,
-                     int width, int height, int interpolation);
-
-// Interpolate between two ARGB images using specified amount of interpolation
-// Internally calls InterpolatePlane with width * 4 (bpp).
-LIBYUV_API
-int ARGBInterpolate(const uint8* src_argb0, int src_stride_argb0,
-                    const uint8* src_argb1, int src_stride_argb1,
-                    uint8* dst_argb, int dst_stride_argb,
-                    int width, int height, int interpolation);
-
-// Interpolate between two YUV images using specified amount of interpolation
-// Internally calls InterpolatePlane on each plane where the U and V planes
-// are half width and half height.
-LIBYUV_API
-int I420Interpolate(const uint8* src0_y, int src0_stride_y,
-                    const uint8* src0_u, int src0_stride_u,
-                    const uint8* src0_v, int src0_stride_v,
-                    const uint8* src1_y, int src1_stride_y,
-                    const uint8* src1_u, int src1_stride_u,
-                    const uint8* src1_v, int src1_stride_v,
-                    uint8* dst_y, int dst_stride_y,
-                    uint8* dst_u, int dst_stride_u,
-                    uint8* dst_v, int dst_stride_v,
-                    int width, int height, int interpolation);
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-#define HAS_ARGBAFFINEROW_SSE2
-#endif
-
-// Row function for copying pixels from a source with a slope to a row
-// of destination. Useful for scaling, rotation, mirror, texture mapping.
-LIBYUV_API
-void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
-                     uint8* dst_argb, const float* uv_dudv, int width);
-LIBYUV_API
-void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
-                        uint8* dst_argb, const float* uv_dudv, int width);
-
-// Shuffle ARGB channel order.  e.g. BGRA to ARGB.
-// shuffler is 16 bytes and must be aligned.
-LIBYUV_API
-int ARGBShuffle(const uint8* src_bgra, int src_stride_bgra,
-                uint8* dst_argb, int dst_stride_argb,
-                const uint8* shuffler, int width, int height);
-
-// Sobel ARGB effect with planar output.
-LIBYUV_API
-int ARGBSobelToPlane(const uint8* src_argb, int src_stride_argb,
-                     uint8* dst_y, int dst_stride_y,
-                     int width, int height);
-
-// Sobel ARGB effect.
-LIBYUV_API
-int ARGBSobel(const uint8* src_argb, int src_stride_argb,
-              uint8* dst_argb, int dst_stride_argb,
-              int width, int height);
-
-// Sobel ARGB effect w/ Sobel X, Sobel, Sobel Y in ARGB.
-LIBYUV_API
-int ARGBSobelXY(const uint8* src_argb, int src_stride_argb,
-                uint8* dst_argb, int dst_stride_argb,
-                int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
diff --git a/third_party/libyuv/include/libyuv/rotate.h b/third_party/libyuv/include/libyuv/rotate.h
deleted file mode 100644
index 8a2da9a5aa..0000000000
--- a/third_party/libyuv/include/libyuv/rotate.h
+++ /dev/null
@@ -1,117 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_H_
-#define INCLUDE_LIBYUV_ROTATE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Supported rotation.
-typedef enum RotationMode {
-  kRotate0 = 0,  // No rotation.
-  kRotate90 = 90,  // Rotate 90 degrees clockwise.
-  kRotate180 = 180,  // Rotate 180 degrees.
-  kRotate270 = 270,  // Rotate 270 degrees clockwise.
-
-  // Deprecated.
-  kRotateNone = 0,
-  kRotateClockwise = 90,
-  kRotateCounterClockwise = 270,
-} RotationModeEnum;
-
-// Rotate I420 frame.
-LIBYUV_API
-int I420Rotate(const uint8* src_y, int src_stride_y,
-               const uint8* src_u, int src_stride_u,
-               const uint8* src_v, int src_stride_v,
-               uint8* dst_y, int dst_stride_y,
-               uint8* dst_u, int dst_stride_u,
-               uint8* dst_v, int dst_stride_v,
-               int src_width, int src_height, enum RotationMode mode);
-
-// Rotate NV12 input and store in I420.
-LIBYUV_API
-int NV12ToI420Rotate(const uint8* src_y, int src_stride_y,
-                     const uint8* src_uv, int src_stride_uv,
-                     uint8* dst_y, int dst_stride_y,
-                     uint8* dst_u, int dst_stride_u,
-                     uint8* dst_v, int dst_stride_v,
-                     int src_width, int src_height, enum RotationMode mode);
-
-// Rotate a plane by 0, 90, 180, or 270.
-LIBYUV_API
-int RotatePlane(const uint8* src, int src_stride,
-                uint8* dst, int dst_stride,
-                int src_width, int src_height, enum RotationMode mode);
-
-// Rotate planes by 90, 180, 270. Deprecated.
-LIBYUV_API
-void RotatePlane90(const uint8* src, int src_stride,
-                   uint8* dst, int dst_stride,
-                   int width, int height);
-
-LIBYUV_API
-void RotatePlane180(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void RotatePlane270(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void RotateUV90(const uint8* src, int src_stride,
-                uint8* dst_a, int dst_stride_a,
-                uint8* dst_b, int dst_stride_b,
-                int width, int height);
-
-// Rotations for when U and V are interleaved.
-// These functions take one input pointer and
-// split the data into two buffers while
-// rotating them. Deprecated.
-LIBYUV_API
-void RotateUV180(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-LIBYUV_API
-void RotateUV270(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-// The 90 and 270 functions are based on transposes.
-// Doing a transpose with reversing the read/write
-// order will result in a rotation by +- 90 degrees.
-// Deprecated.
-LIBYUV_API
-void TransposePlane(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride,
-                    int width, int height);
-
-LIBYUV_API
-void TransposeUV(const uint8* src, int src_stride,
-                 uint8* dst_a, int dst_stride_a,
-                 uint8* dst_b, int dst_stride_b,
-                 int width, int height);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_argb.h b/third_party/libyuv/include/libyuv/rotate_argb.h
deleted file mode 100644
index 21fe7e1807..0000000000
--- a/third_party/libyuv/include/libyuv/rotate_argb.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_ARGB_H_
-#define INCLUDE_LIBYUV_ROTATE_ARGB_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/rotate.h"  // For RotationMode.
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Rotate ARGB frame
-LIBYUV_API
-int ARGBRotate(const uint8* src_argb, int src_stride_argb,
-               uint8* dst_argb, int dst_stride_argb,
-               int src_width, int src_height, enum RotationMode mode);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_row.h b/third_party/libyuv/include/libyuv/rotate_row.h
deleted file mode 100644
index 6abd201677..0000000000
--- a/third_party/libyuv/include/libyuv/rotate_row.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROTATE_ROW_H_
-#define INCLUDE_LIBYUV_ROTATE_ROW_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// The following are available for Visual C and clangcl 32 bit:
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86)
-#define HAS_TRANSPOSEWX8_SSSE3
-#define HAS_TRANSPOSEUVWX8_SSE2
-#endif
-
-// The following are available for GCC 32 or 64 bit but not NaCL for 64 bit:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__i386__) || (defined(__x86_64__) && !defined(__native_client__)))
-#define HAS_TRANSPOSEWX8_SSSE3
-#endif
-
-// The following are available for 64 bit GCC but not NaCL:
-#if !defined(LIBYUV_DISABLE_X86) && !defined(__native_client__) && \
-    defined(__x86_64__)
-#define HAS_TRANSPOSEWX8_FAST_SSSE3
-#define HAS_TRANSPOSEUVWX8_SSE2
-#endif
-
-#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_TRANSPOSEWX8_NEON
-#define HAS_TRANSPOSEUVWX8_NEON
-#endif
-
-#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
-    defined(__mips__) && \
-    defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_TRANSPOSEWX8_DSPR2
-#define HAS_TRANSPOSEUVWX8_DSPR2
-#endif  // defined(__mips__)
-
-void TransposeWxH_C(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride, int width, int height);
-
-void TransposeWx8_C(const uint8* src, int src_stride,
-                    uint8* dst, int dst_stride, int width);
-void TransposeWx8_NEON(const uint8* src, int src_stride,
-                       uint8* dst, int dst_stride, int width);
-void TransposeWx8_SSSE3(const uint8* src, int src_stride,
-                        uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_SSSE3(const uint8* src, int src_stride,
-                             uint8* dst, int dst_stride, int width);
-void TransposeWx8_DSPR2(const uint8* src, int src_stride,
-                        uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_DSPR2(const uint8* src, int src_stride,
-                             uint8* dst, int dst_stride, int width);
-
-void TransposeWx8_Any_NEON(const uint8* src, int src_stride,
-                           uint8* dst, int dst_stride, int width);
-void TransposeWx8_Any_SSSE3(const uint8* src, int src_stride,
-                            uint8* dst, int dst_stride, int width);
-void TransposeWx8_Fast_Any_SSSE3(const uint8* src, int src_stride,
-                                 uint8* dst, int dst_stride, int width);
-void TransposeWx8_Any_DSPR2(const uint8* src, int src_stride,
-                            uint8* dst, int dst_stride, int width);
-
-void TransposeUVWxH_C(const uint8* src, int src_stride,
-                      uint8* dst_a, int dst_stride_a,
-                      uint8* dst_b, int dst_stride_b,
-                      int width, int height);
-
-void TransposeUVWx8_C(const uint8* src, int src_stride,
-                      uint8* dst_a, int dst_stride_a,
-                      uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_SSE2(const uint8* src, int src_stride,
-                         uint8* dst_a, int dst_stride_a,
-                         uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_NEON(const uint8* src, int src_stride,
-                         uint8* dst_a, int dst_stride_a,
-                         uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_DSPR2(const uint8* src, int src_stride,
-                          uint8* dst_a, int dst_stride_a,
-                          uint8* dst_b, int dst_stride_b, int width);
-
-void TransposeUVWx8_Any_SSE2(const uint8* src, int src_stride,
-                             uint8* dst_a, int dst_stride_a,
-                             uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_Any_NEON(const uint8* src, int src_stride,
-                             uint8* dst_a, int dst_stride_a,
-                             uint8* dst_b, int dst_stride_b, int width);
-void TransposeUVWx8_Any_DSPR2(const uint8* src, int src_stride,
-                              uint8* dst_a, int dst_stride_a,
-                              uint8* dst_b, int dst_stride_b, int width);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROTATE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/row.h b/third_party/libyuv/include/libyuv/row.h
deleted file mode 100644
index b810221ec7..0000000000
--- a/third_party/libyuv/include/libyuv/row.h
+++ /dev/null
@@ -1,1963 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_ROW_H_
-#define INCLUDE_LIBYUV_ROW_H_
-
-#include <stdlib.h>  // For malloc.
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#define IS_ALIGNED(p, a) (!((uintptr_t)(p) & ((a) - 1)))
-
-#define align_buffer_64(var, size)                                             \
-  uint8* var##_mem = (uint8*)(malloc((size) + 63));               /* NOLINT */ \
-  uint8* var = (uint8*)(((intptr_t)(var##_mem) + 63) & ~63)       /* NOLINT */
-
-#define free_aligned_buffer_64(var) \
-  free(var##_mem);  \
-  var = 0
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-// True if compiling for SSSE3 as a requirement.
-#if defined(__SSSE3__) || (defined(_M_IX86_FP) && (_M_IX86_FP >= 3))
-#define LIBYUV_SSSE3_ONLY
-#endif
-
-#if defined(__native_client__)
-#define LIBYUV_DISABLE_NEON
-#endif
-// clang >= 3.5.0 required for Arm64.
-#if defined(__clang__) && defined(__aarch64__) && !defined(LIBYUV_DISABLE_NEON)
-#if (__clang_major__ < 3) || (__clang_major__ == 3 && (__clang_minor__ < 5))
-#define LIBYUV_DISABLE_NEON
-#endif  // clang >= 3.5
-#endif  // __clang__
-
-// GCC >= 4.7.0 required for AVX2.
-#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
-#define GCC_HAS_AVX2 1
-#endif  // GNUC >= 4.7
-#endif  // __GNUC__
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-// Conversions:
-#define HAS_ABGRTOUVROW_SSSE3
-#define HAS_ABGRTOYROW_SSSE3
-#define HAS_ARGB1555TOARGBROW_SSE2
-#define HAS_ARGB4444TOARGBROW_SSE2
-#define HAS_ARGBSETROW_X86
-#define HAS_ARGBSHUFFLEROW_SSE2
-#define HAS_ARGBSHUFFLEROW_SSSE3
-#define HAS_ARGBTOARGB1555ROW_SSE2
-#define HAS_ARGBTOARGB4444ROW_SSE2
-#define HAS_ARGBTORAWROW_SSSE3
-#define HAS_ARGBTORGB24ROW_SSSE3
-#define HAS_ARGBTORGB565DITHERROW_SSE2
-#define HAS_ARGBTORGB565ROW_SSE2
-#define HAS_ARGBTOUV444ROW_SSSE3
-#define HAS_ARGBTOUVJROW_SSSE3
-#define HAS_ARGBTOUVROW_SSSE3
-#define HAS_ARGBTOYJROW_SSSE3
-#define HAS_ARGBTOYROW_SSSE3
-#define HAS_ARGBEXTRACTALPHAROW_SSE2
-#define HAS_BGRATOUVROW_SSSE3
-#define HAS_BGRATOYROW_SSSE3
-#define HAS_COPYROW_ERMS
-#define HAS_COPYROW_SSE2
-#define HAS_H422TOARGBROW_SSSE3
-#define HAS_I400TOARGBROW_SSE2
-#define HAS_I422TOARGB1555ROW_SSSE3
-#define HAS_I422TOARGB4444ROW_SSSE3
-#define HAS_I422TOARGBROW_SSSE3
-#define HAS_I422TORGB24ROW_SSSE3
-#define HAS_I422TORGB565ROW_SSSE3
-#define HAS_I422TORGBAROW_SSSE3
-#define HAS_I422TOUYVYROW_SSE2
-#define HAS_I422TOYUY2ROW_SSE2
-#define HAS_I444TOARGBROW_SSSE3
-#define HAS_J400TOARGBROW_SSE2
-#define HAS_J422TOARGBROW_SSSE3
-#define HAS_MERGEUVROW_SSE2
-#define HAS_MIRRORROW_SSSE3
-#define HAS_MIRRORUVROW_SSSE3
-#define HAS_NV12TOARGBROW_SSSE3
-#define HAS_NV12TORGB565ROW_SSSE3
-#define HAS_NV21TOARGBROW_SSSE3
-#define HAS_RAWTOARGBROW_SSSE3
-#define HAS_RAWTORGB24ROW_SSSE3
-#define HAS_RAWTOYROW_SSSE3
-#define HAS_RGB24TOARGBROW_SSSE3
-#define HAS_RGB24TOYROW_SSSE3
-#define HAS_RGB565TOARGBROW_SSE2
-#define HAS_RGBATOUVROW_SSSE3
-#define HAS_RGBATOYROW_SSSE3
-#define HAS_SETROW_ERMS
-#define HAS_SETROW_X86
-#define HAS_SPLITUVROW_SSE2
-#define HAS_UYVYTOARGBROW_SSSE3
-#define HAS_UYVYTOUV422ROW_SSE2
-#define HAS_UYVYTOUVROW_SSE2
-#define HAS_UYVYTOYROW_SSE2
-#define HAS_YUY2TOARGBROW_SSSE3
-#define HAS_YUY2TOUV422ROW_SSE2
-#define HAS_YUY2TOUVROW_SSE2
-#define HAS_YUY2TOYROW_SSE2
-
-// Effects:
-#define HAS_ARGBADDROW_SSE2
-#define HAS_ARGBAFFINEROW_SSE2
-#define HAS_ARGBATTENUATEROW_SSSE3
-#define HAS_ARGBBLENDROW_SSSE3
-#define HAS_ARGBCOLORMATRIXROW_SSSE3
-#define HAS_ARGBCOLORTABLEROW_X86
-#define HAS_ARGBCOPYALPHAROW_SSE2
-#define HAS_ARGBCOPYYTOALPHAROW_SSE2
-#define HAS_ARGBGRAYROW_SSSE3
-#define HAS_ARGBLUMACOLORTABLEROW_SSSE3
-#define HAS_ARGBMIRRORROW_SSE2
-#define HAS_ARGBMULTIPLYROW_SSE2
-#define HAS_ARGBPOLYNOMIALROW_SSE2
-#define HAS_ARGBQUANTIZEROW_SSE2
-#define HAS_ARGBSEPIAROW_SSSE3
-#define HAS_ARGBSHADEROW_SSE2
-#define HAS_ARGBSUBTRACTROW_SSE2
-#define HAS_ARGBUNATTENUATEROW_SSE2
-#define HAS_BLENDPLANEROW_SSSE3
-#define HAS_COMPUTECUMULATIVESUMROW_SSE2
-#define HAS_CUMULATIVESUMTOAVERAGEROW_SSE2
-#define HAS_INTERPOLATEROW_SSSE3
-#define HAS_RGBCOLORTABLEROW_X86
-#define HAS_SOBELROW_SSE2
-#define HAS_SOBELTOPLANEROW_SSE2
-#define HAS_SOBELXROW_SSE2
-#define HAS_SOBELXYROW_SSE2
-#define HAS_SOBELYROW_SSE2
-
-// The following functions fail on gcc/clang 32 bit with fpic and framepointer.
-// caveat: clangcl uses row_win.cc which works.
-#if defined(NDEBUG) || !(defined(_DEBUG) && defined(__i386__)) || \
-    !defined(__i386__) || defined(_MSC_VER)
-// TODO(fbarchard): fix build error on x86 debug
-// https://code.google.com/p/libyuv/issues/detail?id=524
-#define HAS_I411TOARGBROW_SSSE3
-// TODO(fbarchard): fix build error on android_full_debug=1
-// https://code.google.com/p/libyuv/issues/detail?id=517
-#define HAS_I422ALPHATOARGBROW_SSSE3
-#endif
-#endif
-
-// The following are available on all x86 platforms, but
-// require VS2012, clang 3.4 or gcc 4.7.
-// The code supports NaCL but requires a new compiler and validator.
-#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
-    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
-#define HAS_ARGBCOPYALPHAROW_AVX2
-#define HAS_ARGBCOPYYTOALPHAROW_AVX2
-#define HAS_ARGBMIRRORROW_AVX2
-#define HAS_ARGBPOLYNOMIALROW_AVX2
-#define HAS_ARGBSHUFFLEROW_AVX2
-#define HAS_ARGBTORGB565DITHERROW_AVX2
-#define HAS_ARGBTOUVJROW_AVX2
-#define HAS_ARGBTOUVROW_AVX2
-#define HAS_ARGBTOYJROW_AVX2
-#define HAS_ARGBTOYROW_AVX2
-#define HAS_COPYROW_AVX
-#define HAS_H422TOARGBROW_AVX2
-#define HAS_I400TOARGBROW_AVX2
-#if !(defined(_DEBUG) && defined(__i386__))
-// TODO(fbarchard): fix build error on android_full_debug=1
-// https://code.google.com/p/libyuv/issues/detail?id=517
-#define HAS_I422ALPHATOARGBROW_AVX2
-#endif
-#define HAS_I411TOARGBROW_AVX2
-#define HAS_I422TOARGB1555ROW_AVX2
-#define HAS_I422TOARGB4444ROW_AVX2
-#define HAS_I422TOARGBROW_AVX2
-#define HAS_I422TORGB24ROW_AVX2
-#define HAS_I422TORGB565ROW_AVX2
-#define HAS_I422TORGBAROW_AVX2
-#define HAS_I444TOARGBROW_AVX2
-#define HAS_INTERPOLATEROW_AVX2
-#define HAS_J422TOARGBROW_AVX2
-#define HAS_MERGEUVROW_AVX2
-#define HAS_MIRRORROW_AVX2
-#define HAS_NV12TOARGBROW_AVX2
-#define HAS_NV12TORGB565ROW_AVX2
-#define HAS_NV21TOARGBROW_AVX2
-#define HAS_SPLITUVROW_AVX2
-#define HAS_UYVYTOARGBROW_AVX2
-#define HAS_UYVYTOUV422ROW_AVX2
-#define HAS_UYVYTOUVROW_AVX2
-#define HAS_UYVYTOYROW_AVX2
-#define HAS_YUY2TOARGBROW_AVX2
-#define HAS_YUY2TOUV422ROW_AVX2
-#define HAS_YUY2TOUVROW_AVX2
-#define HAS_YUY2TOYROW_AVX2
-#define HAS_HALFFLOATROW_AVX2
-
-// Effects:
-#define HAS_ARGBADDROW_AVX2
-#define HAS_ARGBATTENUATEROW_AVX2
-#define HAS_ARGBMULTIPLYROW_AVX2
-#define HAS_ARGBSUBTRACTROW_AVX2
-#define HAS_ARGBUNATTENUATEROW_AVX2
-#define HAS_BLENDPLANEROW_AVX2
-#endif
-
-// The following are available for AVX2 Visual C and clangcl 32 bit:
-// TODO(fbarchard): Port to gcc.
-#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
-    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
-#define HAS_ARGB1555TOARGBROW_AVX2
-#define HAS_ARGB4444TOARGBROW_AVX2
-#define HAS_ARGBTOARGB1555ROW_AVX2
-#define HAS_ARGBTOARGB4444ROW_AVX2
-#define HAS_ARGBTORGB565ROW_AVX2
-#define HAS_J400TOARGBROW_AVX2
-#define HAS_RGB565TOARGBROW_AVX2
-#endif
-
-// The following are also available on x64 Visual C.
-#if !defined(LIBYUV_DISABLE_X86) && defined(_MSC_VER) && defined(_M_X64) && \
-    (!defined(__clang__) || defined(__SSSE3__))
-#define HAS_I422ALPHATOARGBROW_SSSE3
-#define HAS_I422TOARGBROW_SSSE3
-#endif
-
-// The following are available on gcc x86 platforms:
-// TODO(fbarchard): Port to Visual C.
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(__x86_64__) || (defined(__i386__) && !defined(_MSC_VER)))
-#define HAS_HALFFLOATROW_SSE2
-#endif
-
-// The following are available on Neon platforms:
-#if !defined(LIBYUV_DISABLE_NEON) && \
-    (defined(__aarch64__) || defined(__ARM_NEON__) || defined(LIBYUV_NEON))
-#define HAS_ABGRTOUVROW_NEON
-#define HAS_ABGRTOYROW_NEON
-#define HAS_ARGB1555TOARGBROW_NEON
-#define HAS_ARGB1555TOUVROW_NEON
-#define HAS_ARGB1555TOYROW_NEON
-#define HAS_ARGB4444TOARGBROW_NEON
-#define HAS_ARGB4444TOUVROW_NEON
-#define HAS_ARGB4444TOYROW_NEON
-#define HAS_ARGBSETROW_NEON
-#define HAS_ARGBTOARGB1555ROW_NEON
-#define HAS_ARGBTOARGB4444ROW_NEON
-#define HAS_ARGBTORAWROW_NEON
-#define HAS_ARGBTORGB24ROW_NEON
-#define HAS_ARGBTORGB565DITHERROW_NEON
-#define HAS_ARGBTORGB565ROW_NEON
-#define HAS_ARGBTOUV411ROW_NEON
-#define HAS_ARGBTOUV444ROW_NEON
-#define HAS_ARGBTOUVJROW_NEON
-#define HAS_ARGBTOUVROW_NEON
-#define HAS_ARGBTOYJROW_NEON
-#define HAS_ARGBTOYROW_NEON
-#define HAS_ARGBEXTRACTALPHAROW_NEON
-#define HAS_BGRATOUVROW_NEON
-#define HAS_BGRATOYROW_NEON
-#define HAS_COPYROW_NEON
-#define HAS_I400TOARGBROW_NEON
-#define HAS_I411TOARGBROW_NEON
-#define HAS_I422ALPHATOARGBROW_NEON
-#define HAS_I422TOARGB1555ROW_NEON
-#define HAS_I422TOARGB4444ROW_NEON
-#define HAS_I422TOARGBROW_NEON
-#define HAS_I422TORGB24ROW_NEON
-#define HAS_I422TORGB565ROW_NEON
-#define HAS_I422TORGBAROW_NEON
-#define HAS_I422TOUYVYROW_NEON
-#define HAS_I422TOYUY2ROW_NEON
-#define HAS_I444TOARGBROW_NEON
-#define HAS_J400TOARGBROW_NEON
-#define HAS_MERGEUVROW_NEON
-#define HAS_MIRRORROW_NEON
-#define HAS_MIRRORUVROW_NEON
-#define HAS_NV12TOARGBROW_NEON
-#define HAS_NV12TORGB565ROW_NEON
-#define HAS_NV21TOARGBROW_NEON
-#define HAS_RAWTOARGBROW_NEON
-#define HAS_RAWTORGB24ROW_NEON
-#define HAS_RAWTOUVROW_NEON
-#define HAS_RAWTOYROW_NEON
-#define HAS_RGB24TOARGBROW_NEON
-#define HAS_RGB24TOUVROW_NEON
-#define HAS_RGB24TOYROW_NEON
-#define HAS_RGB565TOARGBROW_NEON
-#define HAS_RGB565TOUVROW_NEON
-#define HAS_RGB565TOYROW_NEON
-#define HAS_RGBATOUVROW_NEON
-#define HAS_RGBATOYROW_NEON
-#define HAS_SETROW_NEON
-#define HAS_SPLITUVROW_NEON
-#define HAS_UYVYTOARGBROW_NEON
-#define HAS_UYVYTOUV422ROW_NEON
-#define HAS_UYVYTOUVROW_NEON
-#define HAS_UYVYTOYROW_NEON
-#define HAS_YUY2TOARGBROW_NEON
-#define HAS_YUY2TOUV422ROW_NEON
-#define HAS_YUY2TOUVROW_NEON
-#define HAS_YUY2TOYROW_NEON
-
-// Effects:
-#define HAS_ARGBADDROW_NEON
-#define HAS_ARGBATTENUATEROW_NEON
-#define HAS_ARGBBLENDROW_NEON
-#define HAS_ARGBCOLORMATRIXROW_NEON
-#define HAS_ARGBGRAYROW_NEON
-#define HAS_ARGBMIRRORROW_NEON
-#define HAS_ARGBMULTIPLYROW_NEON
-#define HAS_ARGBQUANTIZEROW_NEON
-#define HAS_ARGBSEPIAROW_NEON
-#define HAS_ARGBSHADEROW_NEON
-#define HAS_ARGBSHUFFLEROW_NEON
-#define HAS_ARGBSUBTRACTROW_NEON
-#define HAS_INTERPOLATEROW_NEON
-#define HAS_SOBELROW_NEON
-#define HAS_SOBELTOPLANEROW_NEON
-#define HAS_SOBELXROW_NEON
-#define HAS_SOBELXYROW_NEON
-#define HAS_SOBELYROW_NEON
-#endif
-
-// The following are available on Mips platforms:
-#if !defined(LIBYUV_DISABLE_MIPS) && defined(__mips__) && \
-    (_MIPS_SIM == _MIPS_SIM_ABI32) && (__mips_isa_rev < 6)
-#define HAS_COPYROW_MIPS
-#if defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_I422TOARGBROW_DSPR2
-#define HAS_INTERPOLATEROW_DSPR2
-#define HAS_MIRRORROW_DSPR2
-#define HAS_MIRRORUVROW_DSPR2
-#define HAS_SPLITUVROW_DSPR2
-#endif
-#endif
-
-#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
-#define HAS_MIRRORROW_MSA
-#define HAS_ARGBMIRRORROW_MSA
-#endif
-
-#if defined(_MSC_VER) && !defined(__CLR_VER) && !defined(__clang__)
-#if defined(VISUALC_HAS_AVX2)
-#define SIMD_ALIGNED(var) __declspec(align(32)) var
-#else
-#define SIMD_ALIGNED(var) __declspec(align(16)) var
-#endif
-typedef __declspec(align(16)) int16 vec16[8];
-typedef __declspec(align(16)) int32 vec32[4];
-typedef __declspec(align(16)) int8 vec8[16];
-typedef __declspec(align(16)) uint16 uvec16[8];
-typedef __declspec(align(16)) uint32 uvec32[4];
-typedef __declspec(align(16)) uint8 uvec8[16];
-typedef __declspec(align(32)) int16 lvec16[16];
-typedef __declspec(align(32)) int32 lvec32[8];
-typedef __declspec(align(32)) int8 lvec8[32];
-typedef __declspec(align(32)) uint16 ulvec16[16];
-typedef __declspec(align(32)) uint32 ulvec32[8];
-typedef __declspec(align(32)) uint8 ulvec8[32];
-#elif !defined(__pnacl__) && (defined(__GNUC__) || defined(__clang__))
-// Caveat GCC 4.2 to 4.7 have a known issue using vectors with const.
-#if defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2)
-#define SIMD_ALIGNED(var) var __attribute__((aligned(32)))
-#else
-#define SIMD_ALIGNED(var) var __attribute__((aligned(16)))
-#endif
-typedef int16 __attribute__((vector_size(16))) vec16;
-typedef int32 __attribute__((vector_size(16))) vec32;
-typedef int8 __attribute__((vector_size(16))) vec8;
-typedef uint16 __attribute__((vector_size(16))) uvec16;
-typedef uint32 __attribute__((vector_size(16))) uvec32;
-typedef uint8 __attribute__((vector_size(16))) uvec8;
-typedef int16 __attribute__((vector_size(32))) lvec16;
-typedef int32 __attribute__((vector_size(32))) lvec32;
-typedef int8 __attribute__((vector_size(32))) lvec8;
-typedef uint16 __attribute__((vector_size(32))) ulvec16;
-typedef uint32 __attribute__((vector_size(32))) ulvec32;
-typedef uint8 __attribute__((vector_size(32))) ulvec8;
-#else
-#define SIMD_ALIGNED(var) var
-typedef int16 vec16[8];
-typedef int32 vec32[4];
-typedef int8 vec8[16];
-typedef uint16 uvec16[8];
-typedef uint32 uvec32[4];
-typedef uint8 uvec8[16];
-typedef int16 lvec16[16];
-typedef int32 lvec32[8];
-typedef int8 lvec8[32];
-typedef uint16 ulvec16[16];
-typedef uint32 ulvec32[8];
-typedef uint8 ulvec8[32];
-#endif
-
-#if defined(__aarch64__)
-// This struct is for Arm64 color conversion.
-struct YuvConstants {
-  uvec16 kUVToRB;
-  uvec16 kUVToRB2;
-  uvec16 kUVToG;
-  uvec16 kUVToG2;
-  vec16 kUVBiasBGR;
-  vec32 kYToRgb;
-};
-#elif defined(__arm__)
-// This struct is for ArmV7 color conversion.
-struct YuvConstants {
-  uvec8 kUVToRB;
-  uvec8 kUVToG;
-  vec16 kUVBiasBGR;
-  vec32 kYToRgb;
-};
-#else
-// This struct is for Intel color conversion.
-struct YuvConstants {
-  int8 kUVToB[32];
-  int8 kUVToG[32];
-  int8 kUVToR[32];
-  int16 kUVBiasB[16];
-  int16 kUVBiasG[16];
-  int16 kUVBiasR[16];
-  int16 kYToRgb[16];
-};
-
-// Offsets into YuvConstants structure
-#define KUVTOB   0
-#define KUVTOG   32
-#define KUVTOR   64
-#define KUVBIASB 96
-#define KUVBIASG 128
-#define KUVBIASR 160
-#define KYTORGB  192
-#endif
-
-// Conversion matrix for YUV to RGB
-extern const struct YuvConstants SIMD_ALIGNED(kYuvI601Constants);  // BT.601
-extern const struct YuvConstants SIMD_ALIGNED(kYuvJPEGConstants);  // JPeg
-extern const struct YuvConstants SIMD_ALIGNED(kYuvH709Constants);  // BT.709
-
-// Conversion matrix for YVU to BGR
-extern const struct YuvConstants SIMD_ALIGNED(kYvuI601Constants);  // BT.601
-extern const struct YuvConstants SIMD_ALIGNED(kYvuJPEGConstants);  // JPeg
-extern const struct YuvConstants SIMD_ALIGNED(kYvuH709Constants);  // BT.709
-
-#if defined(__APPLE__) || defined(__x86_64__) || defined(__llvm__)
-#define OMITFP
-#else
-#define OMITFP __attribute__((optimize("omit-frame-pointer")))
-#endif
-
-// NaCL macros for GCC x86 and x64.
-#if defined(__native_client__)
-#define LABELALIGN ".p2align 5\n"
-#else
-#define LABELALIGN
-#endif
-#if defined(__native_client__) && defined(__x86_64__)
-// r14 is used for MEMOP macros.
-#define NACL_R14 "r14",
-#define BUNDLELOCK ".bundle_lock\n"
-#define BUNDLEUNLOCK ".bundle_unlock\n"
-#define MEMACCESS(base) "%%nacl:(%%r15,%q" #base ")"
-#define MEMACCESS2(offset, base) "%%nacl:" #offset "(%%r15,%q" #base ")"
-#define MEMLEA(offset, base) #offset "(%q" #base ")"
-#define MEMLEA3(offset, index, scale) \
-    #offset "(,%q" #index "," #scale ")"
-#define MEMLEA4(offset, base, index, scale) \
-    #offset "(%q" #base ",%q" #index "," #scale ")"
-#define MEMMOVESTRING(s, d) "%%nacl:(%q" #s "),%%nacl:(%q" #d "), %%r15"
-#define MEMSTORESTRING(reg, d) "%%" #reg ",%%nacl:(%q" #d "), %%r15"
-#define MEMOPREG(opcode, offset, base, index, scale, reg) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%%" #reg "\n" \
-    BUNDLEUNLOCK
-#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " %%" #reg ",(%%r15,%%r14)\n" \
-    BUNDLEUNLOCK
-#define MEMOPARG(opcode, offset, base, index, scale, arg) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%" #arg "\n" \
-    BUNDLEUNLOCK
-#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #opcode " (%%r15,%%r14),%%" #reg1 ",%%" #reg2 "\n" \
-    BUNDLEUNLOCK
-#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
-    BUNDLELOCK \
-    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
-    #op " $" #sel ",%%" #reg ",(%%r15,%%r14)\n" \
-    BUNDLEUNLOCK
-#else  // defined(__native_client__) && defined(__x86_64__)
-#define NACL_R14
-#define BUNDLEALIGN
-#define MEMACCESS(base) "(%" #base ")"
-#define MEMACCESS2(offset, base) #offset "(%" #base ")"
-#define MEMLEA(offset, base) #offset "(%" #base ")"
-#define MEMLEA3(offset, index, scale) \
-    #offset "(,%" #index "," #scale ")"
-#define MEMLEA4(offset, base, index, scale) \
-    #offset "(%" #base ",%" #index "," #scale ")"
-#define MEMMOVESTRING(s, d)
-#define MEMSTORESTRING(reg, d)
-#define MEMOPREG(opcode, offset, base, index, scale, reg) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg "\n"
-#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
-    #opcode " %%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
-#define MEMOPARG(opcode, offset, base, index, scale, arg) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%" #arg "\n"
-#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
-    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg1 ",%%" \
-    #reg2 "\n"
-#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
-    #op " $" #sel ",%%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
-#endif  // defined(__native_client__) && defined(__x86_64__)
-
-#if defined(__arm__) || defined(__aarch64__)
-#undef MEMACCESS
-#if defined(__native_client__)
-#define MEMACCESS(base) ".p2align 3\nbic %" #base ", #0xc0000000\n"
-#else
-#define MEMACCESS(base)
-#endif
-#endif
-
-void I444ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422AlphaToARGBRow_NEON(const uint8* y_buf,
-                             const uint8* u_buf,
-                             const uint8* v_buf,
-                             const uint8* a_buf,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I411ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_rgba,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGB24Row_NEON(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgb24,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToRGB565Row_NEON(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_rgb565,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToARGB1555Row_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb1555,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGB4444Row_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb4444,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToRGB565Row_NEON(const uint8* src_y,
-                          const uint8* src_uv,
-                          uint8* dst_rgb565,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void NV21ToARGBRow_NEON(const uint8* src_y,
-                        const uint8* src_vu,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void YUY2ToARGBRow_NEON(const uint8* src_yuy2,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void UYVYToARGBRow_NEON(const uint8* src_uyvy,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-
-void ARGBToYRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
-void ARGBToYRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToUV444Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                         int width);
-void ARGBToUV411Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                         int width);
-void ARGBToUVRow_NEON(const uint8* src_argb, int src_stride_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_NEON(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_NEON(const uint8* src_bgra, int src_stride_bgra,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_NEON(const uint8* src_abgr, int src_stride_abgr,
-                      uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_NEON(const uint8* src_rgba, int src_stride_rgba,
-                      uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_NEON(const uint8* src_rgb24, int src_stride_rgb24,
-                       uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_NEON(const uint8* src_raw, int src_stride_raw,
-                     uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_NEON(const uint8* src_rgb565, int src_stride_rgb565,
-                        uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_NEON(const uint8* src_argb1555, int src_stride_argb1555,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_NEON(const uint8* src_argb4444, int src_stride_argb4444,
-                          uint8* dst_u, uint8* dst_v, int width);
-void BGRAToYRow_NEON(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_NEON(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_NEON(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_NEON(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_NEON(const uint8* src_argb1555, uint8* dst_y, int width);
-void ARGB4444ToYRow_NEON(const uint8* src_argb4444, uint8* dst_y, int width);
-void ARGBToYRow_C(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_C(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_C(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_C(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_C(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_C(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_C(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_C(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_C(const uint8* src_argb1555, uint8* dst_y, int width);
-void ARGB4444ToYRow_C(const uint8* src_argb4444, uint8* dst_y, int width);
-void ARGBToYRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_Any_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_Any_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_Any_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_Any_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
-void ARGBToYRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void ARGBToYJRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
-void BGRAToYRow_Any_NEON(const uint8* src_bgra, uint8* dst_y, int width);
-void ABGRToYRow_Any_NEON(const uint8* src_abgr, uint8* dst_y, int width);
-void RGBAToYRow_Any_NEON(const uint8* src_rgba, uint8* dst_y, int width);
-void RGB24ToYRow_Any_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
-void RAWToYRow_Any_NEON(const uint8* src_raw, uint8* dst_y, int width);
-void RGB565ToYRow_Any_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
-void ARGB1555ToYRow_Any_NEON(const uint8* src_argb1555, uint8* dst_y,
-                             int width);
-void ARGB4444ToYRow_Any_NEON(const uint8* src_argb4444, uint8* dst_y,
-                             int width);
-
-void ARGBToUVRow_AVX2(const uint8* src_argb, int src_stride_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_AVX2(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_SSSE3(const uint8* src_argb, int src_stride_argb,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_SSSE3(const uint8* src_argb, int src_stride_argb,
-                        uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_SSSE3(const uint8* src_bgra, int src_stride_bgra,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_SSSE3(const uint8* src_abgr, int src_stride_abgr,
-                       uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_SSSE3(const uint8* src_rgba, int src_stride_rgba,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
-                            uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_Any_SSSE3(const uint8* src_bgra, int src_stride_bgra,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_Any_SSSE3(const uint8* src_abgr, int src_stride_abgr,
-                           uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_Any_SSSE3(const uint8* src_rgba, int src_stride_rgba,
-                           uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV444Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                             int width);
-void ARGBToUV411Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
-                             int width);
-void ARGBToUVRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
-                           uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_Any_NEON(const uint8* src_bgra, int src_stride_bgra,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_Any_NEON(const uint8* src_abgr, int src_stride_abgr,
-                          uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_Any_NEON(const uint8* src_rgba, int src_stride_rgba,
-                          uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_Any_NEON(const uint8* src_rgb24, int src_stride_rgb24,
-                           uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_Any_NEON(const uint8* src_raw, int src_stride_raw,
-                         uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_Any_NEON(const uint8* src_rgb565, int src_stride_rgb565,
-                            uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_Any_NEON(const uint8* src_argb1555,
-                              int src_stride_argb1555,
-                              uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_Any_NEON(const uint8* src_argb4444,
-                              int src_stride_argb4444,
-                              uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVRow_C(const uint8* src_argb, int src_stride_argb,
-                   uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUVJRow_C(const uint8* src_argb, int src_stride_argb,
-                    uint8* dst_u, uint8* dst_v, int width);
-void BGRAToUVRow_C(const uint8* src_bgra, int src_stride_bgra,
-                   uint8* dst_u, uint8* dst_v, int width);
-void ABGRToUVRow_C(const uint8* src_abgr, int src_stride_abgr,
-                   uint8* dst_u, uint8* dst_v, int width);
-void RGBAToUVRow_C(const uint8* src_rgba, int src_stride_rgba,
-                   uint8* dst_u, uint8* dst_v, int width);
-void RGB24ToUVRow_C(const uint8* src_rgb24, int src_stride_rgb24,
-                    uint8* dst_u, uint8* dst_v, int width);
-void RAWToUVRow_C(const uint8* src_raw, int src_stride_raw,
-                  uint8* dst_u, uint8* dst_v, int width);
-void RGB565ToUVRow_C(const uint8* src_rgb565, int src_stride_rgb565,
-                     uint8* dst_u, uint8* dst_v, int width);
-void ARGB1555ToUVRow_C(const uint8* src_argb1555, int src_stride_argb1555,
-                       uint8* dst_u, uint8* dst_v, int width);
-void ARGB4444ToUVRow_C(const uint8* src_argb4444, int src_stride_argb4444,
-                       uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBToUV444Row_SSSE3(const uint8* src_argb,
-                          uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV444Row_Any_SSSE3(const uint8* src_argb,
-                              uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBToUV444Row_C(const uint8* src_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-void ARGBToUV411Row_C(const uint8* src_argb,
-                      uint8* dst_u, uint8* dst_v, int width);
-
-void MirrorRow_AVX2(const uint8* src, uint8* dst, int width);
-void MirrorRow_SSSE3(const uint8* src, uint8* dst, int width);
-void MirrorRow_NEON(const uint8* src, uint8* dst, int width);
-void MirrorRow_DSPR2(const uint8* src, uint8* dst, int width);
-void MirrorRow_MSA(const uint8* src, uint8* dst, int width);
-void MirrorRow_C(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_SSSE3(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
-void MirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
-
-void MirrorUVRow_SSSE3(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                       int width);
-void MirrorUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                      int width);
-void MirrorUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                       int width);
-void MirrorUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
-
-void ARGBMirrorRow_AVX2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_SSE2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_NEON(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_MSA(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_C(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
-void ARGBMirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
-
-void SplitUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
-void SplitUVRow_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                     int width);
-void SplitUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                      int width);
-void SplitUVRow_Any_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                         int width);
-void SplitUVRow_Any_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
-                          int width);
-
-void MergeUVRow_C(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                  int width);
-void MergeUVRow_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                     int width);
-void MergeUVRow_Any_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-void MergeUVRow_Any_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-void MergeUVRow_Any_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
-                         int width);
-
-void CopyRow_SSE2(const uint8* src, uint8* dst, int count);
-void CopyRow_AVX(const uint8* src, uint8* dst, int count);
-void CopyRow_ERMS(const uint8* src, uint8* dst, int count);
-void CopyRow_NEON(const uint8* src, uint8* dst, int count);
-void CopyRow_MIPS(const uint8* src, uint8* dst, int count);
-void CopyRow_C(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_SSE2(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_AVX(const uint8* src, uint8* dst, int count);
-void CopyRow_Any_NEON(const uint8* src, uint8* dst, int count);
-
-void CopyRow_16_C(const uint16* src, uint16* dst, int count);
-
-void ARGBCopyAlphaRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBCopyAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBCopyAlphaRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-
-void ARGBExtractAlphaRow_C(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_SSE2(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_NEON(const uint8* src_argb, uint8* dst_a, int width);
-void ARGBExtractAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_a,
-                                  int width);
-void ARGBExtractAlphaRow_Any_NEON(const uint8* src_argb, uint8* dst_a,
-                                  int width);
-
-void ARGBCopyYToAlphaRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void ARGBCopyYToAlphaRow_Any_SSE2(const uint8* src_y, uint8* dst_argb,
-                                  int width);
-void ARGBCopyYToAlphaRow_Any_AVX2(const uint8* src_y, uint8* dst_argb,
-                                  int width);
-
-void SetRow_C(uint8* dst, uint8 v8, int count);
-void SetRow_X86(uint8* dst, uint8 v8, int count);
-void SetRow_ERMS(uint8* dst, uint8 v8, int count);
-void SetRow_NEON(uint8* dst, uint8 v8, int count);
-void SetRow_Any_X86(uint8* dst, uint8 v8, int count);
-void SetRow_Any_NEON(uint8* dst, uint8 v8, int count);
-
-void ARGBSetRow_C(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_X86(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_NEON(uint8* dst_argb, uint32 v32, int count);
-void ARGBSetRow_Any_NEON(uint8* dst_argb, uint32 v32, int count);
-
-// ARGBShufflers for BGRAToARGB etc.
-void ARGBShuffleRow_C(const uint8* src_argb, uint8* dst_argb,
-                      const uint8* shuffler, int width);
-void ARGBShuffleRow_SSE2(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                          const uint8* shuffler, int width);
-void ARGBShuffleRow_AVX2(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_NEON(const uint8* src_argb, uint8* dst_argb,
-                         const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                              const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-void ARGBShuffleRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
-                             const uint8* shuffler, int width);
-
-void RGB24ToARGBRow_SSSE3(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_SSE2(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_SSE2(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_SSE2(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-void RGB565ToARGBRow_AVX2(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_AVX2(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_AVX2(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-
-void RGB24ToARGBRow_NEON(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_NEON(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_NEON(const uint8* src_rgb565, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_NEON(const uint8* src_argb1555, uint8* dst_argb,
-                            int width);
-void ARGB4444ToARGBRow_NEON(const uint8* src_argb4444, uint8* dst_argb,
-                            int width);
-void RGB24ToARGBRow_C(const uint8* src_rgb24, uint8* dst_argb, int width);
-void RAWToARGBRow_C(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_C(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_C(const uint8* src_rgb, uint8* dst_argb, int width);
-void ARGB1555ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGB4444ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void RGB24ToARGBRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_argb,
-                              int width);
-void RAWToARGBRow_Any_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_Any_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
-
-void RGB565ToARGBRow_Any_SSE2(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_SSE2(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_SSE2(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-void RGB565ToARGBRow_Any_AVX2(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_AVX2(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_AVX2(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-
-void RGB24ToARGBRow_Any_NEON(const uint8* src_rgb24, uint8* dst_argb,
-                             int width);
-void RAWToARGBRow_Any_NEON(const uint8* src_raw, uint8* dst_argb, int width);
-void RAWToRGB24Row_Any_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
-void RGB565ToARGBRow_Any_NEON(const uint8* src_rgb565, uint8* dst_argb,
-                              int width);
-void ARGB1555ToARGBRow_Any_NEON(const uint8* src_argb1555, uint8* dst_argb,
-                                int width);
-void ARGB4444ToARGBRow_Any_NEON(const uint8* src_argb4444, uint8* dst_argb,
-                                int width);
-
-void ARGBToRGB24Row_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void ARGBToRGB565DitherRow_C(const uint8* src_argb, uint8* dst_rgb,
-                             const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-
-void ARGBToRGB565Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void ARGBToRGB24Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565DitherRow_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                const uint32 dither4, int width);
-
-void ARGBToRGBARow_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB24Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB4444Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
-
-void J400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void J400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
-
-void I444ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422AlphaToARGBRow_C(const uint8* y_buf,
-                          const uint8* u_buf,
-                          const uint8* v_buf,
-                          const uint8* a_buf,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I411ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void NV12ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_uv,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void NV12ToRGB565Row_C(const uint8* src_y,
-                       const uint8* src_uv,
-                       uint8* dst_argb,
-                       const struct YuvConstants* yuvconstants,
-                       int width);
-void NV21ToARGBRow_C(const uint8* src_y,
-                     const uint8* src_uv,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void YUY2ToARGBRow_C(const uint8* src_yuy2,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void UYVYToARGBRow_C(const uint8* src_uyvy,
-                     uint8* dst_argb,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToRGBARow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_rgba,
-                     const struct YuvConstants* yuvconstants,
-                     int width);
-void I422ToRGB24Row_C(const uint8* src_y,
-                      const uint8* src_u,
-                      const uint8* src_v,
-                      uint8* dst_rgb24,
-                      const struct YuvConstants* yuvconstants,
-                      int width);
-void I422ToARGB4444Row_C(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb4444,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGB1555Row_C(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb4444,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToRGB565Row_C(const uint8* src_y,
-                       const uint8* src_u,
-                       const uint8* src_v,
-                       uint8* dst_rgb565,
-                       const struct YuvConstants* yuvconstants,
-                       int width);
-void I422ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I444ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I444ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I444ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I444ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422AlphaToARGBRow_SSSE3(const uint8* y_buf,
-                              const uint8* u_buf,
-                              const uint8* v_buf,
-                              const uint8* a_buf,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422AlphaToARGBRow_AVX2(const uint8* y_buf,
-                             const uint8* u_buf,
-                             const uint8* v_buf,
-                             const uint8* a_buf,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I411ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I411ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_uv,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void NV12ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void NV12ToRGB565Row_SSSE3(const uint8* src_y,
-                           const uint8* src_uv,
-                           uint8* dst_argb,
-                           const struct YuvConstants* yuvconstants,
-                           int width);
-void NV12ToRGB565Row_AVX2(const uint8* src_y,
-                          const uint8* src_uv,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void NV21ToARGBRow_SSSE3(const uint8* src_y,
-                         const uint8* src_uv,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void NV21ToARGBRow_AVX2(const uint8* src_y,
-                        const uint8* src_uv,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void YUY2ToARGBRow_SSSE3(const uint8* src_yuy2,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void UYVYToARGBRow_SSSE3(const uint8* src_uyvy,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void YUY2ToARGBRow_AVX2(const uint8* src_yuy2,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void UYVYToARGBRow_AVX2(const uint8* src_uyvy,
-                        uint8* dst_argb,
-                        const struct YuvConstants* yuvconstants,
-                        int width);
-void I422ToRGBARow_SSSE3(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgba,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGB4444Row_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGB1555Row_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB1555Row_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGB565Row_SSSE3(const uint8* src_y,
-                           const uint8* src_u,
-                           const uint8* src_v,
-                           uint8* dst_argb,
-                           const struct YuvConstants* yuvconstants,
-                           int width);
-void I422ToRGB565Row_AVX2(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_argb,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToRGB24Row_SSSE3(const uint8* src_y,
-                          const uint8* src_u,
-                          const uint8* src_v,
-                          uint8* dst_rgb24,
-                          const struct YuvConstants* yuvconstants,
-                          int width);
-void I422ToRGB24Row_AVX2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_rgb24,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I444ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I444ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422AlphaToARGBRow_Any_SSSE3(const uint8* y_buf,
-                                  const uint8* u_buf,
-                                  const uint8* v_buf,
-                                  const uint8* a_buf,
-                                  uint8* dst_argb,
-                                  const struct YuvConstants* yuvconstants,
-                                  int width);
-void I422AlphaToARGBRow_Any_AVX2(const uint8* y_buf,
-                                 const uint8* u_buf,
-                                 const uint8* v_buf,
-                                 const uint8* a_buf,
-                                 uint8* dst_argb,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I411ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I411ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_uv,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void NV12ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_uv,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV21ToARGBRow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_vu,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void NV21ToARGBRow_Any_AVX2(const uint8* src_y,
-                            const uint8* src_vu,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToRGB565Row_Any_SSSE3(const uint8* src_y,
-                               const uint8* src_uv,
-                               uint8* dst_argb,
-                               const struct YuvConstants* yuvconstants,
-                               int width);
-void NV12ToRGB565Row_Any_AVX2(const uint8* src_y,
-                              const uint8* src_uv,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void YUY2ToARGBRow_Any_SSSE3(const uint8* src_yuy2,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void UYVYToARGBRow_Any_SSSE3(const uint8* src_uyvy,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void YUY2ToARGBRow_Any_AVX2(const uint8* src_yuy2,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void UYVYToARGBRow_Any_AVX2(const uint8* src_uyvy,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_SSSE3(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_rgba,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_Any_SSSE3(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 uint8* dst_rgba,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I422ToARGB4444Row_Any_AVX2(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_rgba,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToARGB1555Row_Any_SSSE3(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 uint8* dst_rgba,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I422ToARGB1555Row_Any_AVX2(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_rgba,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToRGB565Row_Any_SSSE3(const uint8* src_y,
-                               const uint8* src_u,
-                               const uint8* src_v,
-                               uint8* dst_rgba,
-                               const struct YuvConstants* yuvconstants,
-                               int width);
-void I422ToRGB565Row_Any_AVX2(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_rgba,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422ToRGB24Row_Any_SSSE3(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void I422ToRGB24Row_Any_AVX2(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-
-void I400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
-void I400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
-
-// ARGB preattenuated alpha blend.
-void ARGBBlendRow_SSSE3(const uint8* src_argb, const uint8* src_argb1,
-                        uint8* dst_argb, int width);
-void ARGBBlendRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBBlendRow_C(const uint8* src_argb, const uint8* src_argb1,
-                    uint8* dst_argb, int width);
-
-// Unattenuated planar alpha blend.
-void BlendPlaneRow_SSSE3(const uint8* src0, const uint8* src1,
-                         const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_Any_SSSE3(const uint8* src0, const uint8* src1,
-                             const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_AVX2(const uint8* src0, const uint8* src1,
-                        const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_Any_AVX2(const uint8* src0, const uint8* src1,
-                            const uint8* alpha, uint8* dst, int width);
-void BlendPlaneRow_C(const uint8* src0, const uint8* src1,
-                     const uint8* alpha, uint8* dst, int width);
-
-// ARGB multiply images. Same API as Blend, but these require
-// pointer and width alignment for SSE2.
-void ARGBMultiplyRow_C(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBMultiplyRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBMultiplyRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBMultiplyRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBMultiplyRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-
-// ARGB add images.
-void ARGBAddRow_C(const uint8* src_argb, const uint8* src_argb1,
-                  uint8* dst_argb, int width);
-void ARGBAddRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-void ARGBAddRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-void ARGBAddRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                     uint8* dst_argb, int width);
-void ARGBAddRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                         uint8* dst_argb, int width);
-
-// ARGB subtract images. Same API as Blend, but these require
-// pointer and width alignment for SSE2.
-void ARGBSubtractRow_C(const uint8* src_argb, const uint8* src_argb1,
-                       uint8* dst_argb, int width);
-void ARGBSubtractRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBSubtractRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-void ARGBSubtractRow_NEON(const uint8* src_argb, const uint8* src_argb1,
-                          uint8* dst_argb, int width);
-void ARGBSubtractRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
-                              uint8* dst_argb, int width);
-
-void ARGBToRGB24Row_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-
-void ARGBToRGB565DitherRow_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-void ARGBToRGB565DitherRow_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-
-void ARGBToRGB565Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-
-void ARGBToRGB24Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRAWRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToRGB565Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
-void ARGBToARGB1555Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToARGB4444Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                int width);
-void ARGBToRGB565DitherRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
-                                    const uint32 dither4, int width);
-
-void I444ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422AlphaToARGBRow_Any_NEON(const uint8* src_y,
-                                 const uint8* src_u,
-                                 const uint8* src_v,
-                                 const uint8* src_a,
-                                 uint8* dst_argb,
-                                 const struct YuvConstants* yuvconstants,
-                                 int width);
-void I411ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGBARow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToRGB24Row_Any_NEON(const uint8* src_y,
-                             const uint8* src_u,
-                             const uint8* src_v,
-                             uint8* dst_argb,
-                             const struct YuvConstants* yuvconstants,
-                             int width);
-void I422ToARGB4444Row_Any_NEON(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_argb,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToARGB1555Row_Any_NEON(const uint8* src_y,
-                                const uint8* src_u,
-                                const uint8* src_v,
-                                uint8* dst_argb,
-                                const struct YuvConstants* yuvconstants,
-                                int width);
-void I422ToRGB565Row_Any_NEON(const uint8* src_y,
-                              const uint8* src_u,
-                              const uint8* src_v,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void NV12ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_uv,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV21ToARGBRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_vu,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void NV12ToRGB565Row_Any_NEON(const uint8* src_y,
-                              const uint8* src_uv,
-                              uint8* dst_argb,
-                              const struct YuvConstants* yuvconstants,
-                              int width);
-void YUY2ToARGBRow_Any_NEON(const uint8* src_yuy2,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void UYVYToARGBRow_Any_NEON(const uint8* src_uyvy,
-                            uint8* dst_argb,
-                            const struct YuvConstants* yuvconstants,
-                            int width);
-void I422ToARGBRow_DSPR2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-void I422ToARGBRow_DSPR2(const uint8* src_y,
-                         const uint8* src_u,
-                         const uint8* src_v,
-                         uint8* dst_argb,
-                         const struct YuvConstants* yuvconstants,
-                         int width);
-
-void YUY2ToYRow_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_AVX2(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_AVX2(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_SSE2(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_SSE2(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_NEON(const uint8* src_yuy2, int stride_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_NEON(const uint8* src_yuy2,
-                         uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_C(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_C(const uint8* src_yuy2, int stride_yuy2,
-                   uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_C(const uint8* src_yuy2,
-                      uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_AVX2(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_AVX2(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_SSE2(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_SSE2(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToYRow_Any_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
-void YUY2ToUVRow_Any_NEON(const uint8* src_yuy2, int stride_yuy2,
-                          uint8* dst_u, uint8* dst_v, int width);
-void YUY2ToUV422Row_Any_NEON(const uint8* src_yuy2,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_SSE2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_SSE2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_NEON(const uint8* src_uyvy, int stride_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_NEON(const uint8* src_uyvy,
-                         uint8* dst_u, uint8* dst_v, int width);
-
-void UYVYToYRow_C(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_C(const uint8* src_uyvy, int stride_uyvy,
-                   uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_C(const uint8* src_uyvy,
-                      uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_AVX2(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_AVX2(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_SSE2(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_SSE2(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-void UYVYToYRow_Any_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
-void UYVYToUVRow_Any_NEON(const uint8* src_uyvy, int stride_uyvy,
-                          uint8* dst_u, uint8* dst_v, int width);
-void UYVYToUV422Row_Any_NEON(const uint8* src_uyvy,
-                             uint8* dst_u, uint8* dst_v, int width);
-
-void I422ToYUY2Row_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_yuy2, int width);
-void I422ToUYVYRow_C(const uint8* src_y,
-                     const uint8* src_u,
-                     const uint8* src_v,
-                     uint8* dst_uyvy, int width);
-void I422ToYUY2Row_SSE2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_yuy2, int width);
-void I422ToUYVYRow_SSE2(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_uyvy, int width);
-void I422ToYUY2Row_Any_SSE2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_yuy2, int width);
-void I422ToUYVYRow_Any_SSE2(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_uyvy, int width);
-void I422ToYUY2Row_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_yuy2, int width);
-void I422ToUYVYRow_NEON(const uint8* src_y,
-                        const uint8* src_u,
-                        const uint8* src_v,
-                        uint8* dst_uyvy, int width);
-void I422ToYUY2Row_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_yuy2, int width);
-void I422ToUYVYRow_Any_NEON(const uint8* src_y,
-                            const uint8* src_u,
-                            const uint8* src_v,
-                            uint8* dst_uyvy, int width);
-
-// Effects related row functions.
-void ARGBAttenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBAttenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBAttenuateRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                                int width);
-void ARGBAttenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-void ARGBAttenuateRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
-                               int width);
-
-// Inverse table for unattenuate, shared by C and SSE2.
-extern const uint32 fixed_invtbl8[256];
-void ARGBUnattenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBUnattenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
-                                 int width);
-void ARGBUnattenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
-                                 int width);
-
-void ARGBGrayRow_C(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBGrayRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
-void ARGBGrayRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
-
-void ARGBSepiaRow_C(uint8* dst_argb, int width);
-void ARGBSepiaRow_SSSE3(uint8* dst_argb, int width);
-void ARGBSepiaRow_NEON(uint8* dst_argb, int width);
-
-void ARGBColorMatrixRow_C(const uint8* src_argb, uint8* dst_argb,
-                          const int8* matrix_argb, int width);
-void ARGBColorMatrixRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                              const int8* matrix_argb, int width);
-void ARGBColorMatrixRow_NEON(const uint8* src_argb, uint8* dst_argb,
-                             const int8* matrix_argb, int width);
-
-void ARGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
-void ARGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
-
-void RGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
-void RGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
-
-void ARGBQuantizeRow_C(uint8* dst_argb, int scale, int interval_size,
-                       int interval_offset, int width);
-void ARGBQuantizeRow_SSE2(uint8* dst_argb, int scale, int interval_size,
-                          int interval_offset, int width);
-void ARGBQuantizeRow_NEON(uint8* dst_argb, int scale, int interval_size,
-                          int interval_offset, int width);
-
-void ARGBShadeRow_C(const uint8* src_argb, uint8* dst_argb, int width,
-                    uint32 value);
-void ARGBShadeRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width,
-                       uint32 value);
-void ARGBShadeRow_NEON(const uint8* src_argb, uint8* dst_argb, int width,
-                       uint32 value);
-
-// Used for blur.
-void CumulativeSumToAverageRow_SSE2(const int32* topleft, const int32* botleft,
-                                    int width, int area, uint8* dst, int count);
-void ComputeCumulativeSumRow_SSE2(const uint8* row, int32* cumsum,
-                                  const int32* previous_cumsum, int width);
-
-void CumulativeSumToAverageRow_C(const int32* topleft, const int32* botleft,
-                                 int width, int area, uint8* dst, int count);
-void ComputeCumulativeSumRow_C(const uint8* row, int32* cumsum,
-                               const int32* previous_cumsum, int width);
-
-LIBYUV_API
-void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
-                     uint8* dst_argb, const float* uv_dudv, int width);
-LIBYUV_API
-void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
-                        uint8* dst_argb, const float* uv_dudv, int width);
-
-// Used for I420Scale, ARGBScale, and ARGBInterpolate.
-void InterpolateRow_C(uint8* dst_ptr, const uint8* src_ptr,
-                      ptrdiff_t src_stride_ptr,
-                      int width, int source_y_fraction);
-void InterpolateRow_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                          ptrdiff_t src_stride_ptr, int width,
-                          int source_y_fraction);
-void InterpolateRow_AVX2(uint8* dst_ptr, const uint8* src_ptr,
-                         ptrdiff_t src_stride_ptr, int width,
-                         int source_y_fraction);
-void InterpolateRow_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                         ptrdiff_t src_stride_ptr, int width,
-                         int source_y_fraction);
-void InterpolateRow_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
-                          ptrdiff_t src_stride_ptr, int width,
-                          int source_y_fraction);
-void InterpolateRow_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                             ptrdiff_t src_stride_ptr, int width,
-                             int source_y_fraction);
-void InterpolateRow_Any_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                              ptrdiff_t src_stride_ptr, int width,
-                              int source_y_fraction);
-void InterpolateRow_Any_AVX2(uint8* dst_ptr, const uint8* src_ptr,
-                             ptrdiff_t src_stride_ptr, int width,
-                             int source_y_fraction);
-void InterpolateRow_Any_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
-                              ptrdiff_t src_stride_ptr, int width,
-                              int source_y_fraction);
-
-void InterpolateRow_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                         ptrdiff_t src_stride_ptr,
-                         int width, int source_y_fraction);
-
-// Sobel images.
-void SobelXRow_C(const uint8* src_y0, const uint8* src_y1, const uint8* src_y2,
-                 uint8* dst_sobelx, int width);
-void SobelXRow_SSE2(const uint8* src_y0, const uint8* src_y1,
-                    const uint8* src_y2, uint8* dst_sobelx, int width);
-void SobelXRow_NEON(const uint8* src_y0, const uint8* src_y1,
-                    const uint8* src_y2, uint8* dst_sobelx, int width);
-void SobelYRow_C(const uint8* src_y0, const uint8* src_y1,
-                 uint8* dst_sobely, int width);
-void SobelYRow_SSE2(const uint8* src_y0, const uint8* src_y1,
-                    uint8* dst_sobely, int width);
-void SobelYRow_NEON(const uint8* src_y0, const uint8* src_y1,
-                    uint8* dst_sobely, int width);
-void SobelRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                uint8* dst_argb, int width);
-void SobelRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                   uint8* dst_argb, int width);
-void SobelRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                   uint8* dst_argb, int width);
-void SobelToPlaneRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_y, int width);
-void SobelToPlaneRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                          uint8* dst_y, int width);
-void SobelToPlaneRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                          uint8* dst_y, int width);
-void SobelXYRow_C(const uint8* src_sobelx, const uint8* src_sobely,
-                  uint8* dst_argb, int width);
-void SobelXYRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                     uint8* dst_argb, int width);
-void SobelXYRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                     uint8* dst_argb, int width);
-void SobelRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_argb, int width);
-void SobelRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                       uint8* dst_argb, int width);
-void SobelToPlaneRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                              uint8* dst_y, int width);
-void SobelToPlaneRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                              uint8* dst_y, int width);
-void SobelXYRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
-                         uint8* dst_argb, int width);
-void SobelXYRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
-                         uint8* dst_argb, int width);
-
-void ARGBPolynomialRow_C(const uint8* src_argb,
-                         uint8* dst_argb, const float* poly,
-                         int width);
-void ARGBPolynomialRow_SSE2(const uint8* src_argb,
-                            uint8* dst_argb, const float* poly,
-                            int width);
-void ARGBPolynomialRow_AVX2(const uint8* src_argb,
-                            uint8* dst_argb, const float* poly,
-                            int width);
-
-// Scale and convert to half float.
-void HalfFloatRow_C(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_AVX2(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_Any_AVX2(const uint16* src, uint16* dst, float scale,
-                           int width);
-void HalfFloatRow_SSE2(const uint16* src, uint16* dst, float scale, int width);
-void HalfFloatRow_Any_SSE2(const uint16* src, uint16* dst, float scale,
-                           int width);
-
-void ARGBLumaColorTableRow_C(const uint8* src_argb, uint8* dst_argb, int width,
-                             const uint8* luma, uint32 lumacoeff);
-void ARGBLumaColorTableRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
-                                 int width,
-                                 const uint8* luma, uint32 lumacoeff);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/scale.h b/third_party/libyuv/include/libyuv/scale.h
deleted file mode 100644
index ae14694598..0000000000
--- a/third_party/libyuv/include/libyuv/scale.h
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_H_
-#define INCLUDE_LIBYUV_SCALE_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-// Supported filtering.
-typedef enum FilterMode {
-  kFilterNone = 0,  // Point sample; Fastest.
-  kFilterLinear = 1,  // Filter horizontally only.
-  kFilterBilinear = 2,  // Faster than box, but lower quality scaling down.
-  kFilterBox = 3  // Highest quality.
-} FilterModeEnum;
-
-// Scale a YUV plane.
-LIBYUV_API
-void ScalePlane(const uint8* src, int src_stride,
-                int src_width, int src_height,
-                uint8* dst, int dst_stride,
-                int dst_width, int dst_height,
-                enum FilterMode filtering);
-
-LIBYUV_API
-void ScalePlane_16(const uint16* src, int src_stride,
-                   int src_width, int src_height,
-                   uint16* dst, int dst_stride,
-                   int dst_width, int dst_height,
-                   enum FilterMode filtering);
-
-// Scales a YUV 4:2:0 image from the src width and height to the
-// dst width and height.
-// If filtering is kFilterNone, a simple nearest-neighbor algorithm is
-// used. This produces basic (blocky) quality at the fastest speed.
-// If filtering is kFilterBilinear, interpolation is used to produce a better
-// quality image, at the expense of speed.
-// If filtering is kFilterBox, averaging is used to produce ever better
-// quality image, at further expense of speed.
-// Returns 0 if successful.
-
-LIBYUV_API
-int I420Scale(const uint8* src_y, int src_stride_y,
-              const uint8* src_u, int src_stride_u,
-              const uint8* src_v, int src_stride_v,
-              int src_width, int src_height,
-              uint8* dst_y, int dst_stride_y,
-              uint8* dst_u, int dst_stride_u,
-              uint8* dst_v, int dst_stride_v,
-              int dst_width, int dst_height,
-              enum FilterMode filtering);
-
-LIBYUV_API
-int I420Scale_16(const uint16* src_y, int src_stride_y,
-                 const uint16* src_u, int src_stride_u,
-                 const uint16* src_v, int src_stride_v,
-                 int src_width, int src_height,
-                 uint16* dst_y, int dst_stride_y,
-                 uint16* dst_u, int dst_stride_u,
-                 uint16* dst_v, int dst_stride_v,
-                 int dst_width, int dst_height,
-                 enum FilterMode filtering);
-
-#ifdef __cplusplus
-// Legacy API.  Deprecated.
-LIBYUV_API
-int Scale(const uint8* src_y, const uint8* src_u, const uint8* src_v,
-          int src_stride_y, int src_stride_u, int src_stride_v,
-          int src_width, int src_height,
-          uint8* dst_y, uint8* dst_u, uint8* dst_v,
-          int dst_stride_y, int dst_stride_u, int dst_stride_v,
-          int dst_width, int dst_height,
-          LIBYUV_BOOL interpolate);
-
-// Legacy API.  Deprecated.
-LIBYUV_API
-int ScaleOffset(const uint8* src_i420, int src_width, int src_height,
-                uint8* dst_i420, int dst_width, int dst_height, int dst_yoffset,
-                LIBYUV_BOOL interpolate);
-
-// For testing, allow disabling of specialized scalers.
-LIBYUV_API
-void SetUseReferenceImpl(LIBYUV_BOOL use);
-#endif  // __cplusplus
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_H_
diff --git a/third_party/libyuv/include/libyuv/scale_argb.h b/third_party/libyuv/include/libyuv/scale_argb.h
deleted file mode 100644
index 35cd191c0f..0000000000
--- a/third_party/libyuv/include/libyuv/scale_argb.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_ARGB_H_
-#define INCLUDE_LIBYUV_SCALE_ARGB_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/scale.h"  // For FilterMode
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-LIBYUV_API
-int ARGBScale(const uint8* src_argb, int src_stride_argb,
-              int src_width, int src_height,
-              uint8* dst_argb, int dst_stride_argb,
-              int dst_width, int dst_height,
-              enum FilterMode filtering);
-
-// Clipped scale takes destination rectangle coordinates for clip values.
-LIBYUV_API
-int ARGBScaleClip(const uint8* src_argb, int src_stride_argb,
-                  int src_width, int src_height,
-                  uint8* dst_argb, int dst_stride_argb,
-                  int dst_width, int dst_height,
-                  int clip_x, int clip_y, int clip_width, int clip_height,
-                  enum FilterMode filtering);
-
-// Scale with YUV conversion to ARGB and clipping.
-LIBYUV_API
-int YUVToARGBScaleClip(const uint8* src_y, int src_stride_y,
-                       const uint8* src_u, int src_stride_u,
-                       const uint8* src_v, int src_stride_v,
-                       uint32 src_fourcc,
-                       int src_width, int src_height,
-                       uint8* dst_argb, int dst_stride_argb,
-                       uint32 dst_fourcc,
-                       int dst_width, int dst_height,
-                       int clip_x, int clip_y, int clip_width, int clip_height,
-                       enum FilterMode filtering);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/scale_row.h b/third_party/libyuv/include/libyuv/scale_row.h
deleted file mode 100644
index 791fbf7d05..0000000000
--- a/third_party/libyuv/include/libyuv/scale_row.h
+++ /dev/null
@@ -1,503 +0,0 @@
-/*
- *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_SCALE_ROW_H_
-#define INCLUDE_LIBYUV_SCALE_ROW_H_
-
-#include "libyuv/basic_types.h"
-#include "libyuv/scale.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-#if defined(__pnacl__) || defined(__CLR_VER) || \
-    (defined(__i386__) && !defined(__SSE2__))
-#define LIBYUV_DISABLE_X86
-#endif
-// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
-#if defined(__has_feature)
-#if __has_feature(memory_sanitizer)
-#define LIBYUV_DISABLE_X86
-#endif
-#endif
-
-// GCC >= 4.7.0 required for AVX2.
-#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
-#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
-#define GCC_HAS_AVX2 1
-#endif  // GNUC >= 4.7
-#endif  // __GNUC__
-
-// clang >= 3.4.0 required for AVX2.
-#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
-#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
-#define CLANG_HAS_AVX2 1
-#endif  // clang >= 3.4
-#endif  // __clang__
-
-// Visual C 2012 required for AVX2.
-#if defined(_M_IX86) && !defined(__clang__) && \
-    defined(_MSC_VER) && _MSC_VER >= 1700
-#define VISUALC_HAS_AVX2 1
-#endif  // VisualStudio >= 2012
-
-// The following are available on all x86 platforms:
-#if !defined(LIBYUV_DISABLE_X86) && \
-    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
-#define HAS_FIXEDDIV1_X86
-#define HAS_FIXEDDIV_X86
-#define HAS_SCALEARGBCOLS_SSE2
-#define HAS_SCALEARGBCOLSUP2_SSE2
-#define HAS_SCALEARGBFILTERCOLS_SSSE3
-#define HAS_SCALEARGBROWDOWN2_SSE2
-#define HAS_SCALEARGBROWDOWNEVEN_SSE2
-#define HAS_SCALECOLSUP2_SSE2
-#define HAS_SCALEFILTERCOLS_SSSE3
-#define HAS_SCALEROWDOWN2_SSSE3
-#define HAS_SCALEROWDOWN34_SSSE3
-#define HAS_SCALEROWDOWN38_SSSE3
-#define HAS_SCALEROWDOWN4_SSSE3
-#define HAS_SCALEADDROW_SSE2
-#endif
-
-// The following are available on all x86 platforms, but
-// require VS2012, clang 3.4 or gcc 4.7.
-// The code supports NaCL but requires a new compiler and validator.
-#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
-    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
-#define HAS_SCALEADDROW_AVX2
-#define HAS_SCALEROWDOWN2_AVX2
-#define HAS_SCALEROWDOWN4_AVX2
-#endif
-
-// The following are available on Neon platforms:
-#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
-    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
-#define HAS_SCALEARGBCOLS_NEON
-#define HAS_SCALEARGBROWDOWN2_NEON
-#define HAS_SCALEARGBROWDOWNEVEN_NEON
-#define HAS_SCALEFILTERCOLS_NEON
-#define HAS_SCALEROWDOWN2_NEON
-#define HAS_SCALEROWDOWN34_NEON
-#define HAS_SCALEROWDOWN38_NEON
-#define HAS_SCALEROWDOWN4_NEON
-#define HAS_SCALEARGBFILTERCOLS_NEON
-#endif
-
-// The following are available on Mips platforms:
-#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
-    defined(__mips__) && defined(__mips_dsp) && (__mips_dsp_rev >= 2)
-#define HAS_SCALEROWDOWN2_DSPR2
-#define HAS_SCALEROWDOWN4_DSPR2
-#define HAS_SCALEROWDOWN34_DSPR2
-#define HAS_SCALEROWDOWN38_DSPR2
-#endif
-
-// Scale ARGB vertically with bilinear interpolation.
-void ScalePlaneVertical(int src_height,
-                        int dst_width, int dst_height,
-                        int src_stride, int dst_stride,
-                        const uint8* src_argb, uint8* dst_argb,
-                        int x, int y, int dy,
-                        int bpp, enum FilterMode filtering);
-
-void ScalePlaneVertical_16(int src_height,
-                           int dst_width, int dst_height,
-                           int src_stride, int dst_stride,
-                           const uint16* src_argb, uint16* dst_argb,
-                           int x, int y, int dy,
-                           int wpp, enum FilterMode filtering);
-
-// Simplify the filtering based on scale factors.
-enum FilterMode ScaleFilterReduce(int src_width, int src_height,
-                                  int dst_width, int dst_height,
-                                  enum FilterMode filtering);
-
-// Divide num by div and return as 16.16 fixed point result.
-int FixedDiv_C(int num, int div);
-int FixedDiv_X86(int num, int div);
-// Divide num - 1 by div - 1 and return as 16.16 fixed point result.
-int FixedDiv1_C(int num, int div);
-int FixedDiv1_X86(int num, int div);
-#ifdef HAS_FIXEDDIV_X86
-#define FixedDiv FixedDiv_X86
-#define FixedDiv1 FixedDiv1_X86
-#else
-#define FixedDiv FixedDiv_C
-#define FixedDiv1 FixedDiv1_C
-#endif
-
-// Compute slope values for stepping.
-void ScaleSlope(int src_width, int src_height,
-                int dst_width, int dst_height,
-                enum FilterMode filtering,
-                int* x, int* y, int* dx, int* dy);
-
-void ScaleRowDown2_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                     uint8* dst, int dst_width);
-void ScaleRowDown2_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                        uint16* dst, int dst_width);
-void ScaleRowDown2Linear_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst, int dst_width);
-void ScaleRowDown2Linear_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                              uint16* dst, int dst_width);
-void ScaleRowDown2Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown2Box_Odd_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown2Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                           uint16* dst, int dst_width);
-void ScaleRowDown4_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                     uint8* dst, int dst_width);
-void ScaleRowDown4_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                        uint16* dst, int dst_width);
-void ScaleRowDown4Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown4Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                           uint16* dst, int dst_width);
-void ScaleRowDown34_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                      uint8* dst, int dst_width);
-void ScaleRowDown34_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                         uint16* dst, int dst_width);
-void ScaleRowDown34_0_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* d, int dst_width);
-void ScaleRowDown34_0_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* d, int dst_width);
-void ScaleRowDown34_1_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* d, int dst_width);
-void ScaleRowDown34_1_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* d, int dst_width);
-void ScaleCols_C(uint8* dst_ptr, const uint8* src_ptr,
-                 int dst_width, int x, int dx);
-void ScaleCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                    int dst_width, int x, int dx);
-void ScaleColsUp2_C(uint8* dst_ptr, const uint8* src_ptr,
-                    int dst_width, int, int);
-void ScaleColsUp2_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                       int dst_width, int, int);
-void ScaleFilterCols_C(uint8* dst_ptr, const uint8* src_ptr,
-                       int dst_width, int x, int dx);
-void ScaleFilterCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                          int dst_width, int x, int dx);
-void ScaleFilterCols64_C(uint8* dst_ptr, const uint8* src_ptr,
-                         int dst_width, int x, int dx);
-void ScaleFilterCols64_16_C(uint16* dst_ptr, const uint16* src_ptr,
-                            int dst_width, int x, int dx);
-void ScaleRowDown38_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                      uint8* dst, int dst_width);
-void ScaleRowDown38_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                         uint16* dst, int dst_width);
-void ScaleRowDown38_3_Box_C(const uint8* src_ptr,
-                            ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_16_C(const uint16* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint16* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
-                               uint16* dst_ptr, int dst_width);
-void ScaleAddRow_C(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_16_C(const uint16* src_ptr, uint32* dst_ptr, int src_width);
-void ScaleARGBRowDown2_C(const uint8* src_argb,
-                         ptrdiff_t src_stride,
-                         uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_C(const uint8* src_argb,
-                               ptrdiff_t src_stride,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_C(const uint8* src_argb, ptrdiff_t src_stride,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_C(const uint8* src_argb, ptrdiff_t src_stride,
-                            int src_stepx,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_C(const uint8* src_argb,
-                               ptrdiff_t src_stride,
-                               int src_stepx,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBCols_C(uint8* dst_argb, const uint8* src_argb,
-                     int dst_width, int x, int dx);
-void ScaleARGBCols64_C(uint8* dst_argb, const uint8* src_argb,
-                       int dst_width, int x, int dx);
-void ScaleARGBColsUp2_C(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int, int);
-void ScaleARGBFilterCols_C(uint8* dst_argb, const uint8* src_argb,
-                           int dst_width, int x, int dx);
-void ScaleARGBFilterCols64_C(uint8* dst_argb, const uint8* src_argb,
-                             int dst_width, int x, int dx);
-
-// Specialized scalers for x86.
-void ScaleRowDown2_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown34_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_SSSE3(const uint8* src_ptr,
-                                ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Odd_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown2_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Linear_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                  uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown2Box_Odd_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown4_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown34_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_2_Box_Any_SSSE3(const uint8* src_ptr,
-                                    ptrdiff_t src_stride,
-                                    uint8* dst_ptr, int dst_width);
-
-void ScaleAddRow_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-
-void ScaleFilterCols_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
-                           int dst_width, int x, int dx);
-void ScaleColsUp2_SSE2(uint8* dst_ptr, const uint8* src_ptr,
-                       int dst_width, int x, int dx);
-
-
-// ARGB Column functions
-void ScaleARGBCols_SSE2(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int x, int dx);
-void ScaleARGBFilterCols_SSSE3(uint8* dst_argb, const uint8* src_argb,
-                               int dst_width, int x, int dx);
-void ScaleARGBColsUp2_SSE2(uint8* dst_argb, const uint8* src_argb,
-                           int dst_width, int x, int dx);
-void ScaleARGBFilterCols_NEON(uint8* dst_argb, const uint8* src_argb,
-                              int dst_width, int x, int dx);
-void ScaleARGBCols_NEON(uint8* dst_argb, const uint8* src_argb,
-                        int dst_width, int x, int dx);
-void ScaleARGBFilterCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
-                                  int dst_width, int x, int dx);
-void ScaleARGBCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
-                            int dst_width, int x, int dx);
-
-// ARGB Row functions
-void ScaleARGBRowDown2_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                            uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleARGBRowDown2Linear_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleARGBRowDown2_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Linear_Any_SSE2(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst, int dst_width);
-void ScaleARGBRowDown2Linear_Any_NEON(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst, int dst_width);
-
-void ScaleARGBRowDownEven_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                               int src_stepx, uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                  int src_stepx,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                               int src_stepx,
-                               uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                  int src_stepx,
-                                  uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
-                                   int src_stepx,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_Any_SSE2(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      int src_stepx,
-                                      uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEven_Any_NEON(const uint8* src_argb, ptrdiff_t src_stride,
-                                   int src_stepx,
-                                   uint8* dst_argb, int dst_width);
-void ScaleARGBRowDownEvenBox_Any_NEON(const uint8* src_argb,
-                                      ptrdiff_t src_stride,
-                                      int src_stepx,
-                                      uint8* dst_argb, int dst_width);
-
-// ScaleRowDown2Box also used by planar functions
-// NEON downscalers with interpolation.
-
-// Note - not static due to reuse in convert for 444 to 420.
-void ScaleRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst, int dst_width);
-void ScaleRowDown2Linear_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                              uint8* dst, int dst_width);
-void ScaleRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst, int dst_width);
-
-void ScaleRowDown4_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                        uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                           uint8* dst_ptr, int dst_width);
-
-// Down scale from 4 to 3 pixels. Use the neon multilane read/write
-//  to load up the every 4th pixel into a 4 different registers.
-// Point samples 32 pixels to 24 pixels.
-void ScaleRowDown34_NEON(const uint8* src_ptr,
-                         ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-// 32 -> 12
-void ScaleRowDown38_NEON(const uint8* src_ptr,
-                         ptrdiff_t src_stride,
-                         uint8* dst_ptr, int dst_width);
-// 32x3 -> 12x1
-void ScaleRowDown38_3_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-// 32x2 -> 12x1
-void ScaleRowDown38_2_Box_NEON(const uint8* src_ptr,
-                               ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown2Linear_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                  uint8* dst, int dst_width);
-void ScaleRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleRowDown2Box_Odd_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst, int dst_width);
-void ScaleRowDown4_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst_ptr, int dst_width);
-void ScaleRowDown4Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_0_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-void ScaleRowDown34_1_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                                   uint8* dst_ptr, int dst_width);
-// 32 -> 12
-void ScaleRowDown38_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                             uint8* dst_ptr, int dst_width);
-// 32x3 -> 12x1
-void ScaleRowDown38_3_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-// 32x2 -> 12x1
-void ScaleRowDown38_2_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
-                               uint8* dst_ptr, int dst_width);
-
-void ScaleAddRow_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-void ScaleAddRow_Any_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
-
-void ScaleFilterCols_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                          int dst_width, int x, int dx);
-
-void ScaleFilterCols_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
-                              int dst_width, int x, int dx);
-
-void ScaleRowDown2_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst, int dst_width);
-void ScaleRowDown2Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown4_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                         uint8* dst, int dst_width);
-void ScaleRowDown4Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                            uint8* dst, int dst_width);
-void ScaleRowDown34_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst, int dst_width);
-void ScaleRowDown34_0_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* d, int dst_width);
-void ScaleRowDown34_1_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* d, int dst_width);
-void ScaleRowDown38_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                          uint8* dst, int dst_width);
-void ScaleRowDown38_2_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-void ScaleRowDown38_3_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
-                                uint8* dst_ptr, int dst_width);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_SCALE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/version.h b/third_party/libyuv/include/libyuv/version.h
deleted file mode 100644
index 3a8f6337ca..0000000000
--- a/third_party/libyuv/include/libyuv/version.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-#ifndef INCLUDE_LIBYUV_VERSION_H_
-#define INCLUDE_LIBYUV_VERSION_H_
-
-#define LIBYUV_VERSION 1622
-
-#endif  // INCLUDE_LIBYUV_VERSION_H_
diff --git a/third_party/libyuv/include/libyuv/video_common.h b/third_party/libyuv/include/libyuv/video_common.h
deleted file mode 100644
index cb425426a2..0000000000
--- a/third_party/libyuv/include/libyuv/video_common.h
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
- *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
- *
- *  Use of this source code is governed by a BSD-style license
- *  that can be found in the LICENSE file in the root of the source
- *  tree. An additional intellectual property rights grant can be found
- *  in the file PATENTS. All contributing project authors may
- *  be found in the AUTHORS file in the root of the source tree.
- */
-
-// Common definitions for video, including fourcc and VideoFormat.
-
-#ifndef INCLUDE_LIBYUV_VIDEO_COMMON_H_
-#define INCLUDE_LIBYUV_VIDEO_COMMON_H_
-
-#include "libyuv/basic_types.h"
-
-#ifdef __cplusplus
-namespace libyuv {
-extern "C" {
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-// Definition of FourCC codes
-//////////////////////////////////////////////////////////////////////////////
-
-// Convert four characters to a FourCC code.
-// Needs to be a macro otherwise the OS X compiler complains when the kFormat*
-// constants are used in a switch.
-#ifdef __cplusplus
-#define FOURCC(a, b, c, d) ( \
-    (static_cast<uint32>(a)) | (static_cast<uint32>(b) << 8) | \
-    (static_cast<uint32>(c) << 16) | (static_cast<uint32>(d) << 24))
-#else
-#define FOURCC(a, b, c, d) ( \
-    ((uint32)(a)) | ((uint32)(b) << 8) | /* NOLINT */ \
-    ((uint32)(c) << 16) | ((uint32)(d) << 24))  /* NOLINT */
-#endif
-
-// Some pages discussing FourCC codes:
-//   http://www.fourcc.org/yuv.php
-//   http://v4l2spec.bytesex.org/spec/book1.htm
-//   http://developer.apple.com/quicktime/icefloe/dispatch020.html
-//   http://msdn.microsoft.com/library/windows/desktop/dd206750.aspx#nv12
-//   http://people.xiph.org/~xiphmont/containers/nut/nut4cc.txt
-
-// FourCC codes grouped according to implementation efficiency.
-// Primary formats should convert in 1 efficient step.
-// Secondary formats are converted in 2 steps.
-// Auxilliary formats call primary converters.
-enum FourCC {
-  // 9 Primary YUV formats: 5 planar, 2 biplanar, 2 packed.
-  FOURCC_I420 = FOURCC('I', '4', '2', '0'),
-  FOURCC_I422 = FOURCC('I', '4', '2', '2'),
-  FOURCC_I444 = FOURCC('I', '4', '4', '4'),
-  FOURCC_I411 = FOURCC('I', '4', '1', '1'),
-  FOURCC_I400 = FOURCC('I', '4', '0', '0'),
-  FOURCC_NV21 = FOURCC('N', 'V', '2', '1'),
-  FOURCC_NV12 = FOURCC('N', 'V', '1', '2'),
-  FOURCC_YUY2 = FOURCC('Y', 'U', 'Y', '2'),
-  FOURCC_UYVY = FOURCC('U', 'Y', 'V', 'Y'),
-
-  // 2 Secondary YUV formats: row biplanar.
-  FOURCC_M420 = FOURCC('M', '4', '2', '0'),
-  FOURCC_Q420 = FOURCC('Q', '4', '2', '0'),  // deprecated.
-
-  // 9 Primary RGB formats: 4 32 bpp, 2 24 bpp, 3 16 bpp.
-  FOURCC_ARGB = FOURCC('A', 'R', 'G', 'B'),
-  FOURCC_BGRA = FOURCC('B', 'G', 'R', 'A'),
-  FOURCC_ABGR = FOURCC('A', 'B', 'G', 'R'),
-  FOURCC_24BG = FOURCC('2', '4', 'B', 'G'),
-  FOURCC_RAW  = FOURCC('r', 'a', 'w', ' '),
-  FOURCC_RGBA = FOURCC('R', 'G', 'B', 'A'),
-  FOURCC_RGBP = FOURCC('R', 'G', 'B', 'P'),  // rgb565 LE.
-  FOURCC_RGBO = FOURCC('R', 'G', 'B', 'O'),  // argb1555 LE.
-  FOURCC_R444 = FOURCC('R', '4', '4', '4'),  // argb4444 LE.
-
-  // 4 Secondary RGB formats: 4 Bayer Patterns. deprecated.
-  FOURCC_RGGB = FOURCC('R', 'G', 'G', 'B'),
-  FOURCC_BGGR = FOURCC('B', 'G', 'G', 'R'),
-  FOURCC_GRBG = FOURCC('G', 'R', 'B', 'G'),
-  FOURCC_GBRG = FOURCC('G', 'B', 'R', 'G'),
-
-  // 1 Primary Compressed YUV format.
-  FOURCC_MJPG = FOURCC('M', 'J', 'P', 'G'),
-
-  // 5 Auxiliary YUV variations: 3 with U and V planes are swapped, 1 Alias.
-  FOURCC_YV12 = FOURCC('Y', 'V', '1', '2'),
-  FOURCC_YV16 = FOURCC('Y', 'V', '1', '6'),
-  FOURCC_YV24 = FOURCC('Y', 'V', '2', '4'),
-  FOURCC_YU12 = FOURCC('Y', 'U', '1', '2'),  // Linux version of I420.
-  FOURCC_J420 = FOURCC('J', '4', '2', '0'),
-  FOURCC_J400 = FOURCC('J', '4', '0', '0'),  // unofficial fourcc
-  FOURCC_H420 = FOURCC('H', '4', '2', '0'),  // unofficial fourcc
-
-  // 14 Auxiliary aliases.  CanonicalFourCC() maps these to canonical fourcc.
-  FOURCC_IYUV = FOURCC('I', 'Y', 'U', 'V'),  // Alias for I420.
-  FOURCC_YU16 = FOURCC('Y', 'U', '1', '6'),  // Alias for I422.
-  FOURCC_YU24 = FOURCC('Y', 'U', '2', '4'),  // Alias for I444.
-  FOURCC_YUYV = FOURCC('Y', 'U', 'Y', 'V'),  // Alias for YUY2.
-  FOURCC_YUVS = FOURCC('y', 'u', 'v', 's'),  // Alias for YUY2 on Mac.
-  FOURCC_HDYC = FOURCC('H', 'D', 'Y', 'C'),  // Alias for UYVY.
-  FOURCC_2VUY = FOURCC('2', 'v', 'u', 'y'),  // Alias for UYVY on Mac.
-  FOURCC_JPEG = FOURCC('J', 'P', 'E', 'G'),  // Alias for MJPG.
-  FOURCC_DMB1 = FOURCC('d', 'm', 'b', '1'),  // Alias for MJPG on Mac.
-  FOURCC_BA81 = FOURCC('B', 'A', '8', '1'),  // Alias for BGGR.
-  FOURCC_RGB3 = FOURCC('R', 'G', 'B', '3'),  // Alias for RAW.
-  FOURCC_BGR3 = FOURCC('B', 'G', 'R', '3'),  // Alias for 24BG.
-  FOURCC_CM32 = FOURCC(0, 0, 0, 32),  // Alias for BGRA kCMPixelFormat_32ARGB
-  FOURCC_CM24 = FOURCC(0, 0, 0, 24),  // Alias for RAW kCMPixelFormat_24RGB
-  FOURCC_L555 = FOURCC('L', '5', '5', '5'),  // Alias for RGBO.
-  FOURCC_L565 = FOURCC('L', '5', '6', '5'),  // Alias for RGBP.
-  FOURCC_5551 = FOURCC('5', '5', '5', '1'),  // Alias for RGBO.
-
-  // 1 Auxiliary compressed YUV format set aside for capturer.
-  FOURCC_H264 = FOURCC('H', '2', '6', '4'),
-
-  // Match any fourcc.
-  FOURCC_ANY = -1,
-};
-
-enum FourCCBpp {
-  // Canonical fourcc codes used in our code.
-  FOURCC_BPP_I420 = 12,
-  FOURCC_BPP_I422 = 16,
-  FOURCC_BPP_I444 = 24,
-  FOURCC_BPP_I411 = 12,
-  FOURCC_BPP_I400 = 8,
-  FOURCC_BPP_NV21 = 12,
-  FOURCC_BPP_NV12 = 12,
-  FOURCC_BPP_YUY2 = 16,
-  FOURCC_BPP_UYVY = 16,
-  FOURCC_BPP_M420 = 12,
-  FOURCC_BPP_Q420 = 12,
-  FOURCC_BPP_ARGB = 32,
-  FOURCC_BPP_BGRA = 32,
-  FOURCC_BPP_ABGR = 32,
-  FOURCC_BPP_RGBA = 32,
-  FOURCC_BPP_24BG = 24,
-  FOURCC_BPP_RAW  = 24,
-  FOURCC_BPP_RGBP = 16,
-  FOURCC_BPP_RGBO = 16,
-  FOURCC_BPP_R444 = 16,
-  FOURCC_BPP_RGGB = 8,
-  FOURCC_BPP_BGGR = 8,
-  FOURCC_BPP_GRBG = 8,
-  FOURCC_BPP_GBRG = 8,
-  FOURCC_BPP_YV12 = 12,
-  FOURCC_BPP_YV16 = 16,
-  FOURCC_BPP_YV24 = 24,
-  FOURCC_BPP_YU12 = 12,
-  FOURCC_BPP_J420 = 12,
-  FOURCC_BPP_J400 = 8,
-  FOURCC_BPP_H420 = 12,
-  FOURCC_BPP_MJPG = 0,  // 0 means unknown.
-  FOURCC_BPP_H264 = 0,
-  FOURCC_BPP_IYUV = 12,
-  FOURCC_BPP_YU16 = 16,
-  FOURCC_BPP_YU24 = 24,
-  FOURCC_BPP_YUYV = 16,
-  FOURCC_BPP_YUVS = 16,
-  FOURCC_BPP_HDYC = 16,
-  FOURCC_BPP_2VUY = 16,
-  FOURCC_BPP_JPEG = 1,
-  FOURCC_BPP_DMB1 = 1,
-  FOURCC_BPP_BA81 = 8,
-  FOURCC_BPP_RGB3 = 24,
-  FOURCC_BPP_BGR3 = 24,
-  FOURCC_BPP_CM32 = 32,
-  FOURCC_BPP_CM24 = 24,
-
-  // Match any fourcc.
-  FOURCC_BPP_ANY  = 0,  // 0 means unknown.
-};
-
-// Converts fourcc aliases into canonical ones.
-LIBYUV_API uint32 CanonicalFourCC(uint32 fourcc);
-
-#ifdef __cplusplus
-}  // extern "C"
-}  // namespace libyuv
-#endif
-
-#endif  // INCLUDE_LIBYUV_VIDEO_COMMON_H_
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
deleted file mode 100644
index 1c91250231..0000000000
--- a/third_party/libyuv/larch64/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363
-size 462482
diff --git a/third_party/libyuv/x86_64/include b/third_party/libyuv/x86_64/include
deleted file mode 120000
index f5030fe889..0000000000
--- a/third_party/libyuv/x86_64/include
+++ /dev/null
@@ -1 +0,0 @@
-../include
\ No newline at end of file
diff --git a/third_party/libyuv/x86_64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a
deleted file mode 100644
index 8915f167dc..0000000000
--- a/third_party/libyuv/x86_64/lib/libyuv.a
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e21a3bd8df01cf4ce5461e7bf6654239196036c3f829255145265c7bf31a791d
-size 511974
diff --git a/third_party/linux/include/msm_media_info.h b/third_party/linux/include/msm_media_info.h
index 39dceb2c49..3fd0c8849a 100644
--- a/third_party/linux/include/msm_media_info.h
+++ b/third_party/linux/include/msm_media_info.h
@@ -2,7 +2,9 @@
 #define __MEDIA_INFO_H__
 
 #ifndef MSM_MEDIA_ALIGN
-#define MSM_MEDIA_ALIGN(__sz, __align) (((__sz) + (__align-1)) & (~(__align-1)))
+#define MSM_MEDIA_ALIGN(__sz, __align) (((__align) & ((__align) - 1)) ?\
+	((((__sz) + (__align) - 1) / (__align)) * (__align)) :\
+	(((__sz) + (__align) - 1) & (~((__align) - 1))))
 #endif
 
 #ifndef MSM_MEDIA_ROUNDUP
@@ -148,7 +150,12 @@ enum color_fmts {
 	 *          + 2*(UV_Stride * UV_Scanlines) + Extradata), 4096)
 	 */
 	COLOR_FMT_NV12_MVTB,
-	/* Venus NV12 UBWC:
+	/*
+	 * The buffer can be of 2 types:
+	 * (1) Venus NV12 UBWC Progressive
+	 * (2) Venus NV12 UBWC Interlaced
+	 *
+	 * (1) Venus NV12 UBWC Progressive Buffer Format:
 	 * Compressed Macro-tile format for NV12.
 	 * Contains 4 planes in the following order -
 	 * (A) Y_Meta_Plane
@@ -234,6 +241,186 @@ enum color_fmts {
 	 * Total size = align( Y_UBWC_Plane_size + UV_UBWC_Plane_size +
 	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
 	 *           + max(Extradata, Y_Stride * 48), 4096)
+	 *
+	 *
+	 * (2) Venus NV12 UBWC Interlaced Buffer Format:
+	 * Compressed Macro-tile format for NV12 interlaced.
+	 * Contains 8 planes in the following order -
+	 * (A) Y_Meta_Top_Field_Plane
+	 * (B) Y_UBWC_Top_Field_Plane
+	 * (C) UV_Meta_Top_Field_Plane
+	 * (D) UV_UBWC_Top_Field_Plane
+	 * (E) Y_Meta_Bottom_Field_Plane
+	 * (F) Y_UBWC_Bottom_Field_Plane
+	 * (G) UV_Meta_Bottom_Field_Plane
+	 * (H) UV_UBWC_Bottom_Field_Plane
+	 * Y_Meta_Top_Field_Plane consists of meta information to decode
+	 * compressed tile data for Y_UBWC_Top_Field_Plane.
+	 * Y_UBWC_Top_Field_Plane consists of Y data in compressed macro-tile
+	 * format for top field of an interlaced frame.
+	 * UBWC decoder block will use the Y_Meta_Top_Field_Plane data together
+	 * with Y_UBWC_Top_Field_Plane data to produce loss-less uncompressed
+	 * 8 bit Y samples for top field of an interlaced frame.
+	 *
+	 * UV_Meta_Top_Field_Plane consists of meta information to decode
+	 * compressed tile data in UV_UBWC_Top_Field_Plane.
+	 * UV_UBWC_Top_Field_Plane consists of UV data in compressed macro-tile
+	 * format for top field of an interlaced frame.
+	 * UBWC decoder block will use UV_Meta_Top_Field_Plane data together
+	 * with UV_UBWC_Top_Field_Plane data to produce loss-less uncompressed
+	 * 8 bit subsampled color difference samples for top field of an
+	 * interlaced frame.
+	 *
+	 * Each tile in Y_UBWC_Top_Field_Plane/UV_UBWC_Top_Field_Plane is
+	 * independently decodable and randomly accessible. There is no
+	 * dependency between tiles.
+	 *
+	 * Y_Meta_Bottom_Field_Plane consists of meta information to decode
+	 * compressed tile data for Y_UBWC_Bottom_Field_Plane.
+	 * Y_UBWC_Bottom_Field_Plane consists of Y data in compressed macro-tile
+	 * format for bottom field of an interlaced frame.
+	 * UBWC decoder block will use the Y_Meta_Bottom_Field_Plane data
+	 * together with Y_UBWC_Bottom_Field_Plane data to produce loss-less
+	 * uncompressed 8 bit Y samples for bottom field of an interlaced frame.
+	 *
+	 * UV_Meta_Bottom_Field_Plane consists of meta information to decode
+	 * compressed tile data in UV_UBWC_Bottom_Field_Plane.
+	 * UV_UBWC_Bottom_Field_Plane consists of UV data in compressed
+	 * macro-tile format for bottom field of an interlaced frame.
+	 * UBWC decoder block will use UV_Meta_Bottom_Field_Plane data together
+	 * with UV_UBWC_Bottom_Field_Plane data to produce loss-less
+	 * uncompressed 8 bit subsampled color difference samples for bottom
+	 * field of an interlaced frame.
+	 *
+	 * Each tile in Y_UBWC_Bottom_Field_Plane/UV_UBWC_Bottom_Field_Plane is
+	 * independently decodable and randomly accessible. There is no
+	 * dependency between tiles.
+	 *
+	 * <-----Y_TF_Meta_Stride---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . . Half_height      |
+	 * M M M M M M M M M M M M . .      |         Meta_Y_TF_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-Compressed tile Y_TF Stride->
+	 * <------- Width ------->
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_TF_Scanlines
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 * <----UV_TF_Meta_Stride---->
+	 * M M M M M M M M M M M M . .      ^
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      M_UV_TF_Scanlines
+	 * . . . . . . . . . . . . . .      |
+	 * . . . . . . . . . . . . . .      V
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * <-Compressed tile UV_TF Stride->
+	 * U* V* U* V* U* V* U* V* . . . .  ^
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  UV_TF_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * <-----Y_BF_Meta_Stride---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . . Half_height      |
+	 * M M M M M M M M M M M M . .      |         Meta_Y_BF_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-Compressed tile Y_BF Stride->
+	 * <------- Width ------->
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . . Half_height  |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_BF_Scanlines
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 * <----UV_BF_Meta_Stride---->
+	 * M M M M M M M M M M M M . .      ^
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      M_UV_BF_Scanlines
+	 * . . . . . . . . . . . . . .      |
+	 * . . . . . . . . . . . . . .      V
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * <-Compressed tile UV_BF Stride->
+	 * U* V* U* V* U* V* U* V* . . . .  ^
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  UV_BF_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 *
+	 * Half_height = (Height+1)>>1
+	 * Y_TF_Stride = align(Width, 128)
+	 * UV_TF_Stride = align(Width, 128)
+	 * Y_TF_Scanlines = align(Half_height, 32)
+	 * UV_TF_Scanlines = align((Half_height+1)/2, 32)
+	 * Y_UBWC_TF_Plane_size = align(Y_TF_Stride * Y_TF_Scanlines, 4096)
+	 * UV_UBWC_TF_Plane_size = align(UV_TF_Stride * UV_TF_Scanlines, 4096)
+	 * Y_TF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
+	 * Y_TF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
+	 * Y_TF_Meta_Plane_size =
+	 *     align(Y_TF_Meta_Stride * Y_TF_Meta_Scanlines, 4096)
+	 * UV_TF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
+	 * UV_TF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
+	 * UV_TF_Meta_Plane_size =
+	 *     align(UV_TF_Meta_Stride * UV_TF_Meta_Scanlines, 4096)
+	 * Y_BF_Stride = align(Width, 128)
+	 * UV_BF_Stride = align(Width, 128)
+	 * Y_BF_Scanlines = align(Half_height, 32)
+	 * UV_BF_Scanlines = align((Half_height+1)/2, 32)
+	 * Y_UBWC_BF_Plane_size = align(Y_BF_Stride * Y_BF_Scanlines, 4096)
+	 * UV_UBWC_BF_Plane_size = align(UV_BF_Stride * UV_BF_Scanlines, 4096)
+	 * Y_BF_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
+	 * Y_BF_Meta_Scanlines = align(roundup(Half_height, Y_TileHeight), 16)
+	 * Y_BF_Meta_Plane_size =
+	 *     align(Y_BF_Meta_Stride * Y_BF_Meta_Scanlines, 4096)
+	 * UV_BF_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
+	 * UV_BF_Meta_Scanlines = align(roundup(Half_height, UV_TileHeight), 16)
+	 * UV_BF_Meta_Plane_size =
+	 *     align(UV_BF_Meta_Stride * UV_BF_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align( Y_UBWC_TF_Plane_size + UV_UBWC_TF_Plane_size +
+	 *           Y_TF_Meta_Plane_size + UV_TF_Meta_Plane_size +
+	 *			 Y_UBWC_BF_Plane_size + UV_UBWC_BF_Plane_size +
+	 *           Y_BF_Meta_Plane_size + UV_BF_Meta_Plane_size +
+	 *           + max(Extradata, Y_TF_Stride * 48), 4096)
 	 */
 	COLOR_FMT_NV12_UBWC,
 	/* Venus NV12 10-bit UBWC:
@@ -399,8 +586,233 @@ enum color_fmts {
 	 *		Extradata, 4096)
 	 */
 	COLOR_FMT_RGBA8888_UBWC,
+	/* Venus RGBA1010102 UBWC format:
+	 * Contains 2 planes in the following order -
+	 * (A) Meta plane
+	 * (B) RGBA plane
+	 *
+	 * <--- RGB_Meta_Stride ---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      Height      |
+	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-------- RGB_Stride -------->
+	 * <------- Width ------->
+	 * R R R R R R R R R R R R . . . .  ^           ^
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  Height      |
+	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 *
+	 * RGB_Stride = align(Width * 4, 256)
+	 * RGB_Scanlines = align(Height, 16)
+	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
+	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
+	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
+	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
+	 *		RGB_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
+	 *		Extradata, 4096)
+	 */
+	COLOR_FMT_RGBA1010102_UBWC,
+	/* Venus RGB565 UBWC format:
+	 * Contains 2 planes in the following order -
+	 * (A) Meta plane
+	 * (B) RGB plane
+	 *
+	 * <--- RGB_Meta_Stride ---->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      Height      |
+	 * M M M M M M M M M M M M . .      |       Meta_RGB_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <-------- RGB_Stride -------->
+	 * <------- Width ------->
+	 * R R R R R R R R R R R R . . . .  ^           ^
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  Height      |
+	 * R R R R R R R R R R R R . . . .  |       RGB_Scanlines
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  |           |
+	 * R R R R R R R R R R R R . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .    -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 *
+	 * RGB_Stride = align(Width * 2, 128)
+	 * RGB_Scanlines = align(Height, 16)
+	 * RGB_Plane_size = align(RGB_Stride * RGB_Scanlines, 4096)
+	 * RGB_Meta_Stride = align(roundup(Width, RGB_TileWidth), 64)
+	 * RGB_Meta_Scanline = align(roundup(Height, RGB_TileHeight), 16)
+	 * RGB_Meta_Plane_size = align(RGB_Meta_Stride *
+	 *		RGB_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align(RGB_Meta_Plane_size + RGB_Plane_size +
+	 *		Extradata, 4096)
+	 */
+	COLOR_FMT_RGB565_UBWC,
+	/* P010 UBWC:
+	 * Compressed Macro-tile format for NV12.
+	 * Contains 4 planes in the following order -
+	 * (A) Y_Meta_Plane
+	 * (B) Y_UBWC_Plane
+	 * (C) UV_Meta_Plane
+	 * (D) UV_UBWC_Plane
+	 *
+	 * Y_Meta_Plane consists of meta information to decode compressed
+	 * tile data in Y_UBWC_Plane.
+	 * Y_UBWC_Plane consists of Y data in compressed macro-tile format.
+	 * UBWC decoder block will use the Y_Meta_Plane data together with
+	 * Y_UBWC_Plane data to produce loss-less uncompressed 10 bit Y samples.
+	 *
+	 * UV_Meta_Plane consists of meta information to decode compressed
+	 * tile data in UV_UBWC_Plane.
+	 * UV_UBWC_Plane consists of UV data in compressed macro-tile format.
+	 * UBWC decoder block will use UV_Meta_Plane data together with
+	 * UV_UBWC_Plane data to produce loss-less uncompressed 10 bit 2x2
+	 * subsampled color difference samples.
+	 *
+	 * Each tile in Y_UBWC_Plane/UV_UBWC_Plane is independently decodable
+	 * and randomly accessible. There is no dependency between tiles.
+	 *
+	 * <----- Y_Meta_Stride ----->
+	 * <-------- Width ------>
+	 * M M M M M M M M M M M M . .      ^           ^
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      Height      |
+	 * M M M M M M M M M M M M . .      |         Meta_Y_Scanlines
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      |           |
+	 * M M M M M M M M M M M M . .      V           |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .                  |
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . .                  V
+	 * <--Compressed tile Y Stride--->
+	 * <------- Width ------->
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  ^           ^
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  Height      |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |        Macro_tile_Y_Scanlines
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  |           |
+	 * Y* Y* Y* Y* Y* Y* Y* Y* . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 * . . . . . . . . . . . . . . . .              V
+	 * <----- UV_Meta_Stride ---->
+	 * M M M M M M M M M M M M . .      ^
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      |
+	 * M M M M M M M M M M M M . .      M_UV_Scanlines
+	 * . . . . . . . . . . . . . .      |
+	 * . . . . . . . . . . . . . .      V
+	 * . . . . . . . . . . . . . .      -------> Buffer size aligned to 4k
+	 * <--Compressed tile UV Stride--->
+	 * U* V* U* V* U* V* U* V* . . . .  ^
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  |
+	 * U* V* U* V* U* V* U* V* . . . .  UV_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  -------> Buffer size aligned to 4k
+	 *
+	 *
+	 * Y_Stride = align(Width * 2, 256)
+	 * UV_Stride = align(Width * 2, 256)
+	 * Y_Scanlines = align(Height, 16)
+	 * UV_Scanlines = align(Height/2, 16)
+	 * Y_UBWC_Plane_Size = align(Y_Stride * Y_Scanlines, 4096)
+	 * UV_UBWC_Plane_Size = align(UV_Stride * UV_Scanlines, 4096)
+	 * Y_Meta_Stride = align(roundup(Width, Y_TileWidth), 64)
+	 * Y_Meta_Scanlines = align(roundup(Height, Y_TileHeight), 16)
+	 * Y_Meta_Plane_size = align(Y_Meta_Stride * Y_Meta_Scanlines, 4096)
+	 * UV_Meta_Stride = align(roundup(Width, UV_TileWidth), 64)
+	 * UV_Meta_Scanlines = align(roundup(Height, UV_TileHeight), 16)
+	 * UV_Meta_Plane_size = align(UV_Meta_Stride * UV_Meta_Scanlines, 4096)
+	 * Extradata = 8k
+	 *
+	 * Total size = align(Y_UBWC_Plane_size + UV_UBWC_Plane_size +
+	 *           Y_Meta_Plane_size + UV_Meta_Plane_size
+	 *           + max(Extradata, Y_Stride * 48), 4096)
+	 */
+	COLOR_FMT_P010_UBWC,
+	/* Venus P010:
+	 * YUV 4:2:0 image with a plane of 10 bit Y samples followed
+	 * by an interleaved U/V plane containing 10 bit 2x2 subsampled
+	 * colour difference samples.
+	 *
+	 * <-------- Y/UV_Stride -------->
+	 * <------- Width ------->
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  ^           ^
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  Height      |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |          Y_Scanlines
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  |           |
+	 * Y Y Y Y Y Y Y Y Y Y Y Y . . . .  V           |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              |
+	 * . . . . . . . . . . . . . . . .              V
+	 * U V U V U V U V U V U V . . . .  ^
+	 * U V U V U V U V U V U V . . . .  |
+	 * U V U V U V U V U V U V . . . .  |
+	 * U V U V U V U V U V U V . . . .  UV_Scanlines
+	 * . . . . . . . . . . . . . . . .  |
+	 * . . . . . . . . . . . . . . . .  V
+	 * . . . . . . . . . . . . . . . .  --> Buffer size alignment
+	 *
+	 * Y_Stride : Width * 2 aligned to 128
+	 * UV_Stride : Width * 2 aligned to 128
+	 * Y_Scanlines: Height aligned to 32
+	 * UV_Scanlines: Height/2 aligned to 16
+	 * Extradata: Arbitrary (software-imposed) padding
+	 * Total size = align((Y_Stride * Y_Scanlines
+	 *          + UV_Stride * UV_Scanlines
+	 *          + max(Extradata, Y_Stride * 8), 4096)
+	 */
+	COLOR_FMT_P010,
 };
 
+#define COLOR_FMT_RGBA1010102_UBWC	COLOR_FMT_RGBA1010102_UBWC
+#define COLOR_FMT_RGB565_UBWC		COLOR_FMT_RGB565_UBWC
+#define COLOR_FMT_P010_UBWC		COLOR_FMT_P010_UBWC
+#define COLOR_FMT_P010		COLOR_FMT_P010
+
 static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
 {
 	(void)height;
@@ -413,9 +825,17 @@ static inline unsigned int VENUS_EXTRADATA_SIZE(int width, int height)
 	return 16 * 1024;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
 {
 	unsigned int alignment, stride = 0;
+
 	if (!width)
 		goto invalid_input;
 
@@ -432,6 +852,14 @@ static inline unsigned int VENUS_Y_STRIDE(int color_fmt, int width)
 		stride = MSM_MEDIA_ALIGN(width, 192);
 		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
 		break;
+	case COLOR_FMT_P010_UBWC:
+		alignment = 256;
+		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
+		break;
+	case COLOR_FMT_P010:
+		alignment = 128;
+		stride = MSM_MEDIA_ALIGN(width*2, alignment);
+		break;
 	default:
 		break;
 	}
@@ -439,9 +867,17 @@ invalid_input:
 	return stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
 {
 	unsigned int alignment, stride = 0;
+
 	if (!width)
 		goto invalid_input;
 
@@ -458,6 +894,14 @@ static inline unsigned int VENUS_UV_STRIDE(int color_fmt, int width)
 		stride = MSM_MEDIA_ALIGN(width, 192);
 		stride = MSM_MEDIA_ALIGN(stride * 4/3, alignment);
 		break;
+	case COLOR_FMT_P010_UBWC:
+		alignment = 256;
+		stride = MSM_MEDIA_ALIGN(width * 2, alignment);
+		break;
+	case COLOR_FMT_P010:
+		alignment = 128;
+		stride = MSM_MEDIA_ALIGN(width*2, alignment);
+		break;
 	default:
 		break;
 	}
@@ -465,9 +909,17 @@ invalid_input:
 	return stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
 {
 	unsigned int alignment, sclines = 0;
+
 	if (!height)
 		goto invalid_input;
 
@@ -476,9 +928,11 @@ static inline unsigned int VENUS_Y_SCANLINES(int color_fmt, int height)
 	case COLOR_FMT_NV12:
 	case COLOR_FMT_NV12_MVTB:
 	case COLOR_FMT_NV12_UBWC:
+	case COLOR_FMT_P010:
 		alignment = 32;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		alignment = 16;
 		break;
 	default:
@@ -489,9 +943,17 @@ invalid_input:
 	return sclines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
 {
 	unsigned int alignment, sclines = 0;
+
 	if (!height)
 		goto invalid_input;
 
@@ -500,6 +962,8 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
 	case COLOR_FMT_NV12:
 	case COLOR_FMT_NV12_MVTB:
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
+	case COLOR_FMT_P010:
 		alignment = 16;
 		break;
 	case COLOR_FMT_NV12_UBWC:
@@ -509,12 +973,19 @@ static inline unsigned int VENUS_UV_SCANLINES(int color_fmt, int height)
 		goto invalid_input;
 	}
 
-	sclines = MSM_MEDIA_ALIGN(height / 2, alignment);
+	sclines = MSM_MEDIA_ALIGN((height+1)>>1, alignment);
 
 invalid_input:
 	return sclines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
 {
 	int y_tile_width = 0, y_meta_stride = 0;
@@ -524,6 +995,7 @@ static inline unsigned int VENUS_Y_META_STRIDE(int color_fmt, int width)
 
 	switch (color_fmt) {
 	case COLOR_FMT_NV12_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		y_tile_width = 32;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
@@ -540,6 +1012,13 @@ invalid_input:
 	return y_meta_stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
 {
 	int y_tile_height = 0, y_meta_scanlines = 0;
@@ -552,6 +1031,7 @@ static inline unsigned int VENUS_Y_META_SCANLINES(int color_fmt, int height)
 		y_tile_height = 8;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		y_tile_height = 4;
 		break;
 	default:
@@ -565,6 +1045,13 @@ invalid_input:
 	return y_meta_scanlines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ */
 static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
 {
 	int uv_tile_width = 0, uv_meta_stride = 0;
@@ -574,6 +1061,7 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
 
 	switch (color_fmt) {
 	case COLOR_FMT_NV12_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		uv_tile_width = 16;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
@@ -583,13 +1071,20 @@ static inline unsigned int VENUS_UV_META_STRIDE(int color_fmt, int width)
 		goto invalid_input;
 	}
 
-	uv_meta_stride = MSM_MEDIA_ROUNDUP(width / 2, uv_tile_width);
+	uv_meta_stride = MSM_MEDIA_ROUNDUP((width+1)>>1, uv_tile_width);
 	uv_meta_stride = MSM_MEDIA_ALIGN(uv_meta_stride, 64);
 
 invalid_input:
 	return uv_meta_stride;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @height
+ * Progressive: height
+ * Interlaced: (height+1)>>1
+ */
 static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
 {
 	int uv_tile_height = 0, uv_meta_scanlines = 0;
@@ -602,13 +1097,14 @@ static inline unsigned int VENUS_UV_META_SCANLINES(int color_fmt, int height)
 		uv_tile_height = 8;
 		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
+	case COLOR_FMT_P010_UBWC:
 		uv_tile_height = 4;
 		break;
 	default:
 		goto invalid_input;
 	}
 
-	uv_meta_scanlines = MSM_MEDIA_ROUNDUP(height / 2, uv_tile_height);
+	uv_meta_scanlines = MSM_MEDIA_ROUNDUP((height+1)>>1, uv_tile_height);
 	uv_meta_scanlines = MSM_MEDIA_ALIGN(uv_meta_scanlines, 16);
 
 invalid_input:
@@ -617,7 +1113,8 @@ invalid_input:
 
 static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
 {
-	unsigned int alignment = 0, stride = 0;
+	unsigned int alignment = 0, stride = 0, bpp = 4;
+
 	if (!width)
 		goto invalid_input;
 
@@ -625,14 +1122,19 @@ static inline unsigned int VENUS_RGB_STRIDE(int color_fmt, int width)
 	case COLOR_FMT_RGBA8888:
 		alignment = 128;
 		break;
+	case COLOR_FMT_RGB565_UBWC:
+		alignment = 256;
+		bpp = 2;
+		break;
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
 		alignment = 256;
 		break;
 	default:
 		goto invalid_input;
 	}
 
-	stride = MSM_MEDIA_ALIGN(width * 4, alignment);
+	stride = MSM_MEDIA_ALIGN(width * bpp, alignment);
 
 invalid_input:
 	return stride;
@@ -650,6 +1152,8 @@ static inline unsigned int VENUS_RGB_SCANLINES(int color_fmt, int height)
 		alignment = 32;
 		break;
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		alignment = 16;
 		break;
 	default:
@@ -671,6 +1175,8 @@ static inline unsigned int VENUS_RGB_META_STRIDE(int color_fmt, int width)
 
 	switch (color_fmt) {
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		rgb_tile_width = 16;
 		break;
 	default:
@@ -693,6 +1199,8 @@ static inline unsigned int VENUS_RGB_META_SCANLINES(int color_fmt, int height)
 
 	switch (color_fmt) {
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		rgb_tile_height = 4;
 		break;
 	default:
@@ -706,11 +1214,22 @@ invalid_input:
 	return rgb_meta_scanlines;
 }
 
+/*
+ * Function arguments:
+ * @color_fmt
+ * @width
+ * Progressive: width
+ * Interlaced: width
+ * @height
+ * Progressive: height
+ * Interlaced: height
+ */
 static inline unsigned int VENUS_BUFFER_SIZE(
 	int color_fmt, int width, int height)
 {
 	const unsigned int extra_size = VENUS_EXTRADATA_SIZE(width, height);
 	unsigned int uv_alignment = 0, size = 0;
+	unsigned int w_alignment = 512;
 	unsigned int y_plane, uv_plane, y_stride,
 		uv_stride, y_sclines, uv_sclines;
 	unsigned int y_ubwc_plane = 0, uv_ubwc_plane = 0;
@@ -740,6 +1259,18 @@ static inline unsigned int VENUS_BUFFER_SIZE(
 		size = y_plane + uv_plane +
 				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
 		size = MSM_MEDIA_ALIGN(size, 4096);
+
+		/* Additional size to cover last row of non-aligned frame */
+		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
+		size = MSM_MEDIA_ALIGN(size, 4096);
+		break;
+	case COLOR_FMT_P010:
+		uv_alignment = 4096;
+		y_plane = y_stride * y_sclines;
+		uv_plane = uv_stride * uv_sclines + uv_alignment;
+		size = y_plane + uv_plane +
+				MSM_MEDIA_MAX(extra_size, 8 * y_stride);
+		size = MSM_MEDIA_ALIGN(size, 4096);
 		break;
 	case COLOR_FMT_NV12_MVTB:
 		uv_alignment = 4096;
@@ -750,6 +1281,30 @@ static inline unsigned int VENUS_BUFFER_SIZE(
 		size = MSM_MEDIA_ALIGN(size, 4096);
 		break;
 	case COLOR_FMT_NV12_UBWC:
+		y_sclines = VENUS_Y_SCANLINES(color_fmt, (height+1)>>1);
+		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
+		uv_sclines = VENUS_UV_SCANLINES(color_fmt, (height+1)>>1);
+		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
+		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
+		y_meta_scanlines =
+			VENUS_Y_META_SCANLINES(color_fmt, (height+1)>>1);
+		y_meta_plane = MSM_MEDIA_ALIGN(
+			y_meta_stride * y_meta_scanlines, 4096);
+		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
+		uv_meta_scanlines =
+			VENUS_UV_META_SCANLINES(color_fmt, (height+1)>>1);
+		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
+			uv_meta_scanlines, 4096);
+
+		size = (y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
+			uv_meta_plane)*2 +
+			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
+		size = MSM_MEDIA_ALIGN(size, 4096);
+
+		/* Additional size to cover last row of non-aligned frame */
+		size += MSM_MEDIA_ALIGN(width, w_alignment) * w_alignment;
+		size = MSM_MEDIA_ALIGN(size, 4096);
+		break;
 	case COLOR_FMT_NV12_BPP10_UBWC:
 		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
 		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
@@ -767,12 +1322,30 @@ static inline unsigned int VENUS_BUFFER_SIZE(
 			MSM_MEDIA_MAX(extra_size + 8192, 48 * y_stride);
 		size = MSM_MEDIA_ALIGN(size, 4096);
 		break;
+	case COLOR_FMT_P010_UBWC:
+		y_ubwc_plane = MSM_MEDIA_ALIGN(y_stride * y_sclines, 4096);
+		uv_ubwc_plane = MSM_MEDIA_ALIGN(uv_stride * uv_sclines, 4096);
+		y_meta_stride = VENUS_Y_META_STRIDE(color_fmt, width);
+		y_meta_scanlines = VENUS_Y_META_SCANLINES(color_fmt, height);
+		y_meta_plane = MSM_MEDIA_ALIGN(
+				y_meta_stride * y_meta_scanlines, 4096);
+		uv_meta_stride = VENUS_UV_META_STRIDE(color_fmt, width);
+		uv_meta_scanlines = VENUS_UV_META_SCANLINES(color_fmt, height);
+		uv_meta_plane = MSM_MEDIA_ALIGN(uv_meta_stride *
+					uv_meta_scanlines, 4096);
+
+		size = y_ubwc_plane + uv_ubwc_plane + y_meta_plane +
+			uv_meta_plane;
+		size = MSM_MEDIA_ALIGN(size, 4096);
+		break;
 	case COLOR_FMT_RGBA8888:
 		rgb_plane = MSM_MEDIA_ALIGN(rgb_stride  * rgb_scanlines, 4096);
 		size = rgb_plane;
 		size =  MSM_MEDIA_ALIGN(size, 4096);
 		break;
 	case COLOR_FMT_RGBA8888_UBWC:
+	case COLOR_FMT_RGBA1010102_UBWC:
+	case COLOR_FMT_RGB565_UBWC:
 		rgb_ubwc_plane = MSM_MEDIA_ALIGN(rgb_stride * rgb_scanlines,
 							4096);
 		rgb_meta_stride = VENUS_RGB_META_STRIDE(color_fmt, width);
diff --git a/third_party/mapd_pfeiferj/README.md b/third_party/mapd_pfeiferj/README.md
new file mode 100644
index 0000000000..a814f11260
--- /dev/null
+++ b/third_party/mapd_pfeiferj/README.md
@@ -0,0 +1,2 @@
+# MAPD implementation by pfeiferj
+https://github.com/pfeiferj/openpilot-mapd/releases/
diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
new file mode 100755
index 0000000000..c8b50b0791
Binary files /dev/null and b/third_party/mapd_pfeiferj/mapd differ
diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
deleted file mode 100644
index 0086319f5f..0000000000
--- a/third_party/opencl/include/CL/cl.h
+++ /dev/null
@@ -1,1452 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_H
-#define __OPENCL_CL_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl_platform.h>
-#else
-#include <CL/cl_platform.h>
-#endif	
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-
-typedef struct _cl_platform_id *    cl_platform_id;
-typedef struct _cl_device_id *      cl_device_id;
-typedef struct _cl_context *        cl_context;
-typedef struct _cl_command_queue *  cl_command_queue;
-typedef struct _cl_mem *            cl_mem;
-typedef struct _cl_program *        cl_program;
-typedef struct _cl_kernel *         cl_kernel;
-typedef struct _cl_event *          cl_event;
-typedef struct _cl_sampler *        cl_sampler;
-
-typedef cl_uint             cl_bool;                     /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ 
-typedef cl_ulong            cl_bitfield;
-typedef cl_bitfield         cl_device_type;
-typedef cl_uint             cl_platform_info;
-typedef cl_uint             cl_device_info;
-typedef cl_bitfield         cl_device_fp_config;
-typedef cl_uint             cl_device_mem_cache_type;
-typedef cl_uint             cl_device_local_mem_type;
-typedef cl_bitfield         cl_device_exec_capabilities;
-typedef cl_bitfield         cl_device_svm_capabilities;
-typedef cl_bitfield         cl_command_queue_properties;
-typedef intptr_t            cl_device_partition_property;
-typedef cl_bitfield         cl_device_affinity_domain;
-
-typedef intptr_t            cl_context_properties;
-typedef cl_uint             cl_context_info;
-typedef cl_bitfield         cl_queue_properties;
-typedef cl_uint             cl_command_queue_info;
-typedef cl_uint             cl_channel_order;
-typedef cl_uint             cl_channel_type;
-typedef cl_bitfield         cl_mem_flags;
-typedef cl_bitfield         cl_svm_mem_flags;
-typedef cl_uint             cl_mem_object_type;
-typedef cl_uint             cl_mem_info;
-typedef cl_bitfield         cl_mem_migration_flags;
-typedef cl_uint             cl_image_info;
-typedef cl_uint             cl_buffer_create_type;
-typedef cl_uint             cl_addressing_mode;
-typedef cl_uint             cl_filter_mode;
-typedef cl_uint             cl_sampler_info;
-typedef cl_bitfield         cl_map_flags;
-typedef intptr_t            cl_pipe_properties;
-typedef cl_uint             cl_pipe_info;
-typedef cl_uint             cl_program_info;
-typedef cl_uint             cl_program_build_info;
-typedef cl_uint             cl_program_binary_type;
-typedef cl_int              cl_build_status;
-typedef cl_uint             cl_kernel_info;
-typedef cl_uint             cl_kernel_arg_info;
-typedef cl_uint             cl_kernel_arg_address_qualifier;
-typedef cl_uint             cl_kernel_arg_access_qualifier;
-typedef cl_bitfield         cl_kernel_arg_type_qualifier;
-typedef cl_uint             cl_kernel_work_group_info;
-typedef cl_uint             cl_kernel_sub_group_info;
-typedef cl_uint             cl_event_info;
-typedef cl_uint             cl_command_type;
-typedef cl_uint             cl_profiling_info;
-typedef cl_bitfield         cl_sampler_properties;
-typedef cl_uint             cl_kernel_exec_info;
-
-typedef struct _cl_image_format {
-    cl_channel_order        image_channel_order;
-    cl_channel_type         image_channel_data_type;
-} cl_image_format;
-
-typedef struct _cl_image_desc {
-    cl_mem_object_type      image_type;
-    size_t                  image_width;
-    size_t                  image_height;
-    size_t                  image_depth;
-    size_t                  image_array_size;
-    size_t                  image_row_pitch;
-    size_t                  image_slice_pitch;
-    cl_uint                 num_mip_levels;
-    cl_uint                 num_samples;
-#ifdef __GNUC__
-    __extension__   /* Prevents warnings about anonymous union in -pedantic builds */
-#endif
-    union {
-      cl_mem                  buffer;
-      cl_mem                  mem_object;
-    };
-} cl_image_desc;
-
-typedef struct _cl_buffer_region {
-    size_t                  origin;
-    size_t                  size;
-} cl_buffer_region;
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_SUCCESS                                  0
-#define CL_DEVICE_NOT_FOUND                         -1
-#define CL_DEVICE_NOT_AVAILABLE                     -2
-#define CL_COMPILER_NOT_AVAILABLE                   -3
-#define CL_MEM_OBJECT_ALLOCATION_FAILURE            -4
-#define CL_OUT_OF_RESOURCES                         -5
-#define CL_OUT_OF_HOST_MEMORY                       -6
-#define CL_PROFILING_INFO_NOT_AVAILABLE             -7
-#define CL_MEM_COPY_OVERLAP                         -8
-#define CL_IMAGE_FORMAT_MISMATCH                    -9
-#define CL_IMAGE_FORMAT_NOT_SUPPORTED               -10
-#define CL_BUILD_PROGRAM_FAILURE                    -11
-#define CL_MAP_FAILURE                              -12
-#define CL_MISALIGNED_SUB_BUFFER_OFFSET             -13
-#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
-#define CL_COMPILE_PROGRAM_FAILURE                  -15
-#define CL_LINKER_NOT_AVAILABLE                     -16
-#define CL_LINK_PROGRAM_FAILURE                     -17
-#define CL_DEVICE_PARTITION_FAILED                  -18
-#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE            -19
-
-#define CL_INVALID_VALUE                            -30
-#define CL_INVALID_DEVICE_TYPE                      -31
-#define CL_INVALID_PLATFORM                         -32
-#define CL_INVALID_DEVICE                           -33
-#define CL_INVALID_CONTEXT                          -34
-#define CL_INVALID_QUEUE_PROPERTIES                 -35
-#define CL_INVALID_COMMAND_QUEUE                    -36
-#define CL_INVALID_HOST_PTR                         -37
-#define CL_INVALID_MEM_OBJECT                       -38
-#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR          -39
-#define CL_INVALID_IMAGE_SIZE                       -40
-#define CL_INVALID_SAMPLER                          -41
-#define CL_INVALID_BINARY                           -42
-#define CL_INVALID_BUILD_OPTIONS                    -43
-#define CL_INVALID_PROGRAM                          -44
-#define CL_INVALID_PROGRAM_EXECUTABLE               -45
-#define CL_INVALID_KERNEL_NAME                      -46
-#define CL_INVALID_KERNEL_DEFINITION                -47
-#define CL_INVALID_KERNEL                           -48
-#define CL_INVALID_ARG_INDEX                        -49
-#define CL_INVALID_ARG_VALUE                        -50
-#define CL_INVALID_ARG_SIZE                         -51
-#define CL_INVALID_KERNEL_ARGS                      -52
-#define CL_INVALID_WORK_DIMENSION                   -53
-#define CL_INVALID_WORK_GROUP_SIZE                  -54
-#define CL_INVALID_WORK_ITEM_SIZE                   -55
-#define CL_INVALID_GLOBAL_OFFSET                    -56
-#define CL_INVALID_EVENT_WAIT_LIST                  -57
-#define CL_INVALID_EVENT                            -58
-#define CL_INVALID_OPERATION                        -59
-#define CL_INVALID_GL_OBJECT                        -60
-#define CL_INVALID_BUFFER_SIZE                      -61
-#define CL_INVALID_MIP_LEVEL                        -62
-#define CL_INVALID_GLOBAL_WORK_SIZE                 -63
-#define CL_INVALID_PROPERTY                         -64
-#define CL_INVALID_IMAGE_DESCRIPTOR                 -65
-#define CL_INVALID_COMPILER_OPTIONS                 -66
-#define CL_INVALID_LINKER_OPTIONS                   -67
-#define CL_INVALID_DEVICE_PARTITION_COUNT           -68
-#define CL_INVALID_PIPE_SIZE                        -69
-#define CL_INVALID_DEVICE_QUEUE                     -70
-
-/* OpenCL Version */
-#define CL_VERSION_1_0                              1
-#define CL_VERSION_1_1                              1
-#define CL_VERSION_1_2                              1
-#define CL_VERSION_2_0                              1
-#define CL_VERSION_2_1                              1
-
-/* cl_bool */
-#define CL_FALSE                                    0
-#define CL_TRUE                                     1
-#define CL_BLOCKING                                 CL_TRUE
-#define CL_NON_BLOCKING                             CL_FALSE
-
-/* cl_platform_info */
-#define CL_PLATFORM_PROFILE                         0x0900
-#define CL_PLATFORM_VERSION                         0x0901
-#define CL_PLATFORM_NAME                            0x0902
-#define CL_PLATFORM_VENDOR                          0x0903
-#define CL_PLATFORM_EXTENSIONS                      0x0904
-#define CL_PLATFORM_HOST_TIMER_RESOLUTION           0x0905
-
-/* cl_device_type - bitfield */
-#define CL_DEVICE_TYPE_DEFAULT                      (1 << 0)
-#define CL_DEVICE_TYPE_CPU                          (1 << 1)
-#define CL_DEVICE_TYPE_GPU                          (1 << 2)
-#define CL_DEVICE_TYPE_ACCELERATOR                  (1 << 3)
-#define CL_DEVICE_TYPE_CUSTOM                       (1 << 4)
-#define CL_DEVICE_TYPE_ALL                          0xFFFFFFFF
-
-/* cl_device_info */
-#define CL_DEVICE_TYPE                                   0x1000
-#define CL_DEVICE_VENDOR_ID                              0x1001
-#define CL_DEVICE_MAX_COMPUTE_UNITS                      0x1002
-#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS               0x1003
-#define CL_DEVICE_MAX_WORK_GROUP_SIZE                    0x1004
-#define CL_DEVICE_MAX_WORK_ITEM_SIZES                    0x1005
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR            0x1006
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT           0x1007
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT             0x1008
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG            0x1009
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT           0x100A
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE          0x100B
-#define CL_DEVICE_MAX_CLOCK_FREQUENCY                    0x100C
-#define CL_DEVICE_ADDRESS_BITS                           0x100D
-#define CL_DEVICE_MAX_READ_IMAGE_ARGS                    0x100E
-#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS                   0x100F
-#define CL_DEVICE_MAX_MEM_ALLOC_SIZE                     0x1010
-#define CL_DEVICE_IMAGE2D_MAX_WIDTH                      0x1011
-#define CL_DEVICE_IMAGE2D_MAX_HEIGHT                     0x1012
-#define CL_DEVICE_IMAGE3D_MAX_WIDTH                      0x1013
-#define CL_DEVICE_IMAGE3D_MAX_HEIGHT                     0x1014
-#define CL_DEVICE_IMAGE3D_MAX_DEPTH                      0x1015
-#define CL_DEVICE_IMAGE_SUPPORT                          0x1016
-#define CL_DEVICE_MAX_PARAMETER_SIZE                     0x1017
-#define CL_DEVICE_MAX_SAMPLERS                           0x1018
-#define CL_DEVICE_MEM_BASE_ADDR_ALIGN                    0x1019
-#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE               0x101A
-#define CL_DEVICE_SINGLE_FP_CONFIG                       0x101B
-#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE                  0x101C
-#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE              0x101D
-#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE                  0x101E
-#define CL_DEVICE_GLOBAL_MEM_SIZE                        0x101F
-#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE               0x1020
-#define CL_DEVICE_MAX_CONSTANT_ARGS                      0x1021
-#define CL_DEVICE_LOCAL_MEM_TYPE                         0x1022
-#define CL_DEVICE_LOCAL_MEM_SIZE                         0x1023
-#define CL_DEVICE_ERROR_CORRECTION_SUPPORT               0x1024
-#define CL_DEVICE_PROFILING_TIMER_RESOLUTION             0x1025
-#define CL_DEVICE_ENDIAN_LITTLE                          0x1026
-#define CL_DEVICE_AVAILABLE                              0x1027
-#define CL_DEVICE_COMPILER_AVAILABLE                     0x1028
-#define CL_DEVICE_EXECUTION_CAPABILITIES                 0x1029
-#define CL_DEVICE_QUEUE_PROPERTIES                       0x102A    /* deprecated */
-#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES               0x102A
-#define CL_DEVICE_NAME                                   0x102B
-#define CL_DEVICE_VENDOR                                 0x102C
-#define CL_DRIVER_VERSION                                0x102D
-#define CL_DEVICE_PROFILE                                0x102E
-#define CL_DEVICE_VERSION                                0x102F
-#define CL_DEVICE_EXTENSIONS                             0x1030
-#define CL_DEVICE_PLATFORM                               0x1031
-#define CL_DEVICE_DOUBLE_FP_CONFIG                       0x1032
-/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF            0x1034
-#define CL_DEVICE_HOST_UNIFIED_MEMORY                    0x1035   /* deprecated */
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR               0x1036
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT              0x1037
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT                0x1038
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG               0x1039
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT              0x103A
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE             0x103B
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF               0x103C
-#define CL_DEVICE_OPENCL_C_VERSION                       0x103D
-#define CL_DEVICE_LINKER_AVAILABLE                       0x103E
-#define CL_DEVICE_BUILT_IN_KERNELS                       0x103F
-#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE                  0x1040
-#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE                   0x1041
-#define CL_DEVICE_PARENT_DEVICE                          0x1042
-#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES              0x1043
-#define CL_DEVICE_PARTITION_PROPERTIES                   0x1044
-#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN              0x1045
-#define CL_DEVICE_PARTITION_TYPE                         0x1046
-#define CL_DEVICE_REFERENCE_COUNT                        0x1047
-#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC            0x1048
-#define CL_DEVICE_PRINTF_BUFFER_SIZE                     0x1049
-#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT                  0x104A
-#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT           0x104B
-#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS              0x104C
-#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE               0x104D
-#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES             0x104E
-#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE         0x104F
-#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE               0x1050
-#define CL_DEVICE_MAX_ON_DEVICE_QUEUES                   0x1051
-#define CL_DEVICE_MAX_ON_DEVICE_EVENTS                   0x1052
-#define CL_DEVICE_SVM_CAPABILITIES                       0x1053
-#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE   0x1054
-#define CL_DEVICE_MAX_PIPE_ARGS                          0x1055
-#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS           0x1056
-#define CL_DEVICE_PIPE_MAX_PACKET_SIZE                   0x1057
-#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT    0x1058
-#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT      0x1059
-#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT       0x105A
-#define CL_DEVICE_IL_VERSION                             0x105B
-#define CL_DEVICE_MAX_NUM_SUB_GROUPS                     0x105C
-#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D
-
-/* cl_device_fp_config - bitfield */
-#define CL_FP_DENORM                                (1 << 0)
-#define CL_FP_INF_NAN                               (1 << 1)
-#define CL_FP_ROUND_TO_NEAREST                      (1 << 2)
-#define CL_FP_ROUND_TO_ZERO                         (1 << 3)
-#define CL_FP_ROUND_TO_INF                          (1 << 4)
-#define CL_FP_FMA                                   (1 << 5)
-#define CL_FP_SOFT_FLOAT                            (1 << 6)
-#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT         (1 << 7)
-
-/* cl_device_mem_cache_type */
-#define CL_NONE                                     0x0
-#define CL_READ_ONLY_CACHE                          0x1
-#define CL_READ_WRITE_CACHE                         0x2
-
-/* cl_device_local_mem_type */
-#define CL_LOCAL                                    0x1
-#define CL_GLOBAL                                   0x2
-
-/* cl_device_exec_capabilities - bitfield */
-#define CL_EXEC_KERNEL                              (1 << 0)
-#define CL_EXEC_NATIVE_KERNEL                       (1 << 1)
-
-/* cl_command_queue_properties - bitfield */
-#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE      (1 << 0)
-#define CL_QUEUE_PROFILING_ENABLE                   (1 << 1)
-#define CL_QUEUE_ON_DEVICE                          (1 << 2)
-#define CL_QUEUE_ON_DEVICE_DEFAULT                  (1 << 3)
-
-/* cl_context_info  */
-#define CL_CONTEXT_REFERENCE_COUNT                  0x1080
-#define CL_CONTEXT_DEVICES                          0x1081
-#define CL_CONTEXT_PROPERTIES                       0x1082
-#define CL_CONTEXT_NUM_DEVICES                      0x1083
-
-/* cl_context_properties */
-#define CL_CONTEXT_PLATFORM                         0x1084
-#define CL_CONTEXT_INTEROP_USER_SYNC                0x1085
-    
-/* cl_device_partition_property */
-#define CL_DEVICE_PARTITION_EQUALLY                 0x1086
-#define CL_DEVICE_PARTITION_BY_COUNTS               0x1087
-#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END      0x0
-#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN      0x1088
-    
-/* cl_device_affinity_domain */
-#define CL_DEVICE_AFFINITY_DOMAIN_NUMA               (1 << 0)
-#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE           (1 << 1)
-#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE           (1 << 2)
-#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE           (1 << 3)
-#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE           (1 << 4)
-#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5)
-    
-/* cl_device_svm_capabilities */
-#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER           (1 << 0)
-#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER             (1 << 1)
-#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM             (1 << 2)
-#define CL_DEVICE_SVM_ATOMICS                       (1 << 3)
-
-/* cl_command_queue_info */
-#define CL_QUEUE_CONTEXT                            0x1090
-#define CL_QUEUE_DEVICE                             0x1091
-#define CL_QUEUE_REFERENCE_COUNT                    0x1092
-#define CL_QUEUE_PROPERTIES                         0x1093
-#define CL_QUEUE_SIZE                               0x1094
-#define CL_QUEUE_DEVICE_DEFAULT                     0x1095
-
-/* cl_mem_flags and cl_svm_mem_flags - bitfield */
-#define CL_MEM_READ_WRITE                           (1 << 0)
-#define CL_MEM_WRITE_ONLY                           (1 << 1)
-#define CL_MEM_READ_ONLY                            (1 << 2)
-#define CL_MEM_USE_HOST_PTR                         (1 << 3)
-#define CL_MEM_ALLOC_HOST_PTR                       (1 << 4)
-#define CL_MEM_COPY_HOST_PTR                        (1 << 5)
-/* reserved                                         (1 << 6)    */
-#define CL_MEM_HOST_WRITE_ONLY                      (1 << 7)
-#define CL_MEM_HOST_READ_ONLY                       (1 << 8)
-#define CL_MEM_HOST_NO_ACCESS                       (1 << 9)
-#define CL_MEM_SVM_FINE_GRAIN_BUFFER                (1 << 10)   /* used by cl_svm_mem_flags only */
-#define CL_MEM_SVM_ATOMICS                          (1 << 11)   /* used by cl_svm_mem_flags only */
-#define CL_MEM_KERNEL_READ_AND_WRITE                (1 << 12)
-
-/* cl_mem_migration_flags - bitfield */
-#define CL_MIGRATE_MEM_OBJECT_HOST                  (1 << 0)
-#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED     (1 << 1)
-
-/* cl_channel_order */
-#define CL_R                                        0x10B0
-#define CL_A                                        0x10B1
-#define CL_RG                                       0x10B2
-#define CL_RA                                       0x10B3
-#define CL_RGB                                      0x10B4
-#define CL_RGBA                                     0x10B5
-#define CL_BGRA                                     0x10B6
-#define CL_ARGB                                     0x10B7
-#define CL_INTENSITY                                0x10B8
-#define CL_LUMINANCE                                0x10B9
-#define CL_Rx                                       0x10BA
-#define CL_RGx                                      0x10BB
-#define CL_RGBx                                     0x10BC
-#define CL_DEPTH                                    0x10BD
-#define CL_DEPTH_STENCIL                            0x10BE
-#define CL_sRGB                                     0x10BF
-#define CL_sRGBx                                    0x10C0
-#define CL_sRGBA                                    0x10C1
-#define CL_sBGRA                                    0x10C2
-#define CL_ABGR                                     0x10C3
-
-/* cl_channel_type */
-#define CL_SNORM_INT8                               0x10D0
-#define CL_SNORM_INT16                              0x10D1
-#define CL_UNORM_INT8                               0x10D2
-#define CL_UNORM_INT16                              0x10D3
-#define CL_UNORM_SHORT_565                          0x10D4
-#define CL_UNORM_SHORT_555                          0x10D5
-#define CL_UNORM_INT_101010                         0x10D6
-#define CL_SIGNED_INT8                              0x10D7
-#define CL_SIGNED_INT16                             0x10D8
-#define CL_SIGNED_INT32                             0x10D9
-#define CL_UNSIGNED_INT8                            0x10DA
-#define CL_UNSIGNED_INT16                           0x10DB
-#define CL_UNSIGNED_INT32                           0x10DC
-#define CL_HALF_FLOAT                               0x10DD
-#define CL_FLOAT                                    0x10DE
-#define CL_UNORM_INT24                              0x10DF
-#define CL_UNORM_INT_101010_2                       0x10E0
-
-/* cl_mem_object_type */
-#define CL_MEM_OBJECT_BUFFER                        0x10F0
-#define CL_MEM_OBJECT_IMAGE2D                       0x10F1
-#define CL_MEM_OBJECT_IMAGE3D                       0x10F2
-#define CL_MEM_OBJECT_IMAGE2D_ARRAY                 0x10F3
-#define CL_MEM_OBJECT_IMAGE1D                       0x10F4
-#define CL_MEM_OBJECT_IMAGE1D_ARRAY                 0x10F5
-#define CL_MEM_OBJECT_IMAGE1D_BUFFER                0x10F6
-#define CL_MEM_OBJECT_PIPE                          0x10F7
-
-/* cl_mem_info */
-#define CL_MEM_TYPE                                 0x1100
-#define CL_MEM_FLAGS                                0x1101
-#define CL_MEM_SIZE                                 0x1102
-#define CL_MEM_HOST_PTR                             0x1103
-#define CL_MEM_MAP_COUNT                            0x1104
-#define CL_MEM_REFERENCE_COUNT                      0x1105
-#define CL_MEM_CONTEXT                              0x1106
-#define CL_MEM_ASSOCIATED_MEMOBJECT                 0x1107
-#define CL_MEM_OFFSET                               0x1108
-#define CL_MEM_USES_SVM_POINTER                     0x1109
-
-/* cl_image_info */
-#define CL_IMAGE_FORMAT                             0x1110
-#define CL_IMAGE_ELEMENT_SIZE                       0x1111
-#define CL_IMAGE_ROW_PITCH                          0x1112
-#define CL_IMAGE_SLICE_PITCH                        0x1113
-#define CL_IMAGE_WIDTH                              0x1114
-#define CL_IMAGE_HEIGHT                             0x1115
-#define CL_IMAGE_DEPTH                              0x1116
-#define CL_IMAGE_ARRAY_SIZE                         0x1117
-#define CL_IMAGE_BUFFER                             0x1118
-#define CL_IMAGE_NUM_MIP_LEVELS                     0x1119
-#define CL_IMAGE_NUM_SAMPLES                        0x111A
-    
-/* cl_pipe_info */
-#define CL_PIPE_PACKET_SIZE                         0x1120
-#define CL_PIPE_MAX_PACKETS                         0x1121
-
-/* cl_addressing_mode */
-#define CL_ADDRESS_NONE                             0x1130
-#define CL_ADDRESS_CLAMP_TO_EDGE                    0x1131
-#define CL_ADDRESS_CLAMP                            0x1132
-#define CL_ADDRESS_REPEAT                           0x1133
-#define CL_ADDRESS_MIRRORED_REPEAT                  0x1134
-
-/* cl_filter_mode */
-#define CL_FILTER_NEAREST                           0x1140
-#define CL_FILTER_LINEAR                            0x1141
-
-/* cl_sampler_info */
-#define CL_SAMPLER_REFERENCE_COUNT                  0x1150
-#define CL_SAMPLER_CONTEXT                          0x1151
-#define CL_SAMPLER_NORMALIZED_COORDS                0x1152
-#define CL_SAMPLER_ADDRESSING_MODE                  0x1153
-#define CL_SAMPLER_FILTER_MODE                      0x1154
-#define CL_SAMPLER_MIP_FILTER_MODE                  0x1155
-#define CL_SAMPLER_LOD_MIN                          0x1156
-#define CL_SAMPLER_LOD_MAX                          0x1157
-
-/* cl_map_flags - bitfield */
-#define CL_MAP_READ                                 (1 << 0)
-#define CL_MAP_WRITE                                (1 << 1)
-#define CL_MAP_WRITE_INVALIDATE_REGION              (1 << 2)
-
-/* cl_program_info */
-#define CL_PROGRAM_REFERENCE_COUNT                  0x1160
-#define CL_PROGRAM_CONTEXT                          0x1161
-#define CL_PROGRAM_NUM_DEVICES                      0x1162
-#define CL_PROGRAM_DEVICES                          0x1163
-#define CL_PROGRAM_SOURCE                           0x1164
-#define CL_PROGRAM_BINARY_SIZES                     0x1165
-#define CL_PROGRAM_BINARIES                         0x1166
-#define CL_PROGRAM_NUM_KERNELS                      0x1167
-#define CL_PROGRAM_KERNEL_NAMES                     0x1168
-#define CL_PROGRAM_IL                               0x1169
-
-/* cl_program_build_info */
-#define CL_PROGRAM_BUILD_STATUS                     0x1181
-#define CL_PROGRAM_BUILD_OPTIONS                    0x1182
-#define CL_PROGRAM_BUILD_LOG                        0x1183
-#define CL_PROGRAM_BINARY_TYPE                      0x1184
-#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185
-    
-/* cl_program_binary_type */
-#define CL_PROGRAM_BINARY_TYPE_NONE                 0x0
-#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT      0x1
-#define CL_PROGRAM_BINARY_TYPE_LIBRARY              0x2
-#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE           0x4
-
-/* cl_build_status */
-#define CL_BUILD_SUCCESS                            0
-#define CL_BUILD_NONE                               -1
-#define CL_BUILD_ERROR                              -2
-#define CL_BUILD_IN_PROGRESS                        -3
-
-/* cl_kernel_info */
-#define CL_KERNEL_FUNCTION_NAME                     0x1190
-#define CL_KERNEL_NUM_ARGS                          0x1191
-#define CL_KERNEL_REFERENCE_COUNT                   0x1192
-#define CL_KERNEL_CONTEXT                           0x1193
-#define CL_KERNEL_PROGRAM                           0x1194
-#define CL_KERNEL_ATTRIBUTES                        0x1195
-#define CL_KERNEL_MAX_NUM_SUB_GROUPS                0x11B9
-#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS            0x11BA
-
-/* cl_kernel_arg_info */
-#define CL_KERNEL_ARG_ADDRESS_QUALIFIER             0x1196
-#define CL_KERNEL_ARG_ACCESS_QUALIFIER              0x1197
-#define CL_KERNEL_ARG_TYPE_NAME                     0x1198
-#define CL_KERNEL_ARG_TYPE_QUALIFIER                0x1199
-#define CL_KERNEL_ARG_NAME                          0x119A
-
-/* cl_kernel_arg_address_qualifier */
-#define CL_KERNEL_ARG_ADDRESS_GLOBAL                0x119B
-#define CL_KERNEL_ARG_ADDRESS_LOCAL                 0x119C
-#define CL_KERNEL_ARG_ADDRESS_CONSTANT              0x119D
-#define CL_KERNEL_ARG_ADDRESS_PRIVATE               0x119E
-
-/* cl_kernel_arg_access_qualifier */
-#define CL_KERNEL_ARG_ACCESS_READ_ONLY              0x11A0
-#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY             0x11A1
-#define CL_KERNEL_ARG_ACCESS_READ_WRITE             0x11A2
-#define CL_KERNEL_ARG_ACCESS_NONE                   0x11A3
-    
-/* cl_kernel_arg_type_qualifer */
-#define CL_KERNEL_ARG_TYPE_NONE                     0
-#define CL_KERNEL_ARG_TYPE_CONST                    (1 << 0)
-#define CL_KERNEL_ARG_TYPE_RESTRICT                 (1 << 1)
-#define CL_KERNEL_ARG_TYPE_VOLATILE                 (1 << 2)
-#define CL_KERNEL_ARG_TYPE_PIPE                     (1 << 3)
-
-/* cl_kernel_work_group_info */
-#define CL_KERNEL_WORK_GROUP_SIZE                   0x11B0
-#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE           0x11B1
-#define CL_KERNEL_LOCAL_MEM_SIZE                    0x11B2
-#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
-#define CL_KERNEL_PRIVATE_MEM_SIZE                  0x11B4
-#define CL_KERNEL_GLOBAL_WORK_SIZE                  0x11B5
-
-/* cl_kernel_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE    0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE       0x2034
-#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT    0x11B8
-    
-/* cl_kernel_exec_info */
-#define CL_KERNEL_EXEC_INFO_SVM_PTRS                0x11B6
-#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM   0x11B7
-
-/* cl_event_info  */
-#define CL_EVENT_COMMAND_QUEUE                      0x11D0
-#define CL_EVENT_COMMAND_TYPE                       0x11D1
-#define CL_EVENT_REFERENCE_COUNT                    0x11D2
-#define CL_EVENT_COMMAND_EXECUTION_STATUS           0x11D3
-#define CL_EVENT_CONTEXT                            0x11D4
-
-/* cl_command_type */
-#define CL_COMMAND_NDRANGE_KERNEL                   0x11F0
-#define CL_COMMAND_TASK                             0x11F1
-#define CL_COMMAND_NATIVE_KERNEL                    0x11F2
-#define CL_COMMAND_READ_BUFFER                      0x11F3
-#define CL_COMMAND_WRITE_BUFFER                     0x11F4
-#define CL_COMMAND_COPY_BUFFER                      0x11F5
-#define CL_COMMAND_READ_IMAGE                       0x11F6
-#define CL_COMMAND_WRITE_IMAGE                      0x11F7
-#define CL_COMMAND_COPY_IMAGE                       0x11F8
-#define CL_COMMAND_COPY_IMAGE_TO_BUFFER             0x11F9
-#define CL_COMMAND_COPY_BUFFER_TO_IMAGE             0x11FA
-#define CL_COMMAND_MAP_BUFFER                       0x11FB
-#define CL_COMMAND_MAP_IMAGE                        0x11FC
-#define CL_COMMAND_UNMAP_MEM_OBJECT                 0x11FD
-#define CL_COMMAND_MARKER                           0x11FE
-#define CL_COMMAND_ACQUIRE_GL_OBJECTS               0x11FF
-#define CL_COMMAND_RELEASE_GL_OBJECTS               0x1200
-#define CL_COMMAND_READ_BUFFER_RECT                 0x1201
-#define CL_COMMAND_WRITE_BUFFER_RECT                0x1202
-#define CL_COMMAND_COPY_BUFFER_RECT                 0x1203
-#define CL_COMMAND_USER                             0x1204
-#define CL_COMMAND_BARRIER                          0x1205
-#define CL_COMMAND_MIGRATE_MEM_OBJECTS              0x1206
-#define CL_COMMAND_FILL_BUFFER                      0x1207
-#define CL_COMMAND_FILL_IMAGE                       0x1208
-#define CL_COMMAND_SVM_FREE                         0x1209
-#define CL_COMMAND_SVM_MEMCPY                       0x120A
-#define CL_COMMAND_SVM_MEMFILL                      0x120B
-#define CL_COMMAND_SVM_MAP                          0x120C
-#define CL_COMMAND_SVM_UNMAP                        0x120D
-
-/* command execution status */
-#define CL_COMPLETE                                 0x0
-#define CL_RUNNING                                  0x1
-#define CL_SUBMITTED                                0x2
-#define CL_QUEUED                                   0x3
-
-/* cl_buffer_create_type  */
-#define CL_BUFFER_CREATE_TYPE_REGION                0x1220
-
-/* cl_profiling_info  */
-#define CL_PROFILING_COMMAND_QUEUED                 0x1280
-#define CL_PROFILING_COMMAND_SUBMIT                 0x1281
-#define CL_PROFILING_COMMAND_START                  0x1282
-#define CL_PROFILING_COMMAND_END                    0x1283
-#define CL_PROFILING_COMMAND_COMPLETE               0x1284
-
-/********************************************************************************************************/
-
-/* Platform API */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPlatformIDs(cl_uint          /* num_entries */,
-                 cl_platform_id * /* platforms */,
-                 cl_uint *        /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL 
-clGetPlatformInfo(cl_platform_id   /* platform */, 
-                  cl_platform_info /* param_name */,
-                  size_t           /* param_value_size */, 
-                  void *           /* param_value */,
-                  size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Device APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceIDs(cl_platform_id   /* platform */,
-               cl_device_type   /* device_type */, 
-               cl_uint          /* num_entries */, 
-               cl_device_id *   /* devices */, 
-               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceInfo(cl_device_id    /* device */,
-                cl_device_info  /* param_name */, 
-                size_t          /* param_value_size */, 
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateSubDevices(cl_device_id                         /* in_device */,
-                   const cl_device_partition_property * /* properties */,
-                   cl_uint                              /* num_devices */,
-                   cl_device_id *                       /* out_devices */,
-                   cl_uint *                            /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetDefaultDeviceCommandQueue(cl_context           /* context */,
-                               cl_device_id         /* device */,
-                               cl_command_queue     /* command_queue */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceAndHostTimer(cl_device_id    /* device */,
-                        cl_ulong*       /* device_timestamp */,
-                        cl_ulong*       /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetHostTimer(cl_device_id /* device */,
-               cl_ulong *   /* host_timestamp */)  CL_API_SUFFIX__VERSION_2_1;
-
-    
-/* Context APIs  */
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContext(const cl_context_properties * /* properties */,
-                cl_uint                 /* num_devices */,
-                const cl_device_id *    /* devices */,
-                void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
-                void *                  /* user_data */,
-                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContextFromType(const cl_context_properties * /* properties */,
-                        cl_device_type          /* device_type */,
-                        void (CL_CALLBACK *     /* pfn_notify*/ )(const char *, const void *, size_t, void *),
-                        void *                  /* user_data */,
-                        cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetContextInfo(cl_context         /* context */, 
-                 cl_context_info    /* param_name */, 
-                 size_t             /* param_value_size */, 
-                 void *             /* param_value */, 
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Command Queue APIs */
-extern CL_API_ENTRY cl_command_queue CL_API_CALL
-clCreateCommandQueueWithProperties(cl_context               /* context */,
-                                   cl_device_id             /* device */,
-                                   const cl_queue_properties *    /* properties */,
-                                   cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetCommandQueueInfo(cl_command_queue      /* command_queue */,
-                      cl_command_queue_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Memory Object APIs */
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBuffer(cl_context   /* context */,
-               cl_mem_flags /* flags */,
-               size_t       /* size */,
-               void *       /* host_ptr */,
-               cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateSubBuffer(cl_mem                   /* buffer */,
-                  cl_mem_flags             /* flags */,
-                  cl_buffer_create_type    /* buffer_create_type */,
-                  const void *             /* buffer_create_info */,
-                  cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateImage(cl_context              /* context */,
-              cl_mem_flags            /* flags */,
-              const cl_image_format * /* image_format */,
-              const cl_image_desc *   /* image_desc */, 
-              void *                  /* host_ptr */,
-              cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-                        
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreatePipe(cl_context                 /* context */,
-             cl_mem_flags               /* flags */,
-             cl_uint                    /* pipe_packet_size */,
-             cl_uint                    /* pipe_max_packets */,
-             const cl_pipe_properties * /* properties */,
-             cl_int *                   /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSupportedImageFormats(cl_context           /* context */,
-                           cl_mem_flags         /* flags */,
-                           cl_mem_object_type   /* image_type */,
-                           cl_uint              /* num_entries */,
-                           cl_image_format *    /* image_formats */,
-                           cl_uint *            /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
-                                    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetMemObjectInfo(cl_mem           /* memobj */,
-                   cl_mem_info      /* param_name */, 
-                   size_t           /* param_value_size */,
-                   void *           /* param_value */,
-                   size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetImageInfo(cl_mem           /* image */,
-               cl_image_info    /* param_name */, 
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPipeInfo(cl_mem           /* pipe */,
-              cl_pipe_info     /* param_name */,
-              size_t           /* param_value_size */,
-              void *           /* param_value */,
-              size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0;
-    
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetMemObjectDestructorCallback(cl_mem /* memobj */,
-                                 void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
-                                 void * /*user_data */ )             CL_API_SUFFIX__VERSION_1_1;
-
-/* SVM Allocation APIs */
-extern CL_API_ENTRY void * CL_API_CALL
-clSVMAlloc(cl_context       /* context */,
-           cl_svm_mem_flags /* flags */,
-           size_t           /* size */,
-           cl_uint          /* alignment */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY void CL_API_CALL
-clSVMFree(cl_context        /* context */,
-          void *            /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0;
-    
-/* Sampler APIs */
-extern CL_API_ENTRY cl_sampler CL_API_CALL
-clCreateSamplerWithProperties(cl_context                     /* context */,
-                              const cl_sampler_properties *  /* normalized_coords */,
-                              cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSamplerInfo(cl_sampler         /* sampler */,
-                 cl_sampler_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-/* Program Object APIs  */
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithSource(cl_context        /* context */,
-                          cl_uint           /* count */,
-                          const char **     /* strings */,
-                          const size_t *    /* lengths */,
-                          cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBinary(cl_context                     /* context */,
-                          cl_uint                        /* num_devices */,
-                          const cl_device_id *           /* device_list */,
-                          const size_t *                 /* lengths */,
-                          const unsigned char **         /* binaries */,
-                          cl_int *                       /* binary_status */,
-                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBuiltInKernels(cl_context            /* context */,
-                                  cl_uint               /* num_devices */,
-                                  const cl_device_id *  /* device_list */,
-                                  const char *          /* kernel_names */,
-                                  cl_int *              /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithIL(cl_context    /* context */,
-                     const void*    /* il */,
-                     size_t         /* length */,
-                     cl_int*        /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clBuildProgram(cl_program           /* program */,
-               cl_uint              /* num_devices */,
-               const cl_device_id * /* device_list */,
-               const char *         /* options */, 
-               void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCompileProgram(cl_program           /* program */,
-                 cl_uint              /* num_devices */,
-                 const cl_device_id * /* device_list */,
-                 const char *         /* options */, 
-                 cl_uint              /* num_input_headers */,
-                 const cl_program *   /* input_headers */,
-                 const char **        /* header_include_names */,
-                 void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-                 void *               /* user_data */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clLinkProgram(cl_context           /* context */,
-              cl_uint              /* num_devices */,
-              const cl_device_id * /* device_list */,
-              const char *         /* options */, 
-              cl_uint              /* num_input_programs */,
-              const cl_program *   /* input_programs */,
-              void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
-              void *               /* user_data */,
-              cl_int *             /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramInfo(cl_program         /* program */,
-                 cl_program_info    /* param_name */,
-                 size_t             /* param_value_size */,
-                 void *             /* param_value */,
-                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramBuildInfo(cl_program            /* program */,
-                      cl_device_id          /* device */,
-                      cl_program_build_info /* param_name */,
-                      size_t                /* param_value_size */,
-                      void *                /* param_value */,
-                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-/* Kernel Object APIs */
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCreateKernel(cl_program      /* program */,
-               const char *    /* kernel_name */,
-               cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateKernelsInProgram(cl_program     /* program */,
-                         cl_uint        /* num_kernels */,
-                         cl_kernel *    /* kernels */,
-                         cl_uint *      /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCloneKernel(cl_kernel     /* source_kernel */,
-              cl_int*       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainKernel(cl_kernel    /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseKernel(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArg(cl_kernel    /* kernel */,
-               cl_uint      /* arg_index */,
-               size_t       /* arg_size */,
-               const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArgSVMPointer(cl_kernel    /* kernel */,
-                         cl_uint      /* arg_index */,
-                         const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelExecInfo(cl_kernel            /* kernel */,
-                    cl_kernel_exec_info  /* param_name */,
-                    size_t               /* param_value_size */,
-                    const void *         /* param_value */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelInfo(cl_kernel       /* kernel */,
-                cl_kernel_info  /* param_name */,
-                size_t          /* param_value_size */,
-                void *          /* param_value */,
-                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelArgInfo(cl_kernel       /* kernel */,
-                   cl_uint         /* arg_indx */,
-                   cl_kernel_arg_info  /* param_name */,
-                   size_t          /* param_value_size */,
-                   void *          /* param_value */,
-                   size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelWorkGroupInfo(cl_kernel                  /* kernel */,
-                         cl_device_id               /* device */,
-                         cl_kernel_work_group_info  /* param_name */,
-                         size_t                     /* param_value_size */,
-                         void *                     /* param_value */,
-                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfo(cl_kernel                   /* kernel */,
-                        cl_device_id                /* device */,
-                        cl_kernel_sub_group_info    /* param_name */,
-                        size_t                      /* input_value_size */,
-                        const void*                 /*input_value */,
-                        size_t                      /* param_value_size */,
-                        void*                       /* param_value */,
-                        size_t*                     /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Event Object APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clWaitForEvents(cl_uint             /* num_events */,
-                const cl_event *    /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventInfo(cl_event         /* event */,
-               cl_event_info    /* param_name */,
-               size_t           /* param_value_size */,
-               void *           /* param_value */,
-               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateUserEvent(cl_context    /* context */,
-                  cl_int *      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;               
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetUserEventStatus(cl_event   /* event */,
-                     cl_int     /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
-                     
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetEventCallback( cl_event    /* event */,
-                    cl_int      /* command_exec_callback_type */,
-                    void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
-                    void *      /* user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-/* Profiling APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventProfilingInfo(cl_event            /* event */,
-                        cl_profiling_info   /* param_name */,
-                        size_t              /* param_value_size */,
-                        void *              /* param_value */,
-                        size_t *            /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-                                
-/* Flush and Finish APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Enqueued Commands APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBuffer(cl_command_queue    /* command_queue */,
-                    cl_mem              /* buffer */,
-                    cl_bool             /* blocking_read */,
-                    size_t              /* offset */,
-                    size_t              /* size */, 
-                    void *              /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBufferRect(cl_command_queue    /* command_queue */,
-                        cl_mem              /* buffer */,
-                        cl_bool             /* blocking_read */,
-                        const size_t *      /* buffer_offset */,
-                        const size_t *      /* host_offset */, 
-                        const size_t *      /* region */,
-                        size_t              /* buffer_row_pitch */,
-                        size_t              /* buffer_slice_pitch */,
-                        size_t              /* host_row_pitch */,
-                        size_t              /* host_slice_pitch */,                        
-                        void *              /* ptr */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBuffer(cl_command_queue   /* command_queue */, 
-                     cl_mem             /* buffer */, 
-                     cl_bool            /* blocking_write */, 
-                     size_t             /* offset */, 
-                     size_t             /* size */, 
-                     const void *       /* ptr */, 
-                     cl_uint            /* num_events_in_wait_list */, 
-                     const cl_event *   /* event_wait_list */, 
-                     cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBufferRect(cl_command_queue    /* command_queue */,
-                         cl_mem              /* buffer */,
-                         cl_bool             /* blocking_write */,
-                         const size_t *      /* buffer_offset */,
-                         const size_t *      /* host_offset */, 
-                         const size_t *      /* region */,
-                         size_t              /* buffer_row_pitch */,
-                         size_t              /* buffer_slice_pitch */,
-                         size_t              /* host_row_pitch */,
-                         size_t              /* host_slice_pitch */,                        
-                         const void *        /* ptr */,
-                         cl_uint             /* num_events_in_wait_list */,
-                         const cl_event *    /* event_wait_list */,
-                         cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillBuffer(cl_command_queue   /* command_queue */,
-                    cl_mem             /* buffer */, 
-                    const void *       /* pattern */, 
-                    size_t             /* pattern_size */, 
-                    size_t             /* offset */, 
-                    size_t             /* size */, 
-                    cl_uint            /* num_events_in_wait_list */, 
-                    const cl_event *   /* event_wait_list */, 
-                    cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBuffer(cl_command_queue    /* command_queue */, 
-                    cl_mem              /* src_buffer */,
-                    cl_mem              /* dst_buffer */, 
-                    size_t              /* src_offset */,
-                    size_t              /* dst_offset */,
-                    size_t              /* size */, 
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferRect(cl_command_queue    /* command_queue */, 
-                        cl_mem              /* src_buffer */,
-                        cl_mem              /* dst_buffer */, 
-                        const size_t *      /* src_origin */,
-                        const size_t *      /* dst_origin */,
-                        const size_t *      /* region */, 
-                        size_t              /* src_row_pitch */,
-                        size_t              /* src_slice_pitch */,
-                        size_t              /* dst_row_pitch */,
-                        size_t              /* dst_slice_pitch */,
-                        cl_uint             /* num_events_in_wait_list */,
-                        const cl_event *    /* event_wait_list */,
-                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadImage(cl_command_queue     /* command_queue */,
-                   cl_mem               /* image */,
-                   cl_bool              /* blocking_read */, 
-                   const size_t *       /* origin[3] */,
-                   const size_t *       /* region[3] */,
-                   size_t               /* row_pitch */,
-                   size_t               /* slice_pitch */, 
-                   void *               /* ptr */,
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteImage(cl_command_queue    /* command_queue */,
-                    cl_mem              /* image */,
-                    cl_bool             /* blocking_write */, 
-                    const size_t *      /* origin[3] */,
-                    const size_t *      /* region[3] */,
-                    size_t              /* input_row_pitch */,
-                    size_t              /* input_slice_pitch */, 
-                    const void *        /* ptr */,
-                    cl_uint             /* num_events_in_wait_list */,
-                    const cl_event *    /* event_wait_list */,
-                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillImage(cl_command_queue   /* command_queue */,
-                   cl_mem             /* image */, 
-                   const void *       /* fill_color */, 
-                   const size_t *     /* origin[3] */, 
-                   const size_t *     /* region[3] */, 
-                   cl_uint            /* num_events_in_wait_list */, 
-                   const cl_event *   /* event_wait_list */, 
-                   cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
-                            
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImage(cl_command_queue     /* command_queue */,
-                   cl_mem               /* src_image */,
-                   cl_mem               /* dst_image */, 
-                   const size_t *       /* src_origin[3] */,
-                   const size_t *       /* dst_origin[3] */,
-                   const size_t *       /* region[3] */, 
-                   cl_uint              /* num_events_in_wait_list */,
-                   const cl_event *     /* event_wait_list */,
-                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_image */,
-                           cl_mem           /* dst_buffer */, 
-                           const size_t *   /* src_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           size_t           /* dst_offset */,
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
-                           cl_mem           /* src_buffer */,
-                           cl_mem           /* dst_image */, 
-                           size_t           /* src_offset */,
-                           const size_t *   /* dst_origin[3] */,
-                           const size_t *   /* region[3] */, 
-                           cl_uint          /* num_events_in_wait_list */,
-                           const cl_event * /* event_wait_list */,
-                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapBuffer(cl_command_queue /* command_queue */,
-                   cl_mem           /* buffer */,
-                   cl_bool          /* blocking_map */, 
-                   cl_map_flags     /* map_flags */,
-                   size_t           /* offset */,
-                   size_t           /* size */,
-                   cl_uint          /* num_events_in_wait_list */,
-                   const cl_event * /* event_wait_list */,
-                   cl_event *       /* event */,
-                   cl_int *         /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapImage(cl_command_queue  /* command_queue */,
-                  cl_mem            /* image */, 
-                  cl_bool           /* blocking_map */, 
-                  cl_map_flags      /* map_flags */, 
-                  const size_t *    /* origin[3] */,
-                  const size_t *    /* region[3] */,
-                  size_t *          /* image_row_pitch */,
-                  size_t *          /* image_slice_pitch */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */,
-                  cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
-                        cl_mem           /* memobj */,
-                        void *           /* mapped_ptr */,
-                        cl_uint          /* num_events_in_wait_list */,
-                        const cl_event *  /* event_wait_list */,
-                        cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMigrateMemObjects(cl_command_queue       /* command_queue */,
-                           cl_uint                /* num_mem_objects */,
-                           const cl_mem *         /* mem_objects */,
-                           cl_mem_migration_flags /* flags */,
-                           cl_uint                /* num_events_in_wait_list */,
-                           const cl_event *       /* event_wait_list */,
-                           cl_event *             /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
-                       cl_kernel        /* kernel */,
-                       cl_uint          /* work_dim */,
-                       const size_t *   /* global_work_offset */,
-                       const size_t *   /* global_work_size */,
-                       const size_t *   /* local_work_size */,
-                       cl_uint          /* num_events_in_wait_list */,
-                       const cl_event * /* event_wait_list */,
-                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNativeKernel(cl_command_queue  /* command_queue */,
-					  void (CL_CALLBACK * /*user_func*/)(void *), 
-                      void *            /* args */,
-                      size_t            /* cb_args */, 
-                      cl_uint           /* num_mem_objects */,
-                      const cl_mem *    /* mem_list */,
-                      const void **     /* args_mem_loc */,
-                      cl_uint           /* num_events_in_wait_list */,
-                      const cl_event *  /* event_wait_list */,
-                      cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMarkerWithWaitList(cl_command_queue  /* command_queue */,
-                            cl_uint           /* num_events_in_wait_list */,
-                            const cl_event *  /* event_wait_list */,
-                            cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueBarrierWithWaitList(cl_command_queue  /* command_queue */,
-                             cl_uint           /* num_events_in_wait_list */,
-                             const cl_event *  /* event_wait_list */,
-                             cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMFree(cl_command_queue  /* command_queue */,
-                 cl_uint           /* num_svm_pointers */,
-                 void *[]          /* svm_pointers[] */,
-                 void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */,
-                                                        cl_uint          /* num_svm_pointers */,
-                                                        void *[]         /* svm_pointers[] */,
-                                                        void *           /* user_data */),
-                 void *            /* user_data */,
-                 cl_uint           /* num_events_in_wait_list */,
-                 const cl_event *  /* event_wait_list */,
-                 cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemcpy(cl_command_queue  /* command_queue */,
-                   cl_bool           /* blocking_copy */,
-                   void *            /* dst_ptr */,
-                   const void *      /* src_ptr */,
-                   size_t            /* size */,
-                   cl_uint           /* num_events_in_wait_list */,
-                   const cl_event *  /* event_wait_list */,
-                   cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemFill(cl_command_queue  /* command_queue */,
-                    void *            /* svm_ptr */,
-                    const void *      /* pattern */,
-                    size_t            /* pattern_size */,
-                    size_t            /* size */,
-                    cl_uint           /* num_events_in_wait_list */,
-                    const cl_event *  /* event_wait_list */,
-                    cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMap(cl_command_queue  /* command_queue */,
-                cl_bool           /* blocking_map */,
-                cl_map_flags      /* flags */,
-                void *            /* svm_ptr */,
-                size_t            /* size */,
-                cl_uint           /* num_events_in_wait_list */,
-                const cl_event *  /* event_wait_list */,
-                cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMUnmap(cl_command_queue  /* command_queue */,
-                  void *            /* svm_ptr */,
-                  cl_uint           /* num_events_in_wait_list */,
-                  const cl_event *  /* event_wait_list */,
-                  cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMigrateMem(cl_command_queue         /* command_queue */,
-                       cl_uint                  /* num_svm_pointers */,
-                       const void **            /* svm_pointers */,
-                       const size_t *           /* sizes */,
-                       cl_mem_migration_flags   /* flags */,
-                       cl_uint                  /* num_events_in_wait_list */,
-                       const cl_event *         /* event_wait_list */,
-                       cl_event *               /* event */) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Extension function access
- *
- * Returns the extension function address for the given function name,
- * or NULL if a valid function can not be found.  The client must
- * check to make sure the address is not NULL, before using or 
- * calling the returned function address.
- */
-extern CL_API_ENTRY void * CL_API_CALL 
-clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */,
-                                         const char *   /* func_name */) CL_API_SUFFIX__VERSION_1_2;
-    
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage2D(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */,
-                size_t                  /* image_height */,
-                size_t                  /* image_row_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage3D(cl_context              /* context */,
-                cl_mem_flags            /* flags */,
-                const cl_image_format * /* image_format */,
-                size_t                  /* image_width */, 
-                size_t                  /* image_height */,
-                size_t                  /* image_depth */, 
-                size_t                  /* image_row_pitch */, 
-                size_t                  /* image_slice_pitch */, 
-                void *                  /* host_ptr */,
-                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueMarker(cl_command_queue    /* command_queue */,
-                cl_event *          /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
-                        cl_uint          /* num_events */,
-                        const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL
-clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-/* Deprecated OpenCL 2.0 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL
-clCreateCommandQueue(cl_context                     /* context */,
-                     cl_device_id                   /* device */,
-                     cl_command_queue_properties    /* properties */,
-                     cl_int *                       /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL
-clCreateSampler(cl_context          /* context */,
-                cl_bool             /* normalized_coords */,
-                cl_addressing_mode  /* addressing_mode */,
-                cl_filter_mode      /* filter_mode */,
-                cl_int *            /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL
-clEnqueueTask(cl_command_queue  /* command_queue */,
-              cl_kernel         /* kernel */,
-              cl_uint           /* num_events_in_wait_list */,
-              const cl_event *  /* event_wait_list */,
-              cl_event *        /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-    
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
deleted file mode 100644
index d5960a43f7..0000000000
--- a/third_party/opencl/include/CL/cl_d3d10.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D10_H
-#define __OPENCL_CL_D3D10_H
-
-#include <d3d10.h>
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d10_sharing                                                       */
-#define cl_khr_d3d10_sharing 1
-
-typedef cl_uint cl_d3d10_device_source_khr;
-typedef cl_uint cl_d3d10_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D10_DEVICE_KHR                  -1002
-#define CL_INVALID_D3D10_RESOURCE_KHR                -1003
-#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR       -1004
-#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR           -1005
-
-/* cl_d3d10_device_source_nv */
-#define CL_D3D10_DEVICE_KHR                          0x4010
-#define CL_D3D10_DXGI_ADAPTER_KHR                    0x4011
-
-/* cl_d3d10_device_set_nv */
-#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR           0x4012
-#define CL_ALL_DEVICES_FOR_D3D10_KHR                 0x4013
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D10_DEVICE_KHR                  0x4014
-#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
-
-/* cl_mem_info */
-#define CL_MEM_D3D10_RESOURCE_KHR                    0x4015
-
-/* cl_image_info */
-#define CL_IMAGE_D3D10_SUBRESOURCE_KHR               0x4016
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR         0x4017
-#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR         0x4018
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
-    cl_platform_id             platform,
-    cl_d3d10_device_source_khr d3d_device_source,
-    void *                     d3d_object,
-    cl_d3d10_device_set_khr    d3d_device_set,
-    cl_uint                    num_entries,
-    cl_device_id *             devices,
-    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
-    cl_context     context,
-    cl_mem_flags   flags,
-    ID3D10Buffer * resource,
-    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D10Texture2D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D10Texture3D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_D3D10_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
deleted file mode 100644
index 39f9072398..0000000000
--- a/third_party/opencl/include/CL/cl_d3d11.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D11_H
-#define __OPENCL_CL_D3D11_H
-
-#include <d3d11.h>
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d11_sharing                                                       */
-#define cl_khr_d3d11_sharing 1
-
-typedef cl_uint cl_d3d11_device_source_khr;
-typedef cl_uint cl_d3d11_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D11_DEVICE_KHR                  -1006
-#define CL_INVALID_D3D11_RESOURCE_KHR                -1007
-#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR       -1008
-#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR           -1009
-
-/* cl_d3d11_device_source */
-#define CL_D3D11_DEVICE_KHR                          0x4019
-#define CL_D3D11_DXGI_ADAPTER_KHR                    0x401A
-
-/* cl_d3d11_device_set */
-#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR           0x401B
-#define CL_ALL_DEVICES_FOR_D3D11_KHR                 0x401C
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D11_DEVICE_KHR                  0x401D
-#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
-
-/* cl_mem_info */
-#define CL_MEM_D3D11_RESOURCE_KHR                    0x401E
-
-/* cl_image_info */
-#define CL_IMAGE_D3D11_SUBRESOURCE_KHR               0x401F
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR         0x4020
-#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR         0x4021
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
-    cl_platform_id             platform,
-    cl_d3d11_device_source_khr d3d_device_source,
-    void *                     d3d_object,
-    cl_d3d11_device_set_khr    d3d_device_set,
-    cl_uint                    num_entries,
-    cl_device_id *             devices,
-    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
-    cl_context     context,
-    cl_mem_flags   flags,
-    ID3D11Buffer * resource,
-    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D11Texture2D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
-    cl_context        context,
-    cl_mem_flags      flags,
-    ID3D11Texture3D * resource,
-    UINT              subresource,
-    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_D3D11_H */
-
diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
deleted file mode 100644
index 2729e8b9e8..0000000000
--- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
-#define __OPENCL_CL_DX9_MEDIA_SHARING_H
-
-#include <CL/cl.h>
-#include <CL/cl_platform.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-/* cl_khr_dx9_media_sharing                                                   */
-#define cl_khr_dx9_media_sharing 1
-
-typedef cl_uint             cl_dx9_media_adapter_type_khr;
-typedef cl_uint             cl_dx9_media_adapter_set_khr;
-    
-#if defined(_WIN32)
-#include <d3d9.h>
-typedef struct _cl_dx9_surface_info_khr
-{
-    IDirect3DSurface9 *resource;
-    HANDLE shared_handle;
-} cl_dx9_surface_info_khr;
-#endif
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR                -1010
-#define CL_INVALID_DX9_MEDIA_SURFACE_KHR                -1011
-#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR       -1012
-#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR           -1013
-
-/* cl_media_adapter_type_khr */
-#define CL_ADAPTER_D3D9_KHR                              0x2020
-#define CL_ADAPTER_D3D9EX_KHR                            0x2021
-#define CL_ADAPTER_DXVA_KHR                              0x2022
-
-/* cl_media_adapter_set_khr */
-#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR   0x2023
-#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR         0x2024
-
-/* cl_context_info */
-#define CL_CONTEXT_ADAPTER_D3D9_KHR                      0x2025
-#define CL_CONTEXT_ADAPTER_D3D9EX_KHR                    0x2026
-#define CL_CONTEXT_ADAPTER_DXVA_KHR                      0x2027
-
-/* cl_mem_info */
-#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR                0x2028
-#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR                0x2029
-
-/* cl_image_info */
-#define CL_IMAGE_DX9_MEDIA_PLANE_KHR                     0x202A
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR        0x202B
-#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR        0x202C
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
-    cl_platform_id                   platform,
-    cl_uint                          num_media_adapters,
-    cl_dx9_media_adapter_type_khr *  media_adapter_type,
-    void *                           media_adapters,
-    cl_dx9_media_adapter_set_khr     media_adapter_set,
-    cl_uint                          num_entries,
-    cl_device_id *                   devices,
-    cl_uint *                        num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
-    cl_context                    context,
-    cl_mem_flags                  flags,
-    cl_dx9_media_adapter_type_khr adapter_type,
-    void *                        surface_info,
-    cl_uint                       plane,                                                                          
-    cl_int *                      errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
-    cl_command_queue command_queue,
-    cl_uint          num_objects,
-    const cl_mem *   mem_objects,
-    cl_uint          num_events_in_wait_list,
-    const cl_event * event_wait_list,
-    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
-
diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
deleted file mode 100644
index a765bd5266..0000000000
--- a/third_party/opencl/include/CL/cl_egl.h
+++ /dev/null
@@ -1,136 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_EGL_H
-#define __OPENCL_CL_EGL_H
-
-#ifdef __APPLE__
-
-#else
-#include <CL/cl.h>
-#endif  
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
-#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR  0x202F
-#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR    0x202D
-#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR    0x202E
-
-/* Error type for clCreateFromEGLImageKHR */
-#define CL_INVALID_EGL_OBJECT_KHR             -1093
-#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR      -1092
-
-/* CLeglImageKHR is an opaque handle to an EGLImage */
-typedef void* CLeglImageKHR;
-
-/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
-typedef void* CLeglDisplayKHR;
-
-/* CLeglSyncKHR is an opaque handle to an EGLSync object */
-typedef void* CLeglSyncKHR;
-
-/* properties passed to clCreateFromEGLImageKHR */
-typedef intptr_t cl_egl_image_properties_khr;
-
-
-#define cl_khr_egl_image 1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageKHR(cl_context                  /* context */,
-                        CLeglDisplayKHR             /* egldisplay */,
-                        CLeglImageKHR               /* eglimage */,
-                        cl_mem_flags                /* flags */,
-                        const cl_egl_image_properties_khr * /* properties */,
-                        cl_int *                    /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
-	cl_context                  context,
-	CLeglDisplayKHR             egldisplay,
-	CLeglImageKHR               eglimage,
-	cl_mem_flags                flags,
-	const cl_egl_image_properties_khr * properties,
-	cl_int *                    errcode_ret);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
-                              cl_uint          /* num_objects */,
-                              const cl_mem *   /* mem_objects */,
-                              cl_uint          /* num_events_in_wait_list */,
-                              const cl_event * /* event_wait_list */,
-                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
-	cl_command_queue command_queue,
-	cl_uint          num_objects,
-	const cl_mem *   mem_objects,
-	cl_uint          num_events_in_wait_list,
-	const cl_event * event_wait_list,
-	cl_event *       event);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
-                              cl_uint          /* num_objects */,
-                              const cl_mem *   /* mem_objects */,
-                              cl_uint          /* num_events_in_wait_list */,
-                              const cl_event * /* event_wait_list */,
-                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
-	cl_command_queue command_queue,
-	cl_uint          num_objects,
-	const cl_mem *   mem_objects,
-	cl_uint          num_events_in_wait_list,
-	const cl_event * event_wait_list,
-	cl_event *       event);
-
-
-#define cl_khr_egl_event 1
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromEGLSyncKHR(cl_context      /* context */,
-                            CLeglSyncKHR    /* sync */,
-                            CLeglDisplayKHR /* display */,
-                            cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
-	cl_context      context,
-	CLeglSyncKHR    sync,
-	CLeglDisplayKHR display,
-	cl_int *        errcode_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EGL_H */
diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
deleted file mode 100644
index 7941583895..0000000000
--- a/third_party/opencl/include/CL/cl_ext.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
-
-/* cl_ext.h contains OpenCL extensions which don't have external */
-/* (OpenGL, D3D) dependencies.                                   */
-
-#ifndef __CL_EXT_H
-#define __CL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-        #include <OpenCL/cl.h>
-    #include <AvailabilityMacros.h>
-#else
-        #include <CL/cl.h>
-#endif
-
-/* cl_khr_fp16 extension - no extension #define since it has no functions  */
-#define CL_DEVICE_HALF_FP_CONFIG                    0x1033
-
-/* Memory object destruction
- *
- * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
- *
- * Registers a user callback function that will be called when the memory object is deleted and its resources 
- * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback 
- * stack associated with memobj. The registered user callback functions are called in the reverse order in 
- * which they were registered. The user callback functions are called and then the memory object is deleted 
- * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be 
- * notified when the memory referenced by host_ptr, specified when the memory object is created and used as 
- * the storage bits for the memory object, can be reused or freed.
- *
- * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
- *
- * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- */
-#define cl_APPLE_SetMemObjectDestructor 1
-cl_int  CL_API_ENTRY clSetMemObjectDestructorAPPLE(  cl_mem /* memobj */, 
-                                        void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), 
-                                        void * /*user_data */ )             CL_EXT_SUFFIX__VERSION_1_0;  
-
-
-/* Context Logging Functions
- *
- * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
- * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- *
- * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger 
- */
-#define cl_APPLE_ContextLoggingFunctions 1
-extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE(  const char * /* errstr */, 
-                                            const void * /* private_info */, 
-                                            size_t       /* cb */, 
-                                            void *       /* user_data */ )  CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
-extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE(   const char * /* errstr */, 
-                                          const void * /* private_info */, 
-                                          size_t       /* cb */, 
-                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
-extern void CL_API_ENTRY clLogMessagesToStderrAPPLE(   const char * /* errstr */, 
-                                          const void * /* private_info */, 
-                                          size_t       /* cb */, 
-                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
-
-
-/************************ 
-* cl_khr_icd extension *                                                  
-************************/
-#define cl_khr_icd 1
-
-/* cl_platform_info                                                        */
-#define CL_PLATFORM_ICD_SUFFIX_KHR                  0x0920
-
-/* Additional Error Codes                                                  */
-#define CL_PLATFORM_NOT_FOUND_KHR                   -1001
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clIcdGetPlatformIDsKHR(cl_uint          /* num_entries */,
-                       cl_platform_id * /* platforms */,
-                       cl_uint *        /* num_platforms */);
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
-    cl_uint          /* num_entries */,
-    cl_platform_id * /* platforms */,
-    cl_uint *        /* num_platforms */);
-
-
-/* Extension: cl_khr_image2D_buffer
- *
- * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
- * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
- * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
- * and 2D images created from a buffer.  Similarly, the write_image built-ins are also supported
- * for 2D images created from a buffer.
- *
- * When the 2D image from buffer is created, the client must specify the width,
- * height, image format (i.e. channel order and channel data type) and optionally the row pitch
- *
- * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
- * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
- */
-    
-/*************************************
- * cl_khr_initalize_memory extension *
- *************************************/
-    
-#define CL_CONTEXT_MEMORY_INITIALIZE_KHR            0x2030
-    
-    
-/**************************************
- * cl_khr_terminate_context extension *
- **************************************/
-    
-#define CL_DEVICE_TERMINATE_CAPABILITY_KHR          0x2031
-#define CL_CONTEXT_TERMINATE_KHR                    0x2032
-
-#define cl_khr_terminate_context 1
-extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-    
-    
-/*
- * Extension: cl_khr_spir
- *
- * This extension adds support to create an OpenCL program object from a 
- * Standard Portable Intermediate Representation (SPIR) instance
- */
-
-#define CL_DEVICE_SPIR_VERSIONS                     0x40E0
-#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE         0x40E1
-
-
-/******************************************
-* cl_nv_device_attribute_query extension *
-******************************************/
-/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
-#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV       0x4000
-#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV       0x4001
-#define CL_DEVICE_REGISTERS_PER_BLOCK_NV            0x4002
-#define CL_DEVICE_WARP_SIZE_NV                      0x4003
-#define CL_DEVICE_GPU_OVERLAP_NV                    0x4004
-#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV            0x4005
-#define CL_DEVICE_INTEGRATED_MEMORY_NV              0x4006
-
-/*********************************
-* cl_amd_device_attribute_query *
-*********************************/
-#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD        0x4036
-
-/*********************************
-* cl_arm_printf extension
-*********************************/
-#define CL_PRINTF_CALLBACK_ARM                      0x40B0
-#define CL_PRINTF_BUFFERSIZE_ARM                    0x40B1
-
-#ifdef CL_VERSION_1_1
-   /***********************************
-    * cl_ext_device_fission extension *
-    ***********************************/
-    #define cl_ext_device_fission   1
-    
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
-    
-    typedef CL_API_ENTRY cl_int 
-    (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
-    
-    typedef CL_API_ENTRY cl_int 
-    (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    typedef cl_ulong  cl_device_partition_property_ext;
-    extern CL_API_ENTRY cl_int CL_API_CALL
-    clCreateSubDevicesEXT(  cl_device_id /*in_device*/,
-                            const cl_device_partition_property_ext * /* properties */,
-                            cl_uint /*num_entries*/,
-                            cl_device_id * /*out_devices*/,
-                            cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    typedef CL_API_ENTRY cl_int 
-    ( CL_API_CALL * clCreateSubDevicesEXT_fn)(  cl_device_id /*in_device*/,
-                                                const cl_device_partition_property_ext * /* properties */,
-                                                cl_uint /*num_entries*/,
-                                                cl_device_id * /*out_devices*/,
-                                                cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
-    /* cl_device_partition_property_ext */
-    #define CL_DEVICE_PARTITION_EQUALLY_EXT             0x4050
-    #define CL_DEVICE_PARTITION_BY_COUNTS_EXT           0x4051
-    #define CL_DEVICE_PARTITION_BY_NAMES_EXT            0x4052
-    #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT  0x4053
-    
-    /* clDeviceGetInfo selectors */
-    #define CL_DEVICE_PARENT_DEVICE_EXT                 0x4054
-    #define CL_DEVICE_PARTITION_TYPES_EXT               0x4055
-    #define CL_DEVICE_AFFINITY_DOMAINS_EXT              0x4056
-    #define CL_DEVICE_REFERENCE_COUNT_EXT               0x4057
-    #define CL_DEVICE_PARTITION_STYLE_EXT               0x4058
-    
-    /* error codes */
-    #define CL_DEVICE_PARTITION_FAILED_EXT              -1057
-    #define CL_INVALID_PARTITION_COUNT_EXT              -1058
-    #define CL_INVALID_PARTITION_NAME_EXT               -1059
-    
-    /* CL_AFFINITY_DOMAINs */
-    #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT             0x1
-    #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT             0x2
-    #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT             0x3
-    #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT             0x4
-    #define CL_AFFINITY_DOMAIN_NUMA_EXT                 0x10
-    #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT     0x100
-    
-    /* cl_device_partition_property_ext list terminators */
-    #define CL_PROPERTIES_LIST_END_EXT                  ((cl_device_partition_property_ext) 0)
-    #define CL_PARTITION_BY_COUNTS_LIST_END_EXT         ((cl_device_partition_property_ext) 0)
-    #define CL_PARTITION_BY_NAMES_LIST_END_EXT          ((cl_device_partition_property_ext) 0 - 1)
-
-/*********************************
-* cl_qcom_ext_host_ptr extension
-*********************************/
-
-#define CL_MEM_EXT_HOST_PTR_QCOM                  (1 << 29)
-
-#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM   0x40A0      
-#define CL_DEVICE_PAGE_SIZE_QCOM                  0x40A1
-#define CL_IMAGE_ROW_ALIGNMENT_QCOM               0x40A2
-#define CL_IMAGE_SLICE_ALIGNMENT_QCOM             0x40A3
-#define CL_MEM_HOST_UNCACHED_QCOM                 0x40A4
-#define CL_MEM_HOST_WRITEBACK_QCOM                0x40A5
-#define CL_MEM_HOST_WRITETHROUGH_QCOM             0x40A6
-#define CL_MEM_HOST_WRITE_COMBINING_QCOM          0x40A7
-
-typedef cl_uint                                   cl_image_pitch_info_qcom;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceImageInfoQCOM(cl_device_id             device,
-                         size_t                   image_width,
-                         size_t                   image_height,
-                         const cl_image_format   *image_format,
-                         cl_image_pitch_info_qcom param_name,
-                         size_t                   param_value_size,
-                         void                    *param_value,
-                         size_t                  *param_value_size_ret);
-
-typedef struct _cl_mem_ext_host_ptr
-{
-    /* Type of external memory allocation. */
-    /* Legal values will be defined in layered extensions. */
-    cl_uint  allocation_type;
-            
-    /* Host cache policy for this external memory allocation. */
-    cl_uint  host_cache_policy;
-
-} cl_mem_ext_host_ptr;
-
-/*********************************
-* cl_qcom_ion_host_ptr extension
-*********************************/
-
-#define CL_MEM_ION_HOST_PTR_QCOM                  0x40A8
-
-typedef struct _cl_mem_ion_host_ptr
-{
-    /* Type of external memory allocation. */
-    /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
-    cl_mem_ext_host_ptr  ext_host_ptr;
-
-    /* ION file descriptor */
-    int                  ion_filedesc;
-            
-    /* Host pointer to the ION allocated memory */
-    void*                ion_hostptr;
-
-} cl_mem_ion_host_ptr;
-
-#endif /* CL_VERSION_1_1 */
-
-
-#ifdef CL_VERSION_2_0
-/*********************************
-* cl_khr_sub_groups extension
-*********************************/
-#define cl_khr_sub_groups 1
-
-typedef cl_uint  cl_kernel_sub_group_info_khr;
-
-/* cl_khr_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR	0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR		0x2034
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
-						   cl_device_id /*in_device*/,
-						   cl_kernel_sub_group_info_khr /* param_name */,
-						   size_t /*input_value_size*/,
-						   const void * /*input_value*/,
-						   size_t /*param_value_size*/,
-						   void* /*param_value*/,
-						   size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-						   
-typedef CL_API_ENTRY cl_int
-     ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
-						      cl_device_id /*in_device*/,
-						      cl_kernel_sub_group_info_khr /* param_name */,
-						      size_t /*input_value_size*/,
-						      const void * /*input_value*/,
-						      size_t /*param_value_size*/,
-						      void* /*param_value*/,
-						      size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-#endif /* CL_VERSION_2_0 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_priority_hints extension
-*********************************/
-#define cl_khr_priority_hints 1
-
-typedef cl_uint  cl_queue_priority_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_PRIORITY_KHR 0x1096
-
-/* cl_queue_priority_khr */
-#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
-#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
-#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_throttle_hints extension
-*********************************/
-#define cl_khr_throttle_hints 1
-
-typedef cl_uint  cl_queue_throttle_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_THROTTLE_KHR 0x1097
-
-/* cl_queue_throttle_khr */
-#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
-#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
-#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif /* __CL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
deleted file mode 100644
index 6328a1cd93..0000000000
--- a/third_party/opencl/include/CL/cl_ext_qcom.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc.  All Rights Reserved.
- * Qualcomm Technologies Proprietary and Confidential.
- */
-
-#ifndef __OPENCL_CL_EXT_QCOM_H
-#define __OPENCL_CL_EXT_QCOM_H
-
-// Needed by cl_khr_egl_event extension 
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-#include <CL/cl_ext.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************
- * cl_qcom_create_buffer_from_image *
- ************************************/
-
-#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM         0x40C0
-#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM       0x40C1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBufferFromImageQCOM(cl_mem       image,
-                            cl_mem_flags flags,
-                            cl_int      *errcode_ret);
-
-
-/************************************
- * cl_qcom_limited_printf extension *
- ************************************/
-
-/* Builtin printf function buffer size in bytes. */
-#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM           0x1049
-
-
-/*************************************
- * cl_qcom_extended_images extension *
- *************************************/
-
-#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM      0x40AA
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM   0x40AB
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM  0x40AC
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM   0x40AD
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM  0x40AE
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM   0x40AF
-
-/*************************************
- * cl_qcom_perf_hint extension *
- *************************************/
-
-typedef cl_uint                                     cl_perf_hint;
-
-#define CL_CONTEXT_PERF_HINT_QCOM                   0x40C2
-
-/*cl_perf_hint*/
-#define CL_PERF_HINT_HIGH_QCOM                      0x40C3
-#define CL_PERF_HINT_NORMAL_QCOM                    0x40C4
-#define CL_PERF_HINT_LOW_QCOM                       0x40C5
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetPerfHintQCOM(cl_context    context,
-                  cl_perf_hint  perf_hint);
-
-// This extension is published at Khronos, so its definitions are made in cl_ext.h.
-// This duplication is for backward compatibility.
-
-#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/*********************************
-* cl_qcom_android_native_buffer_host_ptr extension
-*********************************/
-
-#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM                  0x40C6
-
-
-typedef struct _cl_mem_android_native_buffer_host_ptr
-{
-    // Type of external memory allocation.
-    // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
-    cl_mem_ext_host_ptr  ext_host_ptr;
-
-    // Virtual pointer to the android native buffer
-    void*                anb_ptr;
-
-} cl_mem_android_native_buffer_host_ptr;
-
-#endif   //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/***********************************
-* cl_img_egl_image extension *
-************************************/
-typedef void* CLeglImageIMG;
-typedef void* CLeglDisplayIMG;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageIMG(cl_context      context,
-                        cl_mem_flags     flags,
-                        CLeglImageIMG    image,
-                        CLeglDisplayIMG  display,
-                        cl_int           *errcode_ret);
-
-
-/*********************************
-* cl_qcom_other_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-standard images
-#define CL_MEM_OTHER_IMAGE_QCOM                             (1<<25)
-
-// cl_channel_type
-#define CL_QCOM_UNORM_MIPI10                                0x4159
-#define CL_QCOM_UNORM_MIPI12                                0x415A
-#define CL_QCOM_UNSIGNED_MIPI10                             0x415B
-#define CL_QCOM_UNSIGNED_MIPI12                             0x415C
-#define CL_QCOM_UNORM_INT10                                 0x415D
-#define CL_QCOM_UNORM_INT12                                 0x415E
-#define CL_QCOM_UNSIGNED_INT16                              0x415F
-
-// cl_channel_order
-// Dedicate 0x4130-0x415F range for QCOM extended image formats
-// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
-#define CL_QCOM_BAYER                                       0x414E
-
-#define CL_QCOM_NV12                                        0x4133
-#define CL_QCOM_NV12_Y                                      0x4134
-#define CL_QCOM_NV12_UV                                     0x4135
-
-#define CL_QCOM_TILED_NV12                                  0x4136
-#define CL_QCOM_TILED_NV12_Y                                0x4137
-#define CL_QCOM_TILED_NV12_UV                               0x4138
-
-#define CL_QCOM_P010                                        0x413C
-#define CL_QCOM_P010_Y                                      0x413D
-#define CL_QCOM_P010_UV                                     0x413E
-
-#define CL_QCOM_TILED_P010                                  0x413F
-#define CL_QCOM_TILED_P010_Y                                0x4140
-#define CL_QCOM_TILED_P010_UV                               0x4141
-
-
-#define CL_QCOM_TP10                                        0x4145
-#define CL_QCOM_TP10_Y                                      0x4146
-#define CL_QCOM_TP10_UV                                     0x4147
-
-#define CL_QCOM_TILED_TP10                                  0x4148
-#define CL_QCOM_TILED_TP10_Y                                0x4149
-#define CL_QCOM_TILED_TP10_UV                               0x414A
-
-/*********************************
-* cl_qcom_compressed_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-planar compressed images
-#define CL_MEM_COMPRESSED_IMAGE_QCOM                        (1<<27)
-
-// Extended image format
-// cl_channel_order
-#define CL_QCOM_COMPRESSED_RGBA                             0x4130
-#define CL_QCOM_COMPRESSED_RGBx                             0x4131
-
-#define CL_QCOM_COMPRESSED_NV12_Y                           0x413A
-#define CL_QCOM_COMPRESSED_NV12_UV                          0x413B
-
-#define CL_QCOM_COMPRESSED_P010                             0x4142
-#define CL_QCOM_COMPRESSED_P010_Y                           0x4143
-#define CL_QCOM_COMPRESSED_P010_UV                          0x4144
-
-#define CL_QCOM_COMPRESSED_TP10                             0x414B
-#define CL_QCOM_COMPRESSED_TP10_Y                           0x414C
-#define CL_QCOM_COMPRESSED_TP10_UV                          0x414D
-
-#define CL_QCOM_COMPRESSED_NV12_4R                          0x414F
-#define CL_QCOM_COMPRESSED_NV12_4R_Y                        0x4150
-#define CL_QCOM_COMPRESSED_NV12_4R_UV                       0x4151
-/*********************************
-* cl_qcom_compressed_yuv_image_read extension
-*********************************/
-
-// Extended flag for creating/querying QCOM compressed images
-#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM                    (1<<28)
-
-// Extended image format
-#define CL_QCOM_COMPRESSED_NV12                             0x10C4
-
-// Extended flag for setting ION buffer allocation type
-#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM                 0x40CD
-#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM       0x40CE
-
-/*********************************
-* cl_qcom_accelerated_image_ops
-*********************************/
-#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM                         0x4110
-#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM                       0x4111
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM                    0x4112
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM                    0x4113
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM         0x4114
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM         0x4115
-
-//Extended flag for specifying weight image type
-#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM                          (1<<0)
-
-// Box Filter
-typedef struct _cl_box_filter_size_qcom
-{
-    // Width of box filter on X direction.
-    float box_filter_width;
-
-    // Height of box filter on Y direction.
-    float box_filter_height;
-} cl_box_filter_size_qcom;
-
-// HOF Weight Image Desc
-typedef struct _cl_weight_desc_qcom
-{
-    /** Coordinate of the "center" point of the weight image,
-        based on the weight image's top-left corner as the origin. */
-    size_t        center_coord_x;
-    size_t        center_coord_y;
-    cl_bitfield   flags;
-} cl_weight_desc_qcom;
-
-typedef struct _cl_weight_image_desc_qcom
-{
-    cl_image_desc           image_desc;
-    cl_weight_desc_qcom     weight_desc;
-} cl_weight_image_desc_qcom;
-
-/*************************************
- * cl_qcom_protected_context extension *
- *************************************/
-
-#define CL_CONTEXT_PROTECTED_QCOM                    0x40C7
-#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM           0x40C8
-
-/*************************************
- * cl_qcom_priority_hint extension *
- *************************************/
-#define CL_PRIORITY_HINT_NONE_QCOM                   0
-typedef cl_uint                                     cl_priority_hint;
-
-#define CL_CONTEXT_PRIORITY_HINT_QCOM               0x40C9
-
-/*cl_priority_hint*/
-#define CL_PRIORITY_HINT_HIGH_QCOM                  0x40CA
-#define CL_PRIORITY_HINT_NORMAL_QCOM                0x40CB
-#define CL_PRIORITY_HINT_LOW_QCOM                   0x40CC
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
deleted file mode 100644
index 945daa83d7..0000000000
--- a/third_party/opencl/include/CL/cl_gl.h
+++ /dev/null
@@ -1,167 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-#ifndef __OPENCL_CL_GL_H
-#define __OPENCL_CL_GL_H
-
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif	
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef cl_uint     cl_gl_object_type;
-typedef cl_uint     cl_gl_texture_info;
-typedef cl_uint     cl_gl_platform_info;
-typedef struct __GLsync *cl_GLsync;
-
-/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken           */
-#define CL_GL_OBJECT_BUFFER                     0x2000
-#define CL_GL_OBJECT_TEXTURE2D                  0x2001
-#define CL_GL_OBJECT_TEXTURE3D                  0x2002
-#define CL_GL_OBJECT_RENDERBUFFER               0x2003
-#define CL_GL_OBJECT_TEXTURE2D_ARRAY            0x200E
-#define CL_GL_OBJECT_TEXTURE1D                  0x200F
-#define CL_GL_OBJECT_TEXTURE1D_ARRAY            0x2010
-#define CL_GL_OBJECT_TEXTURE_BUFFER             0x2011
-
-/* cl_gl_texture_info           */
-#define CL_GL_TEXTURE_TARGET                    0x2004
-#define CL_GL_MIPMAP_LEVEL                      0x2005
-#define CL_GL_NUM_SAMPLES                       0x2012
-
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLBuffer(cl_context     /* context */,
-                     cl_mem_flags   /* flags */,
-                     cl_GLuint      /* bufobj */,
-                     int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLTexture(cl_context      /* context */,
-                      cl_mem_flags    /* flags */,
-                      cl_GLenum       /* target */,
-                      cl_GLint        /* miplevel */,
-                      cl_GLuint       /* texture */,
-                      cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-    
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLRenderbuffer(cl_context   /* context */,
-                           cl_mem_flags /* flags */,
-                           cl_GLuint    /* renderbuffer */,
-                           cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLObjectInfo(cl_mem                /* memobj */,
-                  cl_gl_object_type *   /* gl_object_type */,
-                  cl_GLuint *           /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
-                  
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLTextureInfo(cl_mem               /* memobj */,
-                   cl_gl_texture_info   /* param_name */,
-                   size_t               /* param_value_size */,
-                   void *               /* param_value */,
-                   size_t *             /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireGLObjects(cl_command_queue      /* command_queue */,
-                          cl_uint               /* num_objects */,
-                          const cl_mem *        /* mem_objects */,
-                          cl_uint               /* num_events_in_wait_list */,
-                          const cl_event *      /* event_wait_list */,
-                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseGLObjects(cl_command_queue      /* command_queue */,
-                          cl_uint               /* num_objects */,
-                          const cl_mem *        /* mem_objects */,
-                          cl_uint               /* num_events_in_wait_list */,
-                          const cl_event *      /* event_wait_list */,
-                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture2D(cl_context      /* context */,
-                        cl_mem_flags    /* flags */,
-                        cl_GLenum       /* target */,
-                        cl_GLint        /* miplevel */,
-                        cl_GLuint       /* texture */,
-                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture3D(cl_context      /* context */,
-                        cl_mem_flags    /* flags */,
-                        cl_GLenum       /* target */,
-                        cl_GLint        /* miplevel */,
-                        cl_GLuint       /* texture */,
-                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-    
-/* cl_khr_gl_sharing extension  */
-    
-#define cl_khr_gl_sharing 1
-    
-typedef cl_uint     cl_gl_context_info;
-    
-/* Additional Error Codes  */
-#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR  -1000
-    
-/* cl_gl_context_info  */
-#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR    0x2006
-#define CL_DEVICES_FOR_GL_CONTEXT_KHR           0x2007
-    
-/* Additional cl_context_properties  */
-#define CL_GL_CONTEXT_KHR                       0x2008
-#define CL_EGL_DISPLAY_KHR                      0x2009
-#define CL_GLX_DISPLAY_KHR                      0x200A
-#define CL_WGL_HDC_KHR                          0x200B
-#define CL_CGL_SHAREGROUP_KHR                   0x200C
-    
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
-                      cl_gl_context_info            /* param_name */,
-                      size_t                        /* param_value_size */,
-                      void *                        /* param_value */,
-                      size_t *                      /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-    
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
-    const cl_context_properties * properties,
-    cl_gl_context_info            param_name,
-    size_t                        param_value_size,
-    void *                        param_value,
-    size_t *                      param_value_size_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_CL_GL_H */
diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
deleted file mode 100644
index e3c14c6408..0000000000
--- a/third_party/opencl/include/CL/cl_gl_ext.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have           */
-/* OpenGL dependencies.                                                         */
-
-#ifndef __OPENCL_CL_GL_EXT_H
-#define __OPENCL_CL_GL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-    #include <OpenCL/cl_gl.h>
-#else
-    #include <CL/cl_gl.h>
-#endif
-
-/*
- * For each extension, follow this template
- *  cl_VEN_extname extension  */
-/* #define cl_VEN_extname 1
- * ... define new types, if any
- * ... define new tokens, if any
- * ... define new APIs, if any
- *
- *  If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
- *  This allows us to avoid having to decide whether to include GL headers or GLES here.
- */
-
-/* 
- *  cl_khr_gl_event  extension
- *  See section 9.9 in the OpenCL 1.1 spec for more information
- */
-#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR     0x200D
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromGLsyncKHR(cl_context           /* context */,
-                           cl_GLsync            /* cl_GLsync */,
-                           cl_int *             /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif	/* __OPENCL_CL_GL_EXT_H  */
diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
deleted file mode 100644
index 4e334a2918..0000000000
--- a/third_party/opencl/include/CL/cl_platform.h
+++ /dev/null
@@ -1,1333 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */
-
-#ifndef __CL_PLATFORM_H
-#define __CL_PLATFORM_H
-
-#ifdef __APPLE__
-    /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
-    #include <AvailabilityMacros.h>
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(_WIN32)
-    #define CL_API_ENTRY
-    #define CL_API_CALL     __stdcall
-    #define CL_CALLBACK     __stdcall
-#else
-    #define CL_API_ENTRY
-    #define CL_API_CALL
-    #define CL_CALLBACK
-#endif
-
-/*
- * Deprecation flags refer to the last version of the header in which the
- * feature was not deprecated.
- *
- * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without
- * deprecation but is deprecated in versions later than 1.1.
- */
-
-#ifdef __APPLE__
-    #define CL_EXTENSION_WEAK_LINK       __attribute__((weak_import))
-    #define CL_API_SUFFIX__VERSION_1_0                  AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
-    #define CL_API_SUFFIX__VERSION_1_1                  AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define GCL_API_SUFFIX__VERSION_1_1                 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_1                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED       CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7
-    
-    #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
-        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8
-    #else
-        #warning  This path should never happen outside of internal operating system development.  AvailabilityMacros do not function correctly here!
-        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
-    #endif
-#else
-    #define CL_EXTENSION_WEAK_LINK  
-    #define CL_API_SUFFIX__VERSION_1_0
-    #define CL_EXT_SUFFIX__VERSION_1_0
-    #define CL_API_SUFFIX__VERSION_1_1
-    #define CL_EXT_SUFFIX__VERSION_1_1
-    #define CL_API_SUFFIX__VERSION_1_2
-    #define CL_EXT_SUFFIX__VERSION_1_2
-    #define CL_API_SUFFIX__VERSION_2_0
-    #define CL_EXT_SUFFIX__VERSION_2_0
-    #define CL_API_SUFFIX__VERSION_2_1
-    #define CL_EXT_SUFFIX__VERSION_2_1
-    
-    #ifdef __GNUC__
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED    
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-         #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated))
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #endif
-    #elif _WIN32
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated)     
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated)     
-        #endif
-    
-        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated)
-        #endif
-
-        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-        #else
-            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED 
-            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated)
-        #endif
-    #else
-        #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
-    
-        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-    
-        #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-
-        #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
-        #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
-    #endif
-#endif
-
-#if (defined (_WIN32) && defined(_MSC_VER))
-
-/* scalar types  */
-typedef signed   __int8         cl_char;
-typedef unsigned __int8         cl_uchar;
-typedef signed   __int16        cl_short;
-typedef unsigned __int16        cl_ushort;
-typedef signed   __int32        cl_int;
-typedef unsigned __int32        cl_uint;
-typedef signed   __int64        cl_long;
-typedef unsigned __int64        cl_ulong;
-
-typedef unsigned __int16        cl_half;
-typedef float                   cl_float;
-typedef double                  cl_double;
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          340282346638528859811704183484516925440.0f
-#define CL_FLT_MIN          1.175494350822287507969e-38f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
-#define CL_DBL_MIN          2.225073858507201383090e-308
-#define CL_DBL_EPSILON      2.220446049250313080847e-16
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#define CL_NAN              (CL_INFINITY - CL_INFINITY)
-#define CL_HUGE_VALF        ((cl_float) 1e50)
-#define CL_HUGE_VAL         ((cl_double) 1e500)
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
-
-#else
-
-#include <stdint.h>
-
-/* scalar types  */
-typedef int8_t          cl_char;
-typedef uint8_t         cl_uchar;
-typedef int16_t         cl_short    __attribute__((aligned(2)));
-typedef uint16_t        cl_ushort   __attribute__((aligned(2)));
-typedef int32_t         cl_int      __attribute__((aligned(4)));
-typedef uint32_t        cl_uint     __attribute__((aligned(4)));
-typedef int64_t         cl_long     __attribute__((aligned(8)));
-typedef uint64_t        cl_ulong    __attribute__((aligned(8)));
-
-typedef uint16_t        cl_half     __attribute__((aligned(2)));
-typedef float           cl_float    __attribute__((aligned(4)));
-typedef double          cl_double   __attribute__((aligned(8)));
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT         8
-#define CL_SCHAR_MAX        127
-#define CL_SCHAR_MIN        (-127-1)
-#define CL_CHAR_MAX         CL_SCHAR_MAX
-#define CL_CHAR_MIN         CL_SCHAR_MIN
-#define CL_UCHAR_MAX        255
-#define CL_SHRT_MAX         32767
-#define CL_SHRT_MIN         (-32767-1)
-#define CL_USHRT_MAX        65535
-#define CL_INT_MAX          2147483647
-#define CL_INT_MIN          (-2147483647-1)
-#define CL_UINT_MAX         0xffffffffU
-#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG          6
-#define CL_FLT_MANT_DIG     24
-#define CL_FLT_MAX_10_EXP   +38
-#define CL_FLT_MAX_EXP      +128
-#define CL_FLT_MIN_10_EXP   -37
-#define CL_FLT_MIN_EXP      -125
-#define CL_FLT_RADIX        2
-#define CL_FLT_MAX          0x1.fffffep127f
-#define CL_FLT_MIN          0x1.0p-126f
-#define CL_FLT_EPSILON      0x1.0p-23f
-
-#define CL_DBL_DIG          15
-#define CL_DBL_MANT_DIG     53
-#define CL_DBL_MAX_10_EXP   +308
-#define CL_DBL_MAX_EXP      +1024
-#define CL_DBL_MIN_10_EXP   -307
-#define CL_DBL_MIN_EXP      -1021
-#define CL_DBL_RADIX        2
-#define CL_DBL_MAX          0x1.fffffffffffffp1023
-#define CL_DBL_MIN          0x1.0p-1022
-#define CL_DBL_EPSILON      0x1.0p-52
-
-#define  CL_M_E             2.718281828459045090796
-#define  CL_M_LOG2E         1.442695040888963387005
-#define  CL_M_LOG10E        0.434294481903251816668
-#define  CL_M_LN2           0.693147180559945286227
-#define  CL_M_LN10          2.302585092994045901094
-#define  CL_M_PI            3.141592653589793115998
-#define  CL_M_PI_2          1.570796326794896557999
-#define  CL_M_PI_4          0.785398163397448278999
-#define  CL_M_1_PI          0.318309886183790691216
-#define  CL_M_2_PI          0.636619772367581382433
-#define  CL_M_2_SQRTPI      1.128379167095512558561
-#define  CL_M_SQRT2         1.414213562373095145475
-#define  CL_M_SQRT1_2       0.707106781186547572737
-
-#define  CL_M_E_F           2.71828174591064f
-#define  CL_M_LOG2E_F       1.44269502162933f
-#define  CL_M_LOG10E_F      0.43429449200630f
-#define  CL_M_LN2_F         0.69314718246460f
-#define  CL_M_LN10_F        2.30258512496948f
-#define  CL_M_PI_F          3.14159274101257f
-#define  CL_M_PI_2_F        1.57079637050629f
-#define  CL_M_PI_4_F        0.78539818525314f
-#define  CL_M_1_PI_F        0.31830987334251f
-#define  CL_M_2_PI_F        0.63661974668503f
-#define  CL_M_2_SQRTPI_F    1.12837922573090f
-#define  CL_M_SQRT2_F       1.41421353816986f
-#define  CL_M_SQRT1_2_F     0.70710676908493f
-
-#if defined( __GNUC__ )
-   #define CL_HUGE_VALF     __builtin_huge_valf()
-   #define CL_HUGE_VAL      __builtin_huge_val()
-   #define CL_NAN           __builtin_nanf( "" )
-#else
-   #define CL_HUGE_VALF     ((cl_float) 1e50)
-   #define CL_HUGE_VAL      ((cl_double) 1e500)
-   float nanf( const char * );
-   #define CL_NAN           nanf( "" )  
-#endif
-#define CL_MAXFLOAT         CL_FLT_MAX
-#define CL_INFINITY         CL_HUGE_VALF
-
-#endif
-
-#include <stddef.h>
-
-/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */
-typedef unsigned int cl_GLuint;
-typedef int          cl_GLint;
-typedef unsigned int cl_GLenum;
-
-/*
- * Vector types 
- *
- *  Note:   OpenCL requires that all types be naturally aligned. 
- *          This means that vector types must be naturally aligned.
- *          For example, a vector of four floats must be aligned to
- *          a 16 byte boundary (calculated as 4 * the natural 4-byte 
- *          alignment of the float).  The alignment qualifiers here
- *          will only function properly if your compiler supports them
- *          and if you don't actively work to defeat them.  For example,
- *          in order for a cl_float4 to be 16 byte aligned in a struct,
- *          the start of the struct must itself be 16-byte aligned. 
- *
- *          Maintaining proper alignment is the user's responsibility.
- */
-
-/* Define basic vector types */
-#if defined( __VEC__ )
-   #include <altivec.h>   /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
-   typedef vector unsigned char     __cl_uchar16;
-   typedef vector signed char       __cl_char16;
-   typedef vector unsigned short    __cl_ushort8;
-   typedef vector signed short      __cl_short8;
-   typedef vector unsigned int      __cl_uint4;
-   typedef vector signed int        __cl_int4;
-   typedef vector float             __cl_float4;
-   #define  __CL_UCHAR16__  1
-   #define  __CL_CHAR16__   1
-   #define  __CL_USHORT8__  1
-   #define  __CL_SHORT8__   1
-   #define  __CL_UINT4__    1
-   #define  __CL_INT4__     1
-   #define  __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <xmmintrin.h>
-    #endif
-    #if defined( __GNUC__ )
-        typedef float __cl_float4   __attribute__((vector_size(16)));
-    #else
-        typedef __m128 __cl_float4;
-    #endif
-    #define __CL_FLOAT4__   1
-#endif
-
-#if defined( __SSE2__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <emmintrin.h>
-    #endif
-    #if defined( __GNUC__ )
-        typedef cl_uchar    __cl_uchar16    __attribute__((vector_size(16)));
-        typedef cl_char     __cl_char16     __attribute__((vector_size(16)));
-        typedef cl_ushort   __cl_ushort8    __attribute__((vector_size(16)));
-        typedef cl_short    __cl_short8     __attribute__((vector_size(16)));
-        typedef cl_uint     __cl_uint4      __attribute__((vector_size(16)));
-        typedef cl_int      __cl_int4       __attribute__((vector_size(16)));
-        typedef cl_ulong    __cl_ulong2     __attribute__((vector_size(16)));
-        typedef cl_long     __cl_long2      __attribute__((vector_size(16)));
-        typedef cl_double   __cl_double2    __attribute__((vector_size(16)));
-    #else
-        typedef __m128i __cl_uchar16;
-        typedef __m128i __cl_char16;
-        typedef __m128i __cl_ushort8;
-        typedef __m128i __cl_short8;
-        typedef __m128i __cl_uint4;
-        typedef __m128i __cl_int4;
-        typedef __m128i __cl_ulong2;
-        typedef __m128i __cl_long2;
-        typedef __m128d __cl_double2;
-    #endif
-    #define __CL_UCHAR16__  1
-    #define __CL_CHAR16__   1
-    #define __CL_USHORT8__  1
-    #define __CL_SHORT8__   1
-    #define __CL_INT4__     1
-    #define __CL_UINT4__    1
-    #define __CL_ULONG2__   1
-    #define __CL_LONG2__    1
-    #define __CL_DOUBLE2__  1
-#endif
-
-#if defined( __MMX__ )
-    #include <mmintrin.h>
-    #if defined( __GNUC__ )
-        typedef cl_uchar    __cl_uchar8     __attribute__((vector_size(8)));
-        typedef cl_char     __cl_char8      __attribute__((vector_size(8)));
-        typedef cl_ushort   __cl_ushort4    __attribute__((vector_size(8)));
-        typedef cl_short    __cl_short4     __attribute__((vector_size(8)));
-        typedef cl_uint     __cl_uint2      __attribute__((vector_size(8)));
-        typedef cl_int      __cl_int2       __attribute__((vector_size(8)));
-        typedef cl_ulong    __cl_ulong1     __attribute__((vector_size(8)));
-        typedef cl_long     __cl_long1      __attribute__((vector_size(8)));
-        typedef cl_float    __cl_float2     __attribute__((vector_size(8)));
-    #else
-        typedef __m64       __cl_uchar8;
-        typedef __m64       __cl_char8;
-        typedef __m64       __cl_ushort4;
-        typedef __m64       __cl_short4;
-        typedef __m64       __cl_uint2;
-        typedef __m64       __cl_int2;
-        typedef __m64       __cl_ulong1;
-        typedef __m64       __cl_long1;
-        typedef __m64       __cl_float2;
-    #endif
-    #define __CL_UCHAR8__   1
-    #define __CL_CHAR8__    1
-    #define __CL_USHORT4__  1
-    #define __CL_SHORT4__   1
-    #define __CL_INT2__     1
-    #define __CL_UINT2__    1
-    #define __CL_ULONG1__   1
-    #define __CL_LONG1__    1
-    #define __CL_FLOAT2__   1
-#endif
-
-#if defined( __AVX__ )
-    #if defined( __MINGW64__ )
-        #include <intrin.h>
-    #else
-        #include <immintrin.h> 
-    #endif
-    #if defined( __GNUC__ )
-        typedef cl_float    __cl_float8     __attribute__((vector_size(32)));
-        typedef cl_double   __cl_double4    __attribute__((vector_size(32)));
-    #else
-        typedef __m256      __cl_float8;
-        typedef __m256d     __cl_double4;
-    #endif
-    #define __CL_FLOAT8__   1
-    #define __CL_DOUBLE4__  1
-#endif
-
-/* Define capabilities for anonymous struct members. */
-#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ )
-#define  __CL_HAS_ANON_STRUCT__ 1
-#define  __CL_ANON_STRUCT__ __extension__
-#elif defined( _WIN32) && (_MSC_VER >= 1500)
-   /* Microsoft Developer Studio 2008 supports anonymous structs, but
-    * complains by default. */
-#define  __CL_HAS_ANON_STRUCT__ 1
-#define  __CL_ANON_STRUCT__
-   /* Disable warning C4201: nonstandard extension used : nameless
-    * struct/union */
-#pragma warning( push )
-#pragma warning( disable : 4201 )
-#else
-#define  __CL_HAS_ANON_STRUCT__ 0
-#define  __CL_ANON_STRUCT__
-#endif
-
-/* Define alignment keys */
-#if defined( __GNUC__ )
-    #define CL_ALIGNED(_x)          __attribute__ ((aligned(_x)))
-#elif defined( _WIN32) && (_MSC_VER)
-    /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
-    /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
-    /* #include <crtdefs.h>                                                                                             */
-    /* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
-    #define CL_ALIGNED(_x)
-#else
-   #warning  Need to implement some method to align data here
-   #define  CL_ALIGNED(_x)
-#endif
-
-/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
-#if __CL_HAS_ANON_STRUCT__
-    /* .xyzw and .s0123...{f|F} are supported */
-    #define CL_HAS_NAMED_VECTOR_FIELDS 1
-    /* .hi and .lo are supported */
-    #define CL_HAS_HI_LO_VECTOR_FIELDS 1
-#endif
-
-/* Define cl_vector types */
-
-/* ---- cl_charn ---- */
-typedef union
-{
-    cl_char  CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_char  lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2;
-#endif
-}cl_char2;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[2];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4;
-#endif
-}cl_char4;
-
-/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
-typedef  cl_char4  cl_char3;
-
-typedef union
-{
-    cl_char   CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[4];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[2];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8;
-#endif
-}cl_char8;
-
-typedef union
-{
-    cl_char  CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__) 
-    __cl_char2     v2[8];
-#endif
-#if defined( __CL_CHAR4__) 
-    __cl_char4     v4[4];
-#endif
-#if defined( __CL_CHAR8__ )
-    __cl_char8     v8[2];
-#endif
-#if defined( __CL_CHAR16__ )
-    __cl_char16    v16;
-#endif
-}cl_char16;
-
-
-/* ---- cl_ucharn ---- */
-typedef union
-{
-    cl_uchar  CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  lo, hi; };
-#endif
-#if defined( __cl_uchar2__) 
-    __cl_uchar2     v2;
-#endif
-}cl_uchar2;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[2];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4;
-#endif
-}cl_uchar4;
-
-/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
-typedef  cl_uchar4  cl_uchar3;
-
-typedef union
-{
-    cl_uchar   CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[4];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[2];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8;
-#endif
-}cl_uchar8;
-
-typedef union
-{
-    cl_uchar  CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__) 
-    __cl_uchar2     v2[8];
-#endif
-#if defined( __CL_UCHAR4__) 
-    __cl_uchar4     v4[4];
-#endif
-#if defined( __CL_UCHAR8__ )
-    __cl_uchar8     v8[2];
-#endif
-#if defined( __CL_UCHAR16__ )
-    __cl_uchar16    v16;
-#endif
-}cl_uchar16;
-
-
-/* ---- cl_shortn ---- */
-typedef union
-{
-    cl_short  CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_short  lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2;
-#endif
-}cl_short2;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[2];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4;
-#endif
-}cl_short4;
-
-/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
-typedef  cl_short4  cl_short3;
-
-typedef union
-{
-    cl_short   CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[4];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[2];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8;
-#endif
-}cl_short8;
-
-typedef union
-{
-    cl_short  CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__) 
-    __cl_short2     v2[8];
-#endif
-#if defined( __CL_SHORT4__) 
-    __cl_short4     v4[4];
-#endif
-#if defined( __CL_SHORT8__ )
-    __cl_short8     v8[2];
-#endif
-#if defined( __CL_SHORT16__ )
-    __cl_short16    v16;
-#endif
-}cl_short16;
-
-
-/* ---- cl_ushortn ---- */
-typedef union
-{
-    cl_ushort  CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2;
-#endif
-}cl_ushort2;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[2];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4;
-#endif
-}cl_ushort4;
-
-/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
-typedef  cl_ushort4  cl_ushort3;
-
-typedef union
-{
-    cl_ushort   CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[4];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[2];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8;
-#endif
-}cl_ushort8;
-
-typedef union
-{
-    cl_ushort  CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__) 
-    __cl_ushort2     v2[8];
-#endif
-#if defined( __CL_USHORT4__) 
-    __cl_ushort4     v4[4];
-#endif
-#if defined( __CL_USHORT8__ )
-    __cl_ushort8     v8[2];
-#endif
-#if defined( __CL_USHORT16__ )
-    __cl_ushort16    v16;
-#endif
-}cl_ushort16;
-
-/* ---- cl_intn ---- */
-typedef union
-{
-    cl_int  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_int  lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2;
-#endif
-}cl_int2;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[2];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4;
-#endif
-}cl_int4;
-
-/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
-typedef  cl_int4  cl_int3;
-
-typedef union
-{
-    cl_int   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[4];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[2];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8;
-#endif
-}cl_int8;
-
-typedef union
-{
-    cl_int  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; };
-#endif
-#if defined( __CL_INT2__) 
-    __cl_int2     v2[8];
-#endif
-#if defined( __CL_INT4__) 
-    __cl_int4     v4[4];
-#endif
-#if defined( __CL_INT8__ )
-    __cl_int8     v8[2];
-#endif
-#if defined( __CL_INT16__ )
-    __cl_int16    v16;
-#endif
-}cl_int16;
-
-
-/* ---- cl_uintn ---- */
-typedef union
-{
-    cl_uint  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2;
-#endif
-}cl_uint2;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[2];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4;
-#endif
-}cl_uint4;
-
-/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
-typedef  cl_uint4  cl_uint3;
-
-typedef union
-{
-    cl_uint   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[4];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[2];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8;
-#endif
-}cl_uint8;
-
-typedef union
-{
-    cl_uint  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; };
-#endif
-#if defined( __CL_UINT2__) 
-    __cl_uint2     v2[8];
-#endif
-#if defined( __CL_UINT4__) 
-    __cl_uint4     v4[4];
-#endif
-#if defined( __CL_UINT8__ )
-    __cl_uint8     v8[2];
-#endif
-#if defined( __CL_UINT16__ )
-    __cl_uint16    v16;
-#endif
-}cl_uint16;
-
-/* ---- cl_longn ---- */
-typedef union
-{
-    cl_long  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_long  lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2;
-#endif
-}cl_long2;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[2];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4;
-#endif
-}cl_long4;
-
-/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
-typedef  cl_long4  cl_long3;
-
-typedef union
-{
-    cl_long   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[4];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[2];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8;
-#endif
-}cl_long8;
-
-typedef union
-{
-    cl_long  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; };
-#endif
-#if defined( __CL_LONG2__) 
-    __cl_long2     v2[8];
-#endif
-#if defined( __CL_LONG4__) 
-    __cl_long4     v4[4];
-#endif
-#if defined( __CL_LONG8__ )
-    __cl_long8     v8[2];
-#endif
-#if defined( __CL_LONG16__ )
-    __cl_long16    v16;
-#endif
-}cl_long16;
-
-
-/* ---- cl_ulongn ---- */
-typedef union
-{
-    cl_ulong  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2;
-#endif
-}cl_ulong2;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[2];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4;
-#endif
-}cl_ulong4;
-
-/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
-typedef  cl_ulong4  cl_ulong3;
-
-typedef union
-{
-    cl_ulong   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[4];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[2];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8;
-#endif
-}cl_ulong8;
-
-typedef union
-{
-    cl_ulong  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__) 
-    __cl_ulong2     v2[8];
-#endif
-#if defined( __CL_ULONG4__) 
-    __cl_ulong4     v4[4];
-#endif
-#if defined( __CL_ULONG8__ )
-    __cl_ulong8     v8[2];
-#endif
-#if defined( __CL_ULONG16__ )
-    __cl_ulong16    v16;
-#endif
-}cl_ulong16;
-
-
-/* --- cl_floatn ---- */
-
-typedef union
-{
-    cl_float  CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_float  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2;
-#endif
-}cl_float2;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_float2  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[2];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4;
-#endif
-}cl_float4;
-
-/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
-typedef  cl_float4  cl_float3;
-
-typedef union
-{
-    cl_float   CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_float4  lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[4];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[2];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8;
-#endif
-}cl_float8;
-
-typedef union
-{
-    cl_float  CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_float  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__) 
-    __cl_float2     v2[8];
-#endif
-#if defined( __CL_FLOAT4__) 
-    __cl_float4     v4[4];
-#endif
-#if defined( __CL_FLOAT8__ )
-    __cl_float8     v8[2];
-#endif
-#if defined( __CL_FLOAT16__ )
-    __cl_float16    v16;
-#endif
-}cl_float16;
-
-/* --- cl_doublen ---- */
-
-typedef union
-{
-    cl_double  CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y; };
-   __CL_ANON_STRUCT__ struct{ cl_double s0, s1; };
-   __CL_ANON_STRUCT__ struct{ cl_double lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2;
-#endif
-}cl_double2;
-
-typedef union
-{
-    cl_double  CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3; };
-   __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[2];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4;
-#endif
-}cl_double4;
-
-/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
-typedef  cl_double4  cl_double3;
-
-typedef union
-{
-    cl_double   CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7; };
-   __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[4];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[2];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8;
-#endif
-}cl_double8;
-
-typedef union
-{
-    cl_double  CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
-   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
-   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
-   __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__) 
-    __cl_double2     v2[8];
-#endif
-#if defined( __CL_DOUBLE4__) 
-    __cl_double4     v4[4];
-#endif
-#if defined( __CL_DOUBLE8__ )
-    __cl_double8     v8[2];
-#endif
-#if defined( __CL_DOUBLE16__ )
-    __cl_double16    v16;
-#endif
-}cl_double16;
-
-/* Macro to facilitate debugging 
- * Usage:
- *   Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. 
- *   The first line ends with:   CL_PROGRAM_STRING_DEBUG_INFO \"
- *   Each line thereafter of OpenCL C source must end with: \n\
- *   The last line ends in ";
- *
- *   Example:
- *
- *   const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\
- *   kernel void foo( int a, float * b )             \n\
- *   {                                               \n\
- *      // my comment                                \n\
- *      *b[ get_global_id(0)] = a;                   \n\
- *   }                                               \n\
- *   ";
- *
- * This should correctly set up the line, (column) and file information for your source 
- * string so you can do source level debugging.
- */
-#define  __CL_STRINGIFY( _x )               # _x
-#define  _CL_STRINGIFY( _x )                __CL_STRINGIFY( _x )
-#define  CL_PROGRAM_STRING_DEBUG_INFO       "#line "  _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" 
-  
-#ifdef __cplusplus
-}
-#endif
-
-#undef __CL_HAS_ANON_STRUCT__
-#undef __CL_ANON_STRUCT__
-#if defined( _WIN32) && (_MSC_VER >= 1500)
-#pragma warning( pop )
-#endif
-
-#endif  /* __CL_PLATFORM_H  */
diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
deleted file mode 100644
index 9855cd75e7..0000000000
--- a/third_party/opencl/include/CL/opencl.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- *    https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_H
-#define __OPENCL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-
-#include <OpenCL/cl.h>
-#include <OpenCL/cl_gl.h>
-#include <OpenCL/cl_gl_ext.h>
-#include <OpenCL/cl_ext.h>
-
-#else
-
-#include <CL/cl.h>
-#include <CL/cl_gl.h>
-#include <CL/cl_gl_ext.h>
-#include <CL/cl_ext.h>
-
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  /* __OPENCL_H   */
-
diff --git a/third_party/qrcode/QrCode.cc b/third_party/qrcode/QrCode.cc
deleted file mode 100644
index b9de86215e..0000000000
--- a/third_party/qrcode/QrCode.cc
+++ /dev/null
@@ -1,862 +0,0 @@
-/* 
- * QR Code generator library (C++)
- * 
- * Copyright (c) Project Nayuki. (MIT License)
- * https://www.nayuki.io/page/qr-code-generator-library
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- * - The above copyright notice and this permission notice shall be included in
- *   all copies or substantial portions of the Software.
- * - The Software is provided "as is", without warranty of any kind, express or
- *   implied, including but not limited to the warranties of merchantability,
- *   fitness for a particular purpose and noninfringement. In no event shall the
- *   authors or copyright holders be liable for any claim, damages or other
- *   liability, whether in an action of contract, tort or otherwise, arising from,
- *   out of or in connection with the Software or the use or other dealings in the
- *   Software.
- */
-
-#include <algorithm>
-#include <climits>
-#include <cstddef>
-#include <cstdlib>
-#include <cstring>
-#include <sstream>
-#include <stdexcept>
-#include <utility>
-#include "QrCode.hpp"
-
-using std::int8_t;
-using std::uint8_t;
-using std::size_t;
-using std::vector;
-
-
-namespace qrcodegen {
-
-QrSegment::Mode::Mode(int mode, int cc0, int cc1, int cc2) :
-		modeBits(mode) {
-	numBitsCharCount[0] = cc0;
-	numBitsCharCount[1] = cc1;
-	numBitsCharCount[2] = cc2;
-}
-
-
-int QrSegment::Mode::getModeBits() const {
-	return modeBits;
-}
-
-
-int QrSegment::Mode::numCharCountBits(int ver) const {
-	return numBitsCharCount[(ver + 7) / 17];
-}
-
-
-const QrSegment::Mode QrSegment::Mode::NUMERIC     (0x1, 10, 12, 14);
-const QrSegment::Mode QrSegment::Mode::ALPHANUMERIC(0x2,  9, 11, 13);
-const QrSegment::Mode QrSegment::Mode::BYTE        (0x4,  8, 16, 16);
-const QrSegment::Mode QrSegment::Mode::KANJI       (0x8,  8, 10, 12);
-const QrSegment::Mode QrSegment::Mode::ECI         (0x7,  0,  0,  0);
-
-
-QrSegment QrSegment::makeBytes(const vector<uint8_t> &data) {
-	if (data.size() > static_cast<unsigned int>(INT_MAX))
-		throw std::length_error("Data too long");
-	BitBuffer bb;
-	for (uint8_t b : data)
-		bb.appendBits(b, 8);
-	return QrSegment(Mode::BYTE, static_cast<int>(data.size()), std::move(bb));
-}
-
-
-QrSegment QrSegment::makeNumeric(const char *digits) {
-	BitBuffer bb;
-	int accumData = 0;
-	int accumCount = 0;
-	int charCount = 0;
-	for (; *digits != '\0'; digits++, charCount++) {
-		char c = *digits;
-		if (c < '0' || c > '9')
-			throw std::domain_error("String contains non-numeric characters");
-		accumData = accumData * 10 + (c - '0');
-		accumCount++;
-		if (accumCount == 3) {
-			bb.appendBits(static_cast<uint32_t>(accumData), 10);
-			accumData = 0;
-			accumCount = 0;
-		}
-	}
-	if (accumCount > 0)  // 1 or 2 digits remaining
-		bb.appendBits(static_cast<uint32_t>(accumData), accumCount * 3 + 1);
-	return QrSegment(Mode::NUMERIC, charCount, std::move(bb));
-}
-
-
-QrSegment QrSegment::makeAlphanumeric(const char *text) {
-	BitBuffer bb;
-	int accumData = 0;
-	int accumCount = 0;
-	int charCount = 0;
-	for (; *text != '\0'; text++, charCount++) {
-		const char *temp = std::strchr(ALPHANUMERIC_CHARSET, *text);
-		if (temp == nullptr)
-			throw std::domain_error("String contains unencodable characters in alphanumeric mode");
-		accumData = accumData * 45 + static_cast<int>(temp - ALPHANUMERIC_CHARSET);
-		accumCount++;
-		if (accumCount == 2) {
-			bb.appendBits(static_cast<uint32_t>(accumData), 11);
-			accumData = 0;
-			accumCount = 0;
-		}
-	}
-	if (accumCount > 0)  // 1 character remaining
-		bb.appendBits(static_cast<uint32_t>(accumData), 6);
-	return QrSegment(Mode::ALPHANUMERIC, charCount, std::move(bb));
-}
-
-
-vector<QrSegment> QrSegment::makeSegments(const char *text) {
-	// Select the most efficient segment encoding automatically
-	vector<QrSegment> result;
-	if (*text == '\0');  // Leave result empty
-	else if (isNumeric(text))
-		result.push_back(makeNumeric(text));
-	else if (isAlphanumeric(text))
-		result.push_back(makeAlphanumeric(text));
-	else {
-		vector<uint8_t> bytes;
-		for (; *text != '\0'; text++)
-			bytes.push_back(static_cast<uint8_t>(*text));
-		result.push_back(makeBytes(bytes));
-	}
-	return result;
-}
-
-
-QrSegment QrSegment::makeEci(long assignVal) {
-	BitBuffer bb;
-	if (assignVal < 0)
-		throw std::domain_error("ECI assignment value out of range");
-	else if (assignVal < (1 << 7))
-		bb.appendBits(static_cast<uint32_t>(assignVal), 8);
-	else if (assignVal < (1 << 14)) {
-		bb.appendBits(2, 2);
-		bb.appendBits(static_cast<uint32_t>(assignVal), 14);
-	} else if (assignVal < 1000000L) {
-		bb.appendBits(6, 3);
-		bb.appendBits(static_cast<uint32_t>(assignVal), 21);
-	} else
-		throw std::domain_error("ECI assignment value out of range");
-	return QrSegment(Mode::ECI, 0, std::move(bb));
-}
-
-
-QrSegment::QrSegment(Mode md, int numCh, const std::vector<bool> &dt) :
-		mode(md),
-		numChars(numCh),
-		data(dt) {
-	if (numCh < 0)
-		throw std::domain_error("Invalid value");
-}
-
-
-QrSegment::QrSegment(Mode md, int numCh, std::vector<bool> &&dt) :
-		mode(md),
-		numChars(numCh),
-		data(std::move(dt)) {
-	if (numCh < 0)
-		throw std::domain_error("Invalid value");
-}
-
-
-int QrSegment::getTotalBits(const vector<QrSegment> &segs, int version) {
-	int result = 0;
-	for (const QrSegment &seg : segs) {
-		int ccbits = seg.mode.numCharCountBits(version);
-		if (seg.numChars >= (1L << ccbits))
-			return -1;  // The segment's length doesn't fit the field's bit width
-		if (4 + ccbits > INT_MAX - result)
-			return -1;  // The sum will overflow an int type
-		result += 4 + ccbits;
-		if (seg.data.size() > static_cast<unsigned int>(INT_MAX - result))
-			return -1;  // The sum will overflow an int type
-		result += static_cast<int>(seg.data.size());
-	}
-	return result;
-}
-
-
-bool QrSegment::isAlphanumeric(const char *text) {
-	for (; *text != '\0'; text++) {
-		if (std::strchr(ALPHANUMERIC_CHARSET, *text) == nullptr)
-			return false;
-	}
-	return true;
-}
-
-
-bool QrSegment::isNumeric(const char *text) {
-	for (; *text != '\0'; text++) {
-		char c = *text;
-		if (c < '0' || c > '9')
-			return false;
-	}
-	return true;
-}
-
-
-QrSegment::Mode QrSegment::getMode() const {
-	return mode;
-}
-
-
-int QrSegment::getNumChars() const {
-	return numChars;
-}
-
-
-const std::vector<bool> &QrSegment::getData() const {
-	return data;
-}
-
-
-const char *QrSegment::ALPHANUMERIC_CHARSET = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:";
-
-
-
-int QrCode::getFormatBits(Ecc ecl) {
-	switch (ecl) {
-		case Ecc::LOW     :  return 1;
-		case Ecc::MEDIUM  :  return 0;
-		case Ecc::QUARTILE:  return 3;
-		case Ecc::HIGH    :  return 2;
-		default:  throw std::logic_error("Assertion error");
-	}
-}
-
-
-QrCode QrCode::encodeText(const char *text, Ecc ecl) {
-	vector<QrSegment> segs = QrSegment::makeSegments(text);
-	return encodeSegments(segs, ecl);
-}
-
-
-QrCode QrCode::encodeBinary(const vector<uint8_t> &data, Ecc ecl) {
-	vector<QrSegment> segs{QrSegment::makeBytes(data)};
-	return encodeSegments(segs, ecl);
-}
-
-
-QrCode QrCode::encodeSegments(const vector<QrSegment> &segs, Ecc ecl,
-		int minVersion, int maxVersion, int mask, bool boostEcl) {
-	if (!(MIN_VERSION <= minVersion && minVersion <= maxVersion && maxVersion <= MAX_VERSION) || mask < -1 || mask > 7)
-		throw std::invalid_argument("Invalid value");
-	
-	// Find the minimal version number to use
-	int version, dataUsedBits;
-	for (version = minVersion; ; version++) {
-		int dataCapacityBits = getNumDataCodewords(version, ecl) * 8;  // Number of data bits available
-		dataUsedBits = QrSegment::getTotalBits(segs, version);
-		if (dataUsedBits != -1 && dataUsedBits <= dataCapacityBits)
-			break;  // This version number is found to be suitable
-		if (version >= maxVersion) {  // All versions in the range could not fit the given data
-			std::ostringstream sb;
-			if (dataUsedBits == -1)
-				sb << "Segment too long";
-			else {
-				sb << "Data length = " << dataUsedBits << " bits, ";
-				sb << "Max capacity = " << dataCapacityBits << " bits";
-			}
-			throw data_too_long(sb.str());
-		}
-	}
-	if (dataUsedBits == -1)
-		throw std::logic_error("Assertion error");
-	
-	// Increase the error correction level while the data still fits in the current version number
-	for (Ecc newEcl : vector<Ecc>{Ecc::MEDIUM, Ecc::QUARTILE, Ecc::HIGH}) {  // From low to high
-		if (boostEcl && dataUsedBits <= getNumDataCodewords(version, newEcl) * 8)
-			ecl = newEcl;
-	}
-	
-	// Concatenate all segments to create the data bit string
-	BitBuffer bb;
-	for (const QrSegment &seg : segs) {
-		bb.appendBits(static_cast<uint32_t>(seg.getMode().getModeBits()), 4);
-		bb.appendBits(static_cast<uint32_t>(seg.getNumChars()), seg.getMode().numCharCountBits(version));
-		bb.insert(bb.end(), seg.getData().begin(), seg.getData().end());
-	}
-	if (bb.size() != static_cast<unsigned int>(dataUsedBits))
-		throw std::logic_error("Assertion error");
-	
-	// Add terminator and pad up to a byte if applicable
-	size_t dataCapacityBits = static_cast<size_t>(getNumDataCodewords(version, ecl)) * 8;
-	if (bb.size() > dataCapacityBits)
-		throw std::logic_error("Assertion error");
-	bb.appendBits(0, std::min(4, static_cast<int>(dataCapacityBits - bb.size())));
-	bb.appendBits(0, (8 - static_cast<int>(bb.size() % 8)) % 8);
-	if (bb.size() % 8 != 0)
-		throw std::logic_error("Assertion error");
-	
-	// Pad with alternating bytes until data capacity is reached
-	for (uint8_t padByte = 0xEC; bb.size() < dataCapacityBits; padByte ^= 0xEC ^ 0x11)
-		bb.appendBits(padByte, 8);
-	
-	// Pack bits into bytes in big endian
-	vector<uint8_t> dataCodewords(bb.size() / 8);
-	for (size_t i = 0; i < bb.size(); i++)
-		dataCodewords[i >> 3] |= (bb.at(i) ? 1 : 0) << (7 - (i & 7));
-	
-	// Create the QR Code object
-	return QrCode(version, ecl, dataCodewords, mask);
-}
-
-
-QrCode::QrCode(int ver, Ecc ecl, const vector<uint8_t> &dataCodewords, int msk) :
-		// Initialize fields and check arguments
-		version(ver),
-		errorCorrectionLevel(ecl) {
-	if (ver < MIN_VERSION || ver > MAX_VERSION)
-		throw std::domain_error("Version value out of range");
-	if (msk < -1 || msk > 7)
-		throw std::domain_error("Mask value out of range");
-	size = ver * 4 + 17;
-	size_t sz = static_cast<size_t>(size);
-	modules    = vector<vector<bool> >(sz, vector<bool>(sz));  // Initially all white
-	isFunction = vector<vector<bool> >(sz, vector<bool>(sz));
-	
-	// Compute ECC, draw modules
-	drawFunctionPatterns();
-	const vector<uint8_t> allCodewords = addEccAndInterleave(dataCodewords);
-	drawCodewords(allCodewords);
-	
-	// Do masking
-	if (msk == -1) {  // Automatically choose best mask
-		long minPenalty = LONG_MAX;
-		for (int i = 0; i < 8; i++) {
-			applyMask(i);
-			drawFormatBits(i);
-			long penalty = getPenaltyScore();
-			if (penalty < minPenalty) {
-				msk = i;
-				minPenalty = penalty;
-			}
-			applyMask(i);  // Undoes the mask due to XOR
-		}
-	}
-	if (msk < 0 || msk > 7)
-		throw std::logic_error("Assertion error");
-	this->mask = msk;
-	applyMask(msk);  // Apply the final choice of mask
-	drawFormatBits(msk);  // Overwrite old format bits
-	
-	isFunction.clear();
-	isFunction.shrink_to_fit();
-}
-
-
-int QrCode::getVersion() const {
-	return version;
-}
-
-
-int QrCode::getSize() const {
-	return size;
-}
-
-
-QrCode::Ecc QrCode::getErrorCorrectionLevel() const {
-	return errorCorrectionLevel;
-}
-
-
-int QrCode::getMask() const {
-	return mask;
-}
-
-
-bool QrCode::getModule(int x, int y) const {
-	return 0 <= x && x < size && 0 <= y && y < size && module(x, y);
-}
-
-
-std::string QrCode::toSvgString(int border) const {
-	if (border < 0)
-		throw std::domain_error("Border must be non-negative");
-	if (border > INT_MAX / 2 || border * 2 > INT_MAX - size)
-		throw std::overflow_error("Border too large");
-	
-	std::ostringstream sb;
-	sb << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
-	sb << "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\" \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n";
-	sb << "<svg xmlns=\"http://www.w3.org/2000/svg\" version=\"1.1\" viewBox=\"0 0 ";
-	sb << (size + border * 2) << " " << (size + border * 2) << "\" stroke=\"none\">\n";
-	sb << "\t<rect width=\"100%\" height=\"100%\" fill=\"#FFFFFF\"/>\n";
-	sb << "\t<path d=\"";
-	for (int y = 0; y < size; y++) {
-		for (int x = 0; x < size; x++) {
-			if (getModule(x, y)) {
-				if (x != 0 || y != 0)
-					sb << " ";
-				sb << "M" << (x + border) << "," << (y + border) << "h1v1h-1z";
-			}
-		}
-	}
-	sb << "\" fill=\"#000000\"/>\n";
-	sb << "</svg>\n";
-	return sb.str();
-}
-
-
-void QrCode::drawFunctionPatterns() {
-	// Draw horizontal and vertical timing patterns
-	for (int i = 0; i < size; i++) {
-		setFunctionModule(6, i, i % 2 == 0);
-		setFunctionModule(i, 6, i % 2 == 0);
-	}
-	
-	// Draw 3 finder patterns (all corners except bottom right; overwrites some timing modules)
-	drawFinderPattern(3, 3);
-	drawFinderPattern(size - 4, 3);
-	drawFinderPattern(3, size - 4);
-	
-	// Draw numerous alignment patterns
-	const vector<int> alignPatPos = getAlignmentPatternPositions();
-	size_t numAlign = alignPatPos.size();
-	for (size_t i = 0; i < numAlign; i++) {
-		for (size_t j = 0; j < numAlign; j++) {
-			// Don't draw on the three finder corners
-			if (!((i == 0 && j == 0) || (i == 0 && j == numAlign - 1) || (i == numAlign - 1 && j == 0)))
-				drawAlignmentPattern(alignPatPos.at(i), alignPatPos.at(j));
-		}
-	}
-	
-	// Draw configuration data
-	drawFormatBits(0);  // Dummy mask value; overwritten later in the constructor
-	drawVersion();
-}
-
-
-void QrCode::drawFormatBits(int msk) {
-	// Calculate error correction code and pack bits
-	int data = getFormatBits(errorCorrectionLevel) << 3 | msk;  // errCorrLvl is uint2, msk is uint3
-	int rem = data;
-	for (int i = 0; i < 10; i++)
-		rem = (rem << 1) ^ ((rem >> 9) * 0x537);
-	int bits = (data << 10 | rem) ^ 0x5412;  // uint15
-	if (bits >> 15 != 0)
-		throw std::logic_error("Assertion error");
-	
-	// Draw first copy
-	for (int i = 0; i <= 5; i++)
-		setFunctionModule(8, i, getBit(bits, i));
-	setFunctionModule(8, 7, getBit(bits, 6));
-	setFunctionModule(8, 8, getBit(bits, 7));
-	setFunctionModule(7, 8, getBit(bits, 8));
-	for (int i = 9; i < 15; i++)
-		setFunctionModule(14 - i, 8, getBit(bits, i));
-	
-	// Draw second copy
-	for (int i = 0; i < 8; i++)
-		setFunctionModule(size - 1 - i, 8, getBit(bits, i));
-	for (int i = 8; i < 15; i++)
-		setFunctionModule(8, size - 15 + i, getBit(bits, i));
-	setFunctionModule(8, size - 8, true);  // Always black
-}
-
-
-void QrCode::drawVersion() {
-	if (version < 7)
-		return;
-	
-	// Calculate error correction code and pack bits
-	int rem = version;  // version is uint6, in the range [7, 40]
-	for (int i = 0; i < 12; i++)
-		rem = (rem << 1) ^ ((rem >> 11) * 0x1F25);
-	long bits = static_cast<long>(version) << 12 | rem;  // uint18
-	if (bits >> 18 != 0)
-		throw std::logic_error("Assertion error");
-	
-	// Draw two copies
-	for (int i = 0; i < 18; i++) {
-		bool bit = getBit(bits, i);
-		int a = size - 11 + i % 3;
-		int b = i / 3;
-		setFunctionModule(a, b, bit);
-		setFunctionModule(b, a, bit);
-	}
-}
-
-
-void QrCode::drawFinderPattern(int x, int y) {
-	for (int dy = -4; dy <= 4; dy++) {
-		for (int dx = -4; dx <= 4; dx++) {
-			int dist = std::max(std::abs(dx), std::abs(dy));  // Chebyshev/infinity norm
-			int xx = x + dx, yy = y + dy;
-			if (0 <= xx && xx < size && 0 <= yy && yy < size)
-				setFunctionModule(xx, yy, dist != 2 && dist != 4);
-		}
-	}
-}
-
-
-void QrCode::drawAlignmentPattern(int x, int y) {
-	for (int dy = -2; dy <= 2; dy++) {
-		for (int dx = -2; dx <= 2; dx++)
-			setFunctionModule(x + dx, y + dy, std::max(std::abs(dx), std::abs(dy)) != 1);
-	}
-}
-
-
-void QrCode::setFunctionModule(int x, int y, bool isBlack) {
-	size_t ux = static_cast<size_t>(x);
-	size_t uy = static_cast<size_t>(y);
-	modules   .at(uy).at(ux) = isBlack;
-	isFunction.at(uy).at(ux) = true;
-}
-
-
-bool QrCode::module(int x, int y) const {
-	return modules.at(static_cast<size_t>(y)).at(static_cast<size_t>(x));
-}
-
-
-vector<uint8_t> QrCode::addEccAndInterleave(const vector<uint8_t> &data) const {
-	if (data.size() != static_cast<unsigned int>(getNumDataCodewords(version, errorCorrectionLevel)))
-		throw std::invalid_argument("Invalid argument");
-	
-	// Calculate parameter numbers
-	int numBlocks = NUM_ERROR_CORRECTION_BLOCKS[static_cast<int>(errorCorrectionLevel)][version];
-	int blockEccLen = ECC_CODEWORDS_PER_BLOCK  [static_cast<int>(errorCorrectionLevel)][version];
-	int rawCodewords = getNumRawDataModules(version) / 8;
-	int numShortBlocks = numBlocks - rawCodewords % numBlocks;
-	int shortBlockLen = rawCodewords / numBlocks;
-	
-	// Split data into blocks and append ECC to each block
-	vector<vector<uint8_t> > blocks;
-	const vector<uint8_t> rsDiv = reedSolomonComputeDivisor(blockEccLen);
-	for (int i = 0, k = 0; i < numBlocks; i++) {
-		vector<uint8_t> dat(data.cbegin() + k, data.cbegin() + (k + shortBlockLen - blockEccLen + (i < numShortBlocks ? 0 : 1)));
-		k += static_cast<int>(dat.size());
-		const vector<uint8_t> ecc = reedSolomonComputeRemainder(dat, rsDiv);
-		if (i < numShortBlocks)
-			dat.push_back(0);
-		dat.insert(dat.end(), ecc.cbegin(), ecc.cend());
-		blocks.push_back(std::move(dat));
-	}
-	
-	// Interleave (not concatenate) the bytes from every block into a single sequence
-	vector<uint8_t> result;
-	for (size_t i = 0; i < blocks.at(0).size(); i++) {
-		for (size_t j = 0; j < blocks.size(); j++) {
-			// Skip the padding byte in short blocks
-			if (i != static_cast<unsigned int>(shortBlockLen - blockEccLen) || j >= static_cast<unsigned int>(numShortBlocks))
-				result.push_back(blocks.at(j).at(i));
-		}
-	}
-	if (result.size() != static_cast<unsigned int>(rawCodewords))
-		throw std::logic_error("Assertion error");
-	return result;
-}
-
-
-void QrCode::drawCodewords(const vector<uint8_t> &data) {
-	if (data.size() != static_cast<unsigned int>(getNumRawDataModules(version) / 8))
-		throw std::invalid_argument("Invalid argument");
-	
-	size_t i = 0;  // Bit index into the data
-	// Do the funny zigzag scan
-	for (int right = size - 1; right >= 1; right -= 2) {  // Index of right column in each column pair
-		if (right == 6)
-			right = 5;
-		for (int vert = 0; vert < size; vert++) {  // Vertical counter
-			for (int j = 0; j < 2; j++) {
-				size_t x = static_cast<size_t>(right - j);  // Actual x coordinate
-				bool upward = ((right + 1) & 2) == 0;
-				size_t y = static_cast<size_t>(upward ? size - 1 - vert : vert);  // Actual y coordinate
-				if (!isFunction.at(y).at(x) && i < data.size() * 8) {
-					modules.at(y).at(x) = getBit(data.at(i >> 3), 7 - static_cast<int>(i & 7));
-					i++;
-				}
-				// If this QR Code has any remainder bits (0 to 7), they were assigned as
-				// 0/false/white by the constructor and are left unchanged by this method
-			}
-		}
-	}
-	if (i != data.size() * 8)
-		throw std::logic_error("Assertion error");
-}
-
-
-void QrCode::applyMask(int msk) {
-	if (msk < 0 || msk > 7)
-		throw std::domain_error("Mask value out of range");
-	size_t sz = static_cast<size_t>(size);
-	for (size_t y = 0; y < sz; y++) {
-		for (size_t x = 0; x < sz; x++) {
-			bool invert;
-			switch (msk) {
-				case 0:  invert = (x + y) % 2 == 0;                    break;
-				case 1:  invert = y % 2 == 0;                          break;
-				case 2:  invert = x % 3 == 0;                          break;
-				case 3:  invert = (x + y) % 3 == 0;                    break;
-				case 4:  invert = (x / 3 + y / 2) % 2 == 0;            break;
-				case 5:  invert = x * y % 2 + x * y % 3 == 0;          break;
-				case 6:  invert = (x * y % 2 + x * y % 3) % 2 == 0;    break;
-				case 7:  invert = ((x + y) % 2 + x * y % 3) % 2 == 0;  break;
-				default:  throw std::logic_error("Assertion error");
-			}
-			modules.at(y).at(x) = modules.at(y).at(x) ^ (invert & !isFunction.at(y).at(x));
-		}
-	}
-}
-
-
-long QrCode::getPenaltyScore() const {
-	long result = 0;
-	
-	// Adjacent modules in row having same color, and finder-like patterns
-	for (int y = 0; y < size; y++) {
-		bool runColor = false;
-		int runX = 0;
-		std::array<int,7> runHistory = {};
-		for (int x = 0; x < size; x++) {
-			if (module(x, y) == runColor) {
-				runX++;
-				if (runX == 5)
-					result += PENALTY_N1;
-				else if (runX > 5)
-					result++;
-			} else {
-				finderPenaltyAddHistory(runX, runHistory);
-				if (!runColor)
-					result += finderPenaltyCountPatterns(runHistory) * PENALTY_N3;
-				runColor = module(x, y);
-				runX = 1;
-			}
-		}
-		result += finderPenaltyTerminateAndCount(runColor, runX, runHistory) * PENALTY_N3;
-	}
-	// Adjacent modules in column having same color, and finder-like patterns
-	for (int x = 0; x < size; x++) {
-		bool runColor = false;
-		int runY = 0;
-		std::array<int,7> runHistory = {};
-		for (int y = 0; y < size; y++) {
-			if (module(x, y) == runColor) {
-				runY++;
-				if (runY == 5)
-					result += PENALTY_N1;
-				else if (runY > 5)
-					result++;
-			} else {
-				finderPenaltyAddHistory(runY, runHistory);
-				if (!runColor)
-					result += finderPenaltyCountPatterns(runHistory) * PENALTY_N3;
-				runColor = module(x, y);
-				runY = 1;
-			}
-		}
-		result += finderPenaltyTerminateAndCount(runColor, runY, runHistory) * PENALTY_N3;
-	}
-	
-	// 2*2 blocks of modules having same color
-	for (int y = 0; y < size - 1; y++) {
-		for (int x = 0; x < size - 1; x++) {
-			bool  color = module(x, y);
-			if (  color == module(x + 1, y) &&
-			      color == module(x, y + 1) &&
-			      color == module(x + 1, y + 1))
-				result += PENALTY_N2;
-		}
-	}
-	
-	// Balance of black and white modules
-	int black = 0;
-	for (const vector<bool> &row : modules) {
-		for (bool color : row) {
-			if (color)
-				black++;
-		}
-	}
-	int total = size * size;  // Note that size is odd, so black/total != 1/2
-	// Compute the smallest integer k >= 0 such that (45-5k)% <= black/total <= (55+5k)%
-	int k = static_cast<int>((std::abs(black * 20L - total * 10L) + total - 1) / total) - 1;
-	result += k * PENALTY_N4;
-	return result;
-}
-
-
-vector<int> QrCode::getAlignmentPatternPositions() const {
-	if (version == 1)
-		return vector<int>();
-	else {
-		int numAlign = version / 7 + 2;
-		int step = (version == 32) ? 26 :
-			(version*4 + numAlign*2 + 1) / (numAlign*2 - 2) * 2;
-		vector<int> result;
-		for (int i = 0, pos = size - 7; i < numAlign - 1; i++, pos -= step)
-			result.insert(result.begin(), pos);
-		result.insert(result.begin(), 6);
-		return result;
-	}
-}
-
-
-int QrCode::getNumRawDataModules(int ver) {
-	if (ver < MIN_VERSION || ver > MAX_VERSION)
-		throw std::domain_error("Version number out of range");
-	int result = (16 * ver + 128) * ver + 64;
-	if (ver >= 2) {
-		int numAlign = ver / 7 + 2;
-		result -= (25 * numAlign - 10) * numAlign - 55;
-		if (ver >= 7)
-			result -= 36;
-	}
-	if (!(208 <= result && result <= 29648))
-		throw std::logic_error("Assertion error");
-	return result;
-}
-
-
-int QrCode::getNumDataCodewords(int ver, Ecc ecl) {
-	return getNumRawDataModules(ver) / 8
-		- ECC_CODEWORDS_PER_BLOCK    [static_cast<int>(ecl)][ver]
-		* NUM_ERROR_CORRECTION_BLOCKS[static_cast<int>(ecl)][ver];
-}
-
-
-vector<uint8_t> QrCode::reedSolomonComputeDivisor(int degree) {
-	if (degree < 1 || degree > 255)
-		throw std::domain_error("Degree out of range");
-	// Polynomial coefficients are stored from highest to lowest power, excluding the leading term which is always 1.
-	// For example the polynomial x^3 + 255x^2 + 8x + 93 is stored as the uint8 array {255, 8, 93}.
-	vector<uint8_t> result(static_cast<size_t>(degree));
-	result.at(result.size() - 1) = 1;  // Start off with the monomial x^0
-	
-	// Compute the product polynomial (x - r^0) * (x - r^1) * (x - r^2) * ... * (x - r^{degree-1}),
-	// and drop the highest monomial term which is always 1x^degree.
-	// Note that r = 0x02, which is a generator element of this field GF(2^8/0x11D).
-	uint8_t root = 1;
-	for (int i = 0; i < degree; i++) {
-		// Multiply the current product by (x - r^i)
-		for (size_t j = 0; j < result.size(); j++) {
-			result.at(j) = reedSolomonMultiply(result.at(j), root);
-			if (j + 1 < result.size())
-				result.at(j) ^= result.at(j + 1);
-		}
-		root = reedSolomonMultiply(root, 0x02);
-	}
-	return result;
-}
-
-
-vector<uint8_t> QrCode::reedSolomonComputeRemainder(const vector<uint8_t> &data, const vector<uint8_t> &divisor) {
-	vector<uint8_t> result(divisor.size());
-	for (uint8_t b : data) {  // Polynomial division
-		uint8_t factor = b ^ result.at(0);
-		result.erase(result.begin());
-		result.push_back(0);
-		for (size_t i = 0; i < result.size(); i++)
-			result.at(i) ^= reedSolomonMultiply(divisor.at(i), factor);
-	}
-	return result;
-}
-
-
-uint8_t QrCode::reedSolomonMultiply(uint8_t x, uint8_t y) {
-	// Russian peasant multiplication
-	int z = 0;
-	for (int i = 7; i >= 0; i--) {
-		z = (z << 1) ^ ((z >> 7) * 0x11D);
-		z ^= ((y >> i) & 1) * x;
-	}
-	if (z >> 8 != 0)
-		throw std::logic_error("Assertion error");
-	return static_cast<uint8_t>(z);
-}
-
-
-int QrCode::finderPenaltyCountPatterns(const std::array<int,7> &runHistory) const {
-	int n = runHistory.at(1);
-	if (n > size * 3)
-		throw std::logic_error("Assertion error");
-	bool core = n > 0 && runHistory.at(2) == n && runHistory.at(3) == n * 3 && runHistory.at(4) == n && runHistory.at(5) == n;
-	return (core && runHistory.at(0) >= n * 4 && runHistory.at(6) >= n ? 1 : 0)
-	     + (core && runHistory.at(6) >= n * 4 && runHistory.at(0) >= n ? 1 : 0);
-}
-
-
-int QrCode::finderPenaltyTerminateAndCount(bool currentRunColor, int currentRunLength, std::array<int,7> &runHistory) const {
-	if (currentRunColor) {  // Terminate black run
-		finderPenaltyAddHistory(currentRunLength, runHistory);
-		currentRunLength = 0;
-	}
-	currentRunLength += size;  // Add white border to final run
-	finderPenaltyAddHistory(currentRunLength, runHistory);
-	return finderPenaltyCountPatterns(runHistory);
-}
-
-
-void QrCode::finderPenaltyAddHistory(int currentRunLength, std::array<int,7> &runHistory) const {
-	if (runHistory.at(0) == 0)
-		currentRunLength += size;  // Add white border to initial run
-	std::copy_backward(runHistory.cbegin(), runHistory.cend() - 1, runHistory.end());
-	runHistory.at(0) = currentRunLength;
-}
-
-
-bool QrCode::getBit(long x, int i) {
-	return ((x >> i) & 1) != 0;
-}
-
-
-/*---- Tables of constants ----*/
-
-const int QrCode::PENALTY_N1 =  3;
-const int QrCode::PENALTY_N2 =  3;
-const int QrCode::PENALTY_N3 = 40;
-const int QrCode::PENALTY_N4 = 10;
-
-
-const int8_t QrCode::ECC_CODEWORDS_PER_BLOCK[4][41] = {
-	// Version: (note that index 0 is for padding, and is set to an illegal value)
-	//0,  1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40    Error correction level
-	{-1,  7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28, 28, 28, 30, 30, 26, 28, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // Low
-	{-1, 10, 16, 26, 18, 24, 16, 18, 22, 22, 26, 30, 22, 22, 24, 24, 28, 28, 26, 26, 26, 26, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28},  // Medium
-	{-1, 13, 22, 18, 26, 18, 24, 18, 22, 20, 24, 28, 26, 24, 20, 30, 24, 28, 28, 26, 30, 28, 30, 30, 30, 30, 28, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // Quartile
-	{-1, 17, 28, 22, 16, 22, 28, 26, 26, 24, 28, 24, 28, 22, 24, 24, 30, 28, 28, 26, 28, 30, 24, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // High
-};
-
-const int8_t QrCode::NUM_ERROR_CORRECTION_BLOCKS[4][41] = {
-	// Version: (note that index 0 is for padding, and is set to an illegal value)
-	//0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40    Error correction level
-	{-1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4,  4,  4,  4,  4,  6,  6,  6,  6,  7,  8,  8,  9,  9, 10, 12, 12, 12, 13, 14, 15, 16, 17, 18, 19, 19, 20, 21, 22, 24, 25},  // Low
-	{-1, 1, 1, 1, 2, 2, 4, 4, 4, 5, 5,  5,  8,  9,  9, 10, 10, 11, 13, 14, 16, 17, 17, 18, 20, 21, 23, 25, 26, 28, 29, 31, 33, 35, 37, 38, 40, 43, 45, 47, 49},  // Medium
-	{-1, 1, 1, 2, 2, 4, 4, 6, 6, 8, 8,  8, 10, 12, 16, 12, 17, 16, 18, 21, 20, 23, 23, 25, 27, 29, 34, 34, 35, 38, 40, 43, 45, 48, 51, 53, 56, 59, 62, 65, 68},  // Quartile
-	{-1, 1, 1, 2, 4, 4, 4, 5, 6, 8, 8, 11, 11, 16, 16, 18, 16, 19, 21, 25, 25, 25, 34, 30, 32, 35, 37, 40, 42, 45, 48, 51, 54, 57, 60, 63, 66, 70, 74, 77, 81},  // High
-};
-
-
-data_too_long::data_too_long(const std::string &msg) :
-	std::length_error(msg) {}
-
-
-
-BitBuffer::BitBuffer()
-	: std::vector<bool>() {}
-
-
-void BitBuffer::appendBits(std::uint32_t val, int len) {
-	if (len < 0 || len > 31 || val >> len != 0)
-		throw std::domain_error("Value out of range");
-	for (int i = len - 1; i >= 0; i--)  // Append bit by bit
-		this->push_back(((val >> i) & 1) != 0);
-}
-
-}
diff --git a/third_party/qrcode/QrCode.hpp b/third_party/qrcode/QrCode.hpp
deleted file mode 100644
index 7341e41029..0000000000
--- a/third_party/qrcode/QrCode.hpp
+++ /dev/null
@@ -1,556 +0,0 @@
-/* 
- * QR Code generator library (C++)
- * 
- * Copyright (c) Project Nayuki. (MIT License)
- * https://www.nayuki.io/page/qr-code-generator-library
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- * - The above copyright notice and this permission notice shall be included in
- *   all copies or substantial portions of the Software.
- * - The Software is provided "as is", without warranty of any kind, express or
- *   implied, including but not limited to the warranties of merchantability,
- *   fitness for a particular purpose and noninfringement. In no event shall the
- *   authors or copyright holders be liable for any claim, damages or other
- *   liability, whether in an action of contract, tort or otherwise, arising from,
- *   out of or in connection with the Software or the use or other dealings in the
- *   Software.
- */
-
-#pragma once
-
-#include <array>
-#include <cstdint>
-#include <stdexcept>
-#include <string>
-#include <vector>
-
-
-namespace qrcodegen {
-
-/* 
- * A segment of character/binary/control data in a QR Code symbol.
- * Instances of this class are immutable.
- * The mid-level way to create a segment is to take the payload data
- * and call a static factory function such as QrSegment::makeNumeric().
- * The low-level way to create a segment is to custom-make the bit buffer
- * and call the QrSegment() constructor with appropriate values.
- * This segment class imposes no length restrictions, but QR Codes have restrictions.
- * Even in the most favorable conditions, a QR Code can only hold 7089 characters of data.
- * Any segment longer than this is meaningless for the purpose of generating QR Codes.
- */
-class QrSegment final {
-	
-	/*---- Public helper enumeration ----*/
-	
-	/* 
-	 * Describes how a segment's data bits are interpreted. Immutable.
-	 */
-	public: class Mode final {
-		
-		/*-- Constants --*/
-		
-		public: static const Mode NUMERIC;
-		public: static const Mode ALPHANUMERIC;
-		public: static const Mode BYTE;
-		public: static const Mode KANJI;
-		public: static const Mode ECI;
-		
-		
-		/*-- Fields --*/
-		
-		// The mode indicator bits, which is a uint4 value (range 0 to 15).
-		private: int modeBits;
-		
-		// Number of character count bits for three different version ranges.
-		private: int numBitsCharCount[3];
-		
-		
-		/*-- Constructor --*/
-		
-		private: Mode(int mode, int cc0, int cc1, int cc2);
-		
-		
-		/*-- Methods --*/
-		
-		/* 
-		 * (Package-private) Returns the mode indicator bits, which is an unsigned 4-bit value (range 0 to 15).
-		 */
-		public: int getModeBits() const;
-		
-		/* 
-		 * (Package-private) Returns the bit width of the character count field for a segment in
-		 * this mode in a QR Code at the given version number. The result is in the range [0, 16].
-		 */
-		public: int numCharCountBits(int ver) const;
-		
-	};
-	
-	
-	
-	/*---- Static factory functions (mid level) ----*/
-	
-	/* 
-	 * Returns a segment representing the given binary data encoded in
-	 * byte mode. All input byte vectors are acceptable. Any text string
-	 * can be converted to UTF-8 bytes and encoded as a byte mode segment.
-	 */
-	public: static QrSegment makeBytes(const std::vector<std::uint8_t> &data);
-	
-	
-	/* 
-	 * Returns a segment representing the given string of decimal digits encoded in numeric mode.
-	 */
-	public: static QrSegment makeNumeric(const char *digits);
-	
-	
-	/* 
-	 * Returns a segment representing the given text string encoded in alphanumeric mode.
-	 * The characters allowed are: 0 to 9, A to Z (uppercase only), space,
-	 * dollar, percent, asterisk, plus, hyphen, period, slash, colon.
-	 */
-	public: static QrSegment makeAlphanumeric(const char *text);
-	
-	
-	/* 
-	 * Returns a list of zero or more segments to represent the given text string. The result
-	 * may use various segment modes and switch modes to optimize the length of the bit stream.
-	 */
-	public: static std::vector<QrSegment> makeSegments(const char *text);
-	
-	
-	/* 
-	 * Returns a segment representing an Extended Channel Interpretation
-	 * (ECI) designator with the given assignment value.
-	 */
-	public: static QrSegment makeEci(long assignVal);
-	
-	
-	/*---- Public static helper functions ----*/
-	
-	/* 
-	 * Tests whether the given string can be encoded as a segment in alphanumeric mode.
-	 * A string is encodable iff each character is in the following set: 0 to 9, A to Z
-	 * (uppercase only), space, dollar, percent, asterisk, plus, hyphen, period, slash, colon.
-	 */
-	public: static bool isAlphanumeric(const char *text);
-	
-	
-	/* 
-	 * Tests whether the given string can be encoded as a segment in numeric mode.
-	 * A string is encodable iff each character is in the range 0 to 9.
-	 */
-	public: static bool isNumeric(const char *text);
-	
-	
-	
-	/*---- Instance fields ----*/
-	
-	/* The mode indicator of this segment. Accessed through getMode(). */
-	private: Mode mode;
-	
-	/* The length of this segment's unencoded data. Measured in characters for
-	 * numeric/alphanumeric/kanji mode, bytes for byte mode, and 0 for ECI mode.
-	 * Always zero or positive. Not the same as the data's bit length.
-	 * Accessed through getNumChars(). */
-	private: int numChars;
-	
-	/* The data bits of this segment. Accessed through getData(). */
-	private: std::vector<bool> data;
-	
-	
-	/*---- Constructors (low level) ----*/
-	
-	/* 
-	 * Creates a new QR Code segment with the given attributes and data.
-	 * The character count (numCh) must agree with the mode and the bit buffer length,
-	 * but the constraint isn't checked. The given bit buffer is copied and stored.
-	 */
-	public: QrSegment(Mode md, int numCh, const std::vector<bool> &dt);
-	
-	
-	/* 
-	 * Creates a new QR Code segment with the given parameters and data.
-	 * The character count (numCh) must agree with the mode and the bit buffer length,
-	 * but the constraint isn't checked. The given bit buffer is moved and stored.
-	 */
-	public: QrSegment(Mode md, int numCh, std::vector<bool> &&dt);
-	
-	
-	/*---- Methods ----*/
-	
-	/* 
-	 * Returns the mode field of this segment.
-	 */
-	public: Mode getMode() const;
-	
-	
-	/* 
-	 * Returns the character count field of this segment.
-	 */
-	public: int getNumChars() const;
-	
-	
-	/* 
-	 * Returns the data bits of this segment.
-	 */
-	public: const std::vector<bool> &getData() const;
-	
-	
-	// (Package-private) Calculates the number of bits needed to encode the given segments at
-	// the given version. Returns a non-negative number if successful. Otherwise returns -1 if a
-	// segment has too many characters to fit its length field, or the total bits exceeds INT_MAX.
-	public: static int getTotalBits(const std::vector<QrSegment> &segs, int version);
-	
-	
-	/*---- Private constant ----*/
-	
-	/* The set of all legal characters in alphanumeric mode, where
-	 * each character value maps to the index in the string. */
-	private: static const char *ALPHANUMERIC_CHARSET;
-	
-};
-
-
-
-/* 
- * A QR Code symbol, which is a type of two-dimension barcode.
- * Invented by Denso Wave and described in the ISO/IEC 18004 standard.
- * Instances of this class represent an immutable square grid of black and white cells.
- * The class provides static factory functions to create a QR Code from text or binary data.
- * The class covers the QR Code Model 2 specification, supporting all versions (sizes)
- * from 1 to 40, all 4 error correction levels, and 4 character encoding modes.
- * 
- * Ways to create a QR Code object:
- * - High level: Take the payload data and call QrCode::encodeText() or QrCode::encodeBinary().
- * - Mid level: Custom-make the list of segments and call QrCode::encodeSegments().
- * - Low level: Custom-make the array of data codeword bytes (including
- *   segment headers and final padding, excluding error correction codewords),
- *   supply the appropriate version number, and call the QrCode() constructor.
- * (Note that all ways require supplying the desired error correction level.)
- */
-class QrCode final {
-	
-	/*---- Public helper enumeration ----*/
-	
-	/* 
-	 * The error correction level in a QR Code symbol.
-	 */
-	public: enum class Ecc {
-		LOW = 0 ,  // The QR Code can tolerate about  7% erroneous codewords
-		MEDIUM  ,  // The QR Code can tolerate about 15% erroneous codewords
-		QUARTILE,  // The QR Code can tolerate about 25% erroneous codewords
-		HIGH    ,  // The QR Code can tolerate about 30% erroneous codewords
-	};
-	
-	
-	// Returns a value in the range 0 to 3 (unsigned 2-bit integer).
-	private: static int getFormatBits(Ecc ecl);
-	
-	
-	
-	/*---- Static factory functions (high level) ----*/
-	
-	/* 
-	 * Returns a QR Code representing the given Unicode text string at the given error correction level.
-	 * As a conservative upper bound, this function is guaranteed to succeed for strings that have 2953 or fewer
-	 * UTF-8 code units (not Unicode code points) if the low error correction level is used. The smallest possible
-	 * QR Code version is automatically chosen for the output. The ECC level of the result may be higher than
-	 * the ecl argument if it can be done without increasing the version.
-	 */
-	public: static QrCode encodeText(const char *text, Ecc ecl);
-	
-	
-	/* 
-	 * Returns a QR Code representing the given binary data at the given error correction level.
-	 * This function always encodes using the binary segment mode, not any text mode. The maximum number of
-	 * bytes allowed is 2953. The smallest possible QR Code version is automatically chosen for the output.
-	 * The ECC level of the result may be higher than the ecl argument if it can be done without increasing the version.
-	 */
-	public: static QrCode encodeBinary(const std::vector<std::uint8_t> &data, Ecc ecl);
-	
-	
-	/*---- Static factory functions (mid level) ----*/
-	
-	/* 
-	 * Returns a QR Code representing the given segments with the given encoding parameters.
-	 * The smallest possible QR Code version within the given range is automatically
-	 * chosen for the output. Iff boostEcl is true, then the ECC level of the result
-	 * may be higher than the ecl argument if it can be done without increasing the
-	 * version. The mask number is either between 0 to 7 (inclusive) to force that
-	 * mask, or -1 to automatically choose an appropriate mask (which may be slow).
-	 * This function allows the user to create a custom sequence of segments that switches
-	 * between modes (such as alphanumeric and byte) to encode text in less space.
-	 * This is a mid-level API; the high-level API is encodeText() and encodeBinary().
-	 */
-	public: static QrCode encodeSegments(const std::vector<QrSegment> &segs, Ecc ecl,
-		int minVersion=1, int maxVersion=40, int mask=-1, bool boostEcl=true);  // All optional parameters
-	
-	
-	
-	/*---- Instance fields ----*/
-	
-	// Immutable scalar parameters:
-	
-	/* The version number of this QR Code, which is between 1 and 40 (inclusive).
-	 * This determines the size of this barcode. */
-	private: int version;
-	
-	/* The width and height of this QR Code, measured in modules, between
-	 * 21 and 177 (inclusive). This is equal to version * 4 + 17. */
-	private: int size;
-	
-	/* The error correction level used in this QR Code. */
-	private: Ecc errorCorrectionLevel;
-	
-	/* The index of the mask pattern used in this QR Code, which is between 0 and 7 (inclusive).
-	 * Even if a QR Code is created with automatic masking requested (mask = -1),
-	 * the resulting object still has a mask value between 0 and 7. */
-	private: int mask;
-	
-	// Private grids of modules/pixels, with dimensions of size*size:
-	
-	// The modules of this QR Code (false = white, true = black).
-	// Immutable after constructor finishes. Accessed through getModule().
-	private: std::vector<std::vector<bool> > modules;
-	
-	// Indicates function modules that are not subjected to masking. Discarded when constructor finishes.
-	private: std::vector<std::vector<bool> > isFunction;
-	
-	
-	
-	/*---- Constructor (low level) ----*/
-	
-	/* 
-	 * Creates a new QR Code with the given version number,
-	 * error correction level, data codeword bytes, and mask number.
-	 * This is a low-level API that most users should not use directly.
-	 * A mid-level API is the encodeSegments() function.
-	 */
-	public: QrCode(int ver, Ecc ecl, const std::vector<std::uint8_t> &dataCodewords, int msk);
-	
-	
-	
-	/*---- Public instance methods ----*/
-	
-	/* 
-	 * Returns this QR Code's version, in the range [1, 40].
-	 */
-	public: int getVersion() const;
-	
-	
-	/* 
-	 * Returns this QR Code's size, in the range [21, 177].
-	 */
-	public: int getSize() const;
-	
-	
-	/* 
-	 * Returns this QR Code's error correction level.
-	 */
-	public: Ecc getErrorCorrectionLevel() const;
-	
-	
-	/* 
-	 * Returns this QR Code's mask, in the range [0, 7].
-	 */
-	public: int getMask() const;
-	
-	
-	/* 
-	 * Returns the color of the module (pixel) at the given coordinates, which is false
-	 * for white or true for black. The top left corner has the coordinates (x=0, y=0).
-	 * If the given coordinates are out of bounds, then false (white) is returned.
-	 */
-	public: bool getModule(int x, int y) const;
-	
-	
-	/* 
-	 * Returns a string of SVG code for an image depicting this QR Code, with the given number
-	 * of border modules. The string always uses Unix newlines (\n), regardless of the platform.
-	 */
-	public: std::string toSvgString(int border) const;
-	
-	
-	
-	/*---- Private helper methods for constructor: Drawing function modules ----*/
-	
-	// Reads this object's version field, and draws and marks all function modules.
-	private: void drawFunctionPatterns();
-	
-	
-	// Draws two copies of the format bits (with its own error correction code)
-	// based on the given mask and this object's error correction level field.
-	private: void drawFormatBits(int msk);
-	
-	
-	// Draws two copies of the version bits (with its own error correction code),
-	// based on this object's version field, iff 7 <= version <= 40.
-	private: void drawVersion();
-	
-	
-	// Draws a 9*9 finder pattern including the border separator,
-	// with the center module at (x, y). Modules can be out of bounds.
-	private: void drawFinderPattern(int x, int y);
-	
-	
-	// Draws a 5*5 alignment pattern, with the center module
-	// at (x, y). All modules must be in bounds.
-	private: void drawAlignmentPattern(int x, int y);
-	
-	
-	// Sets the color of a module and marks it as a function module.
-	// Only used by the constructor. Coordinates must be in bounds.
-	private: void setFunctionModule(int x, int y, bool isBlack);
-	
-	
-	// Returns the color of the module at the given coordinates, which must be in range.
-	private: bool module(int x, int y) const;
-	
-	
-	/*---- Private helper methods for constructor: Codewords and masking ----*/
-	
-	// Returns a new byte string representing the given data with the appropriate error correction
-	// codewords appended to it, based on this object's version and error correction level.
-	private: std::vector<std::uint8_t> addEccAndInterleave(const std::vector<std::uint8_t> &data) const;
-	
-	
-	// Draws the given sequence of 8-bit codewords (data and error correction) onto the entire
-	// data area of this QR Code. Function modules need to be marked off before this is called.
-	private: void drawCodewords(const std::vector<std::uint8_t> &data);
-	
-	
-	// XORs the codeword modules in this QR Code with the given mask pattern.
-	// The function modules must be marked and the codeword bits must be drawn
-	// before masking. Due to the arithmetic of XOR, calling applyMask() with
-	// the same mask value a second time will undo the mask. A final well-formed
-	// QR Code needs exactly one (not zero, two, etc.) mask applied.
-	private: void applyMask(int msk);
-	
-	
-	// Calculates and returns the penalty score based on state of this QR Code's current modules.
-	// This is used by the automatic mask choice algorithm to find the mask pattern that yields the lowest score.
-	private: long getPenaltyScore() const;
-	
-	
-	
-	/*---- Private helper functions ----*/
-	
-	// Returns an ascending list of positions of alignment patterns for this version number.
-	// Each position is in the range [0,177), and are used on both the x and y axes.
-	// This could be implemented as lookup table of 40 variable-length lists of unsigned bytes.
-	private: std::vector<int> getAlignmentPatternPositions() const;
-	
-	
-	// Returns the number of data bits that can be stored in a QR Code of the given version number, after
-	// all function modules are excluded. This includes remainder bits, so it might not be a multiple of 8.
-	// The result is in the range [208, 29648]. This could be implemented as a 40-entry lookup table.
-	private: static int getNumRawDataModules(int ver);
-	
-	
-	// Returns the number of 8-bit data (i.e. not error correction) codewords contained in any
-	// QR Code of the given version number and error correction level, with remainder bits discarded.
-	// This stateless pure function could be implemented as a (40*4)-cell lookup table.
-	private: static int getNumDataCodewords(int ver, Ecc ecl);
-	
-	
-	// Returns a Reed-Solomon ECC generator polynomial for the given degree. This could be
-	// implemented as a lookup table over all possible parameter values, instead of as an algorithm.
-	private: static std::vector<std::uint8_t> reedSolomonComputeDivisor(int degree);
-	
-	
-	// Returns the Reed-Solomon error correction codeword for the given data and divisor polynomials.
-	private: static std::vector<std::uint8_t> reedSolomonComputeRemainder(const std::vector<std::uint8_t> &data, const std::vector<std::uint8_t> &divisor);
-	
-	
-	// Returns the product of the two given field elements modulo GF(2^8/0x11D).
-	// All inputs are valid. This could be implemented as a 256*256 lookup table.
-	private: static std::uint8_t reedSolomonMultiply(std::uint8_t x, std::uint8_t y);
-	
-	
-	// Can only be called immediately after a white run is added, and
-	// returns either 0, 1, or 2. A helper function for getPenaltyScore().
-	private: int finderPenaltyCountPatterns(const std::array<int,7> &runHistory) const;
-	
-	
-	// Must be called at the end of a line (row or column) of modules. A helper function for getPenaltyScore().
-	private: int finderPenaltyTerminateAndCount(bool currentRunColor, int currentRunLength, std::array<int,7> &runHistory) const;
-	
-	
-	// Pushes the given value to the front and drops the last value. A helper function for getPenaltyScore().
-	private: void finderPenaltyAddHistory(int currentRunLength, std::array<int,7> &runHistory) const;
-	
-	
-	// Returns true iff the i'th bit of x is set to 1.
-	private: static bool getBit(long x, int i);
-	
-	
-	/*---- Constants and tables ----*/
-	
-	// The minimum version number supported in the QR Code Model 2 standard.
-	public: static constexpr int MIN_VERSION =  1;
-	
-	// The maximum version number supported in the QR Code Model 2 standard.
-	public: static constexpr int MAX_VERSION = 40;
-	
-	
-	// For use in getPenaltyScore(), when evaluating which mask is best.
-	private: static const int PENALTY_N1;
-	private: static const int PENALTY_N2;
-	private: static const int PENALTY_N3;
-	private: static const int PENALTY_N4;
-	
-	
-	private: static const std::int8_t ECC_CODEWORDS_PER_BLOCK[4][41];
-	private: static const std::int8_t NUM_ERROR_CORRECTION_BLOCKS[4][41];
-	
-};
-
-
-
-/*---- Public exception class ----*/
-
-/* 
- * Thrown when the supplied data does not fit any QR Code version. Ways to handle this exception include:
- * - Decrease the error correction level if it was greater than Ecc::LOW.
- * - If the encodeSegments() function was called with a maxVersion argument, then increase
- *   it if it was less than QrCode::MAX_VERSION. (This advice does not apply to the other
- *   factory functions because they search all versions up to QrCode::MAX_VERSION.)
- * - Split the text data into better or optimal segments in order to reduce the number of bits required.
- * - Change the text or binary data to be shorter.
- * - Change the text to fit the character set of a particular segment mode (e.g. alphanumeric).
- * - Propagate the error upward to the caller/user.
- */
-class data_too_long : public std::length_error {
-	
-	public: explicit data_too_long(const std::string &msg);
-	
-};
-
-
-
-/* 
- * An appendable sequence of bits (0s and 1s). Mainly used by QrSegment.
- */
-class BitBuffer final : public std::vector<bool> {
-	
-	/*---- Constructor ----*/
-	
-	// Creates an empty bit buffer (length 0).
-	public: BitBuffer();
-	
-	
-	
-	/*---- Method ----*/
-	
-	// Appends the given number of low-order bits of the given value
-	// to this buffer. Requires 0 <= len <= 31 and val < 2^len.
-	public: void appendBits(std::uint32_t val, int len);
-	
-};
-
-}
diff --git a/third_party/qt5/larch64/bin/lrelease b/third_party/qt5/larch64/bin/lrelease
deleted file mode 100755
index 5891f85851..0000000000
--- a/third_party/qt5/larch64/bin/lrelease
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:56ddfc4ead01eaf43cba41e2095ec4f52309c53a60ba9e351d8dbd900151228f
-size 546824
diff --git a/third_party/qt5/larch64/bin/lupdate b/third_party/qt5/larch64/bin/lupdate
deleted file mode 100755
index 0055aae229..0000000000
--- a/third_party/qt5/larch64/bin/lupdate
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7af679aa708031f6d19baabbd48e92d23462c6ff287caccdcb5c6324168d985d
-size 1095744
diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore
index c4afad9c38..6b1d3ad748 100644
--- a/third_party/raylib/.gitignore
+++ b/third_party/raylib/.gitignore
@@ -1,3 +1,4 @@
 /raylib_repo/
 /raylib_python_repo/
 /wheel/
+!*.a
diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a
index 837ad8818e..dd2e9b33f1 100644
--- a/third_party/raylib/Darwin/libraylib.a
+++ b/third_party/raylib/Darwin/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7ffe1fc6497f0c111fc507988e94fd29ce4db53a4876dc82ab9267895ad82584
-size 6515352
+oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702
+size 6392532
diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh
index 21c9af1c0b..d20f9d33af 100755
--- a/third_party/raylib/build.sh
+++ b/third_party/raylib/build.sh
@@ -1,6 +1,20 @@
 #!/usr/bin/env bash
 set -e
 
+export SOURCE_DATE_EPOCH=0
+export ZERO_AR_DATE=1
+
+SUDO=""
+
+# Use sudo if not root
+if [[ ! $(id -u) -eq 0 ]]; then
+  if [[ -z $(which sudo) ]]; then
+    echo "Please install sudo or run as root"
+    exit 1
+  fi
+  SUDO="sudo"
+fi
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR
 
@@ -10,6 +24,13 @@ ARCHNAME=$(uname -m)
 if [ -f /TICI ]; then
   ARCHNAME="larch64"
   RAYLIB_PLATFORM="PLATFORM_COMMA"
+elif [[ "$OSTYPE" == "linux"* ]]; then
+  # required dependencies on Linux PC
+  $SUDO apt install \
+    libxcursor-dev \
+    libxi-dev \
+    libxinerama-dev \
+    libxrandr-dev
 fi
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
@@ -30,7 +51,7 @@ fi
 
 cd raylib_repo
 
-COMMIT="66030a7de62c9e1ee8ab30a1d657a740333bb4f2"
+COMMIT=${1:-3425bd9d1fb292ede4d80f97a1f4f258f614cffc}
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .
@@ -57,7 +78,7 @@ if [ -f /TICI ]; then
 
   cd raylib_python_repo
 
-  BINDINGS_COMMIT="ef8141c7979d5fa630ef4108605fc221f07d8cb7"
+  BINDINGS_COMMIT="a0710d95af3c12fd7f4b639589be9a13dad93cb6"
   git fetch origin $BINDINGS_COMMIT
   git reset --hard $BINDINGS_COMMIT
   git clean -xdff .
diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a
index e1c5c19307..fa538e5214 100644
--- a/third_party/raylib/larch64/libraylib.a
+++ b/third_party/raylib/larch64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9c3125236db11e7bebcc6ad5868444ed0605c6343f98b212d39267c092b3b481
-size 3140628
+oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a
+size 2001860
diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a
index cf69482563..ea124c1bcf 100644
--- a/third_party/raylib/x86_64/libraylib.a
+++ b/third_party/raylib/x86_64/libraylib.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f0b8f59758fe1291be82a8bda7a7ca05629c7addb0683936dd404ed08e19e143
-size 2769684
+oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73
+size 2771092
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
deleted file mode 100644
index a1c6fed910..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
-size 1202792
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
deleted file mode 100644
index 54c0c32e41..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
-size 9008016
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
deleted file mode 100644
index 2154203026..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
-size 14032
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
deleted file mode 100644
index 1d81abd3a5..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
-size 2420312
diff --git a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
deleted file mode 100644
index 40e3d5af74..0000000000
--- a/third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
-size 26016
diff --git a/third_party/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
deleted file mode 100644
index 9e9e9221be..0000000000
--- a/third_party/snpe/dsp/libcalculator_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
-size 20828
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
deleted file mode 100644
index 3f1b7a8b8c..0000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4e040c87072aa915c47859c8c7f74076b98c6919b83ddd5dc4bb555870d586a7
-size 1813866
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
deleted file mode 100644
index aa42b5e830..0000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:838bc58ac0094ba9593cf7c44ab6e8a94ae3dbbe176e320d9fbe86ceead53c5e
-size 1817962
diff --git a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
deleted file mode 100644
index 9423da1b94..0000000000
--- a/third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:77d025d59521e13e4ed012f0d9d2b684cdb858208d70426078df51219eaeb9bd
-size 10098673
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
deleted file mode 100644
index 018b567256..0000000000
--- a/third_party/snpe/include/DiagLog/IDiagLog.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __IDIAGLOG_HPP_
-#define __IDIAGLOG_HPP_
-
-#include <string>
-
-#include "DiagLog/Options.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Interface for controlling logging for zdl components.
-
-class ZDL_EXPORT IDiagLog
-{
-public:
-
-   /// @brief .
-   ///
-   /// Sets the options after initialization occurs.
-   ///
-   /// @param[in] loggingOptions The options to set up diagnostic logging.
-   ///
-   /// @return False if the options could not be set. Ensure logging is not started.
-   virtual bool setOptions(const Options& loggingOptions) = 0;
-
-   /// @brief .
-   ///
-   /// Gets the curent options for the diag logger.
-   ///
-   /// @return Diag log options object.
-   virtual Options getOptions() = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const std::string& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Enables logging for zdl components.
-   ///
-   /// Logging should be started prior to the instantiation of zdl components
-   /// to ensure all events are captured.
-   ///
-   /// @return False if diagnostic logging could not be started.
-   virtual bool start(void) = 0;
-
-   /// @brief Disables logging for zdl components.
-   virtual bool stop(void) = 0;
-
-   virtual ~IDiagLog() {};
-};
-
-} // DiagLog namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
deleted file mode 100644
index 798fa3f124..0000000000
--- a/third_party/snpe/include/DiagLog/Options.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __DIAGLOG_OPTIONS_HPP_
-#define __DIAGLOG_OPTIONS_HPP_
-
-#include <string>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Options for setting up diagnostic logging for zdl components.
-class ZDL_EXPORT Options
-{
-public:
-   Options() :
-      DiagLogMask(""),
-      LogFileDirectory("diaglogs"),
-      LogFileName("DiagLog"),
-      LogFileRotateCount(20),
-      LogFileReplace(true)
-   {
-      // Solves the empty string problem with multiple std libs
-      DiagLogMask.reserve(1);
-   }
-
-   /// @brief .
-   ///
-   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
-   std::string DiagLogMask;
-
-   /// @brief .
-   ///
-   /// The path to the directory where log files will be written.
-   /// The path may be relative or absolute. Relative paths are interpreted
-   /// from the current working directory.
-   /// Default value is "diaglogs"
-   std::string LogFileDirectory;
-
-   /// @brief .
-   ///
-   //// The name used for log files. If this value is empty then BaseName will be
-   /// used as the default file name.
-   /// Default value is "DiagLog"
-   std::string LogFileName;
-
-   /// @brief .
-   ///
-   /// The maximum number of log files to create. If set to 0 no log rotation
-   /// will be used and the log file name specified will be used each time, overwriting
-   /// any existing log file that may exist.
-   /// Default value is 20
-   uint32_t LogFileRotateCount;
-
-   /// @brief
-   ///
-   /// If the log file already exists, control whether it will be replaced
-   /// (existing contents truncated), or appended.
-   /// Default value is true
-   bool LogFileReplace;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DiagLog namespace
-} // zdl namespace
-
-
-#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
deleted file mode 100644
index 4e29b39bb4..0000000000
--- a/third_party/snpe/include/DlContainer/IDlContainer.hpp
+++ /dev/null
@@ -1,191 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-   DlcRecord(const std::string& new_name)
-      : name(new_name)
-      , data()
-   {
-      if(name.empty())
-      {
-         name.reserve(1);
-      }
-   }
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    *
-    * @param[out] catalog Buffer that will hold the record names on
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save(const std::string &filename) = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save (const zdl::DlSystem::String &filename) = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
deleted file mode 100644
index c9b3ef970a..0000000000
--- a/third_party/snpe/include/DlSystem/DlEnums.hpp
+++ /dev/null
@@ -1,234 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Run the processing on Snapdragon AIX+HVX.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   AIP_FIXED8_TF = 5,
-   AIP_FIXED_TF = AIP_FIXED8_TF,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF,
-
-   /// Special value indicating the property is unset.
-   UNSET = -1
-};
-
-/**
- * Enumeration of runtime available check options.
- */
-enum class RuntimeCheckOption_t
-{
-   /// Perform standard runtime available check
-   DEFAULT = 0,
-   /// Perform standard runtime available check
-   NORMAL_CHECK = 0,
-   /// Perform basic runtime available check, may be runtime specific
-   BASIC_CHECK = 1,
-   /// Perform unsignedPD runtime available check
-   UNSIGNEDPD_CHECK = 2,
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE = 1,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER = 2,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS = 3,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE = 4,
-
-    /// Run in burst mode
-    BURST = 5,
-
-    /// Run in lower clock than POWER_SAVER, at the expense of performance.
-    LOW_POWER_SAVER = 6,
-
-    /// Run in higher clock and provides better performance than POWER_SAVER.
-    HIGH_POWER_SAVER = 7,
-
-    /// Run in lower balanced mode
-    LOW_BALANCED = 8,
-};
-
-/**
- * Enumeration of various profilngLevels that can be requested.
- */
-enum class ProfilingLevel_t
-{
-    /// No profiling.
-    /// Collects no runtime stats in the DiagLog
-    OFF = 0,
-
-    /// Basic profiling
-    /// Collects some runtime stats in the DiagLog
-    BASIC = 1,
-
-    /// Detailed profiling
-    /// Collects more runtime stats in the DiagLog, including per-layer statistics
-    /// Performance may be impacted
-    DETAILED = 2,
-
-    /// Moderate profiling
-    /// Collects more runtime stats in the DiagLog, no per-layer statistics
-    MODERATE = 3
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH = 1,
-
-    /// Lower priority
-    LOW = 2
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB = 1,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32 = 2,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA = 3,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE = 4,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21 = 5,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR = 6
-};
-
-/**
- * Enumeration that lists the supported LogLevels that can be set by users.
- */
-enum class LogLevel_t
-{
-    /// Enumeration variable to be used by user to set logging level to FATAL.
-    LOG_FATAL = 0,
-
-    /// Enumeration variable to be used by user to set logging level to ERROR.
-    LOG_ERROR = 1,
-
-    /// Enumeration variable to be used by user to set logging level to WARN.
-    LOG_WARN = 2,
-
-    /// Enumeration variable to be used by user to set logging level to INFO.
-    LOG_INFO = 3,
-
-    /// Enumeration variable to be used by user to set logging level to VERBOSE.
-    LOG_VERBOSE = 4
-};
-
-typedef enum : int
-{
-   UNSPECIFIED = 0,
-   FLOATING_POINT_32 = 1,
-   FLOATING_POINT_16 = 2,
-   FIXED_POINT_8 =  3,
-   FIXED_POINT_16 = 4
-} IOBufferDataType_t;
-
-}} // namespaces end
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
deleted file mode 100644
index 57592f01ba..0000000000
--- a/third_party/snpe/include/DlSystem/DlError.hpp
+++ /dev/null
@@ -1,259 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ERROR_HPP_
-#define _DL_ERROR_HPP_
-
-#include <stdint.h>
-#include <limits> // numeric_limits
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-// clang and arm gcc different in how ZDL_EXPORT is used with enum class
-#if !defined (__clang__)
-enum class ErrorCode : uint32_t ZDL_EXPORT {
-#else
-enum class ZDL_EXPORT ErrorCode : uint32_t {
-#endif // ARM64V8A
-   NONE = 0,
-
-   // System config errors
-   SNPE_CONFIG_MISSING_PARAM                             = 100,
-   SNPE_CONFIG_INVALID_PARAM                             = 101,
-   SNPE_CONFIG_MISSING_FILE                              = 102,
-   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
-   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
-   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
-   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
-   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
-   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
-
-   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
-   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
-
-   // DlSystem errors
-   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
-   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
-   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
-   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
-   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
-   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
-   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
-   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
-   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
-   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
-   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
-   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
-   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
-   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
-   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
-   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
-   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
-   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
-   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
-   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
-
-   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
-   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
-
-   // DlContainer errors
-   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
-   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
-   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
-   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
-   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
-   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
-   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
-   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
-   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
-   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
-   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
-   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
-   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
-   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
-   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
-   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
-
-   // Network errors
-   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
-   SNPE_NETWORK_CREATION_FAILED                          = 401,
-   SNPE_NETWORK_PARTITION_FAILED                         = 402,
-   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
-   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
-   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
-   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
-   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
-
-   // Host runtime errors
-   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
-
-   // CPU runtime errors
-   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
-   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
-   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
-   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
-   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
-   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
-   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
-
-   // CPU fixed-point runtime errors
-   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
-   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
-   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
-
-   // GPU runtime errors
-   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
-   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
-   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
-   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
-   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
-   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
-   SNPE_GPU_KERNEL_NOT_SET                               = 806,
-   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
-   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
-   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
-   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
-   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
-   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
-   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
-   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
-   SNPE_GPU_BUFFER_IN_USE                                = 815,
-   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
-   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
-   // DSP runtime errors
-   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
-   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
-   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
-   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
-   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
-   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
-   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
-   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
-   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
-   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
-   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
-   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
-   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
-   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
-   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
-   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
-   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
-   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
-   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
-
-   // Model validataion errors
-   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
-   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
-   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
-   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
-   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
-   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
-   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
-
-   // UDL errors
-   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
-   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
-   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
-   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
-   SNPE_UDL_EXECUTE_FAILED                               = 1104,
-   SNPE_UDL_BUNDLE_INVALID                               = 1105,
-   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
-   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
-   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
-
-   // Dependent library errors
-   SNPE_STD_LIBRARY_ERROR                                = 1200,
-
-   // Unknown exception (catch (...)), Has no component attached to this
-   SNPE_UNKNOWN_EXCEPTION                                = 1210,
-
-   // Storage Errors
-   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
-
-   // AIP runtime errors
-   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
-   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
-   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
-   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
-   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
-   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
-   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
-   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
-   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
-   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
-   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
-   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
-   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
-   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
-
-   // DlCaching errors
-   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
-   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
-
-   // Infrastructure Errors
-   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
-
-   // Memory Errors
-   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
-
-};
-
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Returns the error code of the last error encountered.
- *
- * @return The error code.
- *
- * @note The returned error code is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT ErrorCode getLastErrorCode();
-
-/**
- * Returns the error string of the last error encountered.
- *
- * @return The error string.
- *
- * @note The returned error string is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT const char* getLastErrorString();
-
-/**
- * Returns the info string of the last error encountered.
- */
-ZDL_EXPORT const char* getLastInfoString();
-
-/**
- * Returns the uint32_t representation of the error code enum.
- *
- * @param[in] code The error code to be converted.
- *
- * @return uint32_t representation of the error code.
- */
-ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem
-} // zdl
-
-#endif // _DL_ERROR_HPP_
-
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
deleted file mode 100644
index 4f83e6b4e4..0000000000
--- a/third_party/snpe/include/DlSystem/DlOptional.hpp
+++ /dev/null
@@ -1,225 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_SYSTEM_OPTIONAL_HPP_
-#define _DL_SYSTEM_OPTIONAL_HPP_
-
-#include <cstdio>
-#include <utility>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-template <typename T>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class to manage a value that may or may not exist. The boolean value
- * of the Optional class is true if the object contains a value and false
- * if it does not contain a value.
- *
- * The class must be evaluated and confirmed as true (containing a value)
- * before being dereferenced.
- */
-class ZDL_EXPORT Optional final {
-public:
-   enum class LIFECYCLE {
-      NONE = 0,
-      REFERENCE_OWNED = 1,
-      POINTER_OWNED = 2,
-      POINTER_NOT_OWNED = 3
-   };
-
-   struct ReferenceCount {
-      size_t count = 0;
-
-      void increment() { count++; }
-
-      size_t decrement() {
-         if (count > 0) {
-            count--;
-         }
-         return count;
-      }
-   };
-
-   using U = typename std::remove_pointer<T>::type;
-
-   /**
-    * The default constructor is set to not have any value, and is
-    * therefore evaluated as false.
-    */
-   // Do not explicit it so we can return {}
-   Optional() {
-      m_Type = LIFECYCLE::NONE;
-   }
-
-   /**
-    * Construct an Optional class using an object.
-    * @param[in] Reference to an object v
-    * @param[out] Optional instance of object v
-    */
-   template <typename Q = T>
-   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
-      try {
-         m_StoragePtr = new T(v);
-      } catch (...) {
-         m_StoragePtr = nullptr;
-         m_Type = LIFECYCLE::NONE;
-      }
-   }
-
-   template <typename Q = T>
-   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(type) {
-      switch (m_Type) {
-         case LIFECYCLE::POINTER_OWNED:
-            m_StoragePtr = v;
-            m_Count = new ReferenceCount();
-            m_Count->increment();
-            break;
-         case LIFECYCLE::POINTER_NOT_OWNED:
-            m_StoragePtr = v;
-            break;
-         case LIFECYCLE::REFERENCE_OWNED:
-            throw std::bad_exception();
-         case LIFECYCLE::NONE:
-            break;
-      }
-   }
-
-   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
-      if (isReference()) {
-         m_StoragePtr = new U(*other.m_StoragePtr);
-      } else if (isPointer()) {
-         m_StoragePtr = other.m_StoragePtr;
-         if (isOwned()) {
-            m_Count->increment();
-         }
-      }
-   }
-
-   Optional& operator=(const Optional& other) noexcept {
-      Optional tmp(other);
-      swap(std::move(tmp));
-      return *this;
-   }
-
-   Optional(Optional&& other) noexcept {
-      swap(std::move(other));
-   }
-
-   Optional& operator=(Optional&& other) noexcept {
-      swap(std::move(other));
-      return *this;
-   }
-
-   ~Optional() {
-      if (isOwned()) {
-         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
-            delete m_StoragePtr;
-            delete m_Count;
-         }
-      }
-   }
-
-   /**
-    * Boolean value of Optional class is only true when there exists a value.
-    */
-   operator bool() const noexcept { return isValid(); }
-
-   bool operator!() const noexcept { return !isValid(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() { return this->GetReference(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() const { return this->GetReference(); }
-
-   operator T&() { return this->GetReference(); }
-
-   T operator->() {
-      T self = this->GetReference();
-      return self;
-   }
-private:
-   void swap(Optional&& other) {
-      m_Type = other.m_Type;
-      m_StoragePtr = other.m_StoragePtr;
-      m_Count = other.m_Count;
-
-      other.m_Type = LIFECYCLE::NONE;
-      other.m_StoragePtr = nullptr;
-      other.m_Count = nullptr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) std::terminate();
-      return *static_cast<const Q*>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) std::terminate();
-      return static_cast<const Q&>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) std::terminate();
-      return *m_StoragePtr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) std::terminate();
-      return m_StoragePtr;
-   }
-
-   bool isPointer() const {
-      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
-   }
-
-   bool isOwned() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
-   }
-
-   bool isReference() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED;
-   }
-
-   bool isValid() const {
-      return m_Type != LIFECYCLE::NONE;
-   }
-
-   U* m_StoragePtr = nullptr;
-   LIFECYCLE m_Type;
-   ReferenceCount *m_Count = nullptr;
-};
-
-} // ns DlSystem
-} // ns zdl
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
deleted file mode 100644
index beb8d75f21..0000000000
--- a/third_party/snpe/include/DlSystem/DlVersion.hpp
+++ /dev/null
@@ -1,78 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-
-#ifndef _DL_VERSION_HPP_
-#define _DL_VERSION_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include <stdint.h>
-#include <string>
-#include "DlSystem/String.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-   class Version_t;
-}}
-
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A class that contains the different portions of a version number.
- */
-class ZDL_EXPORT Version_t
-{
-public:
-   /// Holds the major version number. Changes in this value indicate
-   /// major changes that break backward compatibility.
-   int32_t         Major;
-
-   /// Holds the minor version number. Changes in this value indicate
-   /// minor changes made to library that are backwards compatible
-   /// (such as additions to the interface).
-   int32_t         Minor;
-
-   /// Holds the teeny version number. Changes in this value indicate
-   /// changes such as bug fixes and patches made to the library that
-   /// do not affect the interface.
-   int32_t         Teeny;
-
-   /// This string holds information about the build version.
-   ///
-   std::string     Build;
-
-   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
-
-   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const std::string toString() const;
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const zdl::DlSystem::String asString() const;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
deleted file mode 100644
index f893e0a237..0000000000
--- a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
+++ /dev/null
@@ -1,86 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IBUFFER_ATTRIBUTES_HPP
-#define _IBUFFER_ATTRIBUTES_HPP
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-    namespace DlSystem {
-        class UserBufferEncoding;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * @brief IBufferAttributes returns a buffer's dimension and alignment
- *        requirements, along with info on its encoding type
- */
-class ZDL_EXPORT IBufferAttributes {
-public:
-
-    /**
-      * @brief Gets the buffer's element size, in bytes
-      *
-      * This can be used to compute the memory size required
-      * to back this buffer.
-      *
-      * @return Element size, in bytes
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Gets the element's encoding type
-      *
-      * @return encoding type
-     */
-    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
-
-    /**
-      * @brief Gets the number of elements in each dimension
-      *
-      * @return Dimension size, in terms of number of elements
-     */
-    virtual const TensorShape getDims() const noexcept = 0;
-
-    /**
-      * @brief Gets the alignment requirement of each dimension
-      *
-      * Alignment per each dimension is expressed as an multiple, for
-      * example, if one particular dimension can accept multiples of 8,
-      * the alignment will be 8.
-      *
-      * @return Alignment in each dimension, in terms of multiple of
-      *         number of elements
-     */
-    virtual const TensorShape getAlignments() const noexcept = 0;
-
-    /**
-      * @brief Gets the buffer encoding returned from the network responsible
-      * for generating this buffer. Depending on the encoding type, this will
-      * be an instance of an encoding type specific derived class.
-      *
-      * @return Derived user buffer encoding object.
-     */
-    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
-
-    virtual ~IBufferAttributes() {}
-};
-
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp b/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
deleted file mode 100644
index ac33c84af8..0000000000
--- a/third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
deleted file mode 100644
index 2f006c857f..0000000000
--- a/third_party/snpe/include/DlSystem/ITensor.hpp
+++ /dev/null
@@ -1,146 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_HPP_
-#define _ITENSOR_HPP_
-
-#include "ITensorItr.hpp"
-#include "ITensorItrImpl.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <memory>
-#include <ostream>
-#include <cmath>
-
-namespace zdl {
-namespace DlSystem
-{
-   class ITensor;
-}}
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Represents a tensor which holds n-dimensional data. It is important to
- * understand how the tensor data is represented in memory 
- * relative to the tensor dimensions. Tensors store data in 
- * memory in row-major order (i.e. the last tensor dimension is 
- * the fastest varying one). For example, if you have a two 
- * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
- * dimensions are 3,2 as returned in tensor dimension vectors)
- * with the following data in terms rows and columns: 
- *  
- * | 1 2 | <br/>
- * | 3 4 | <br/>
- * | 5 6 | <br/>
- *  
- * This data would be stored in memory as 1,2,3,4,5,6. 
- */
-class ZDL_EXPORT ITensor 
-{
-public:
-
-   typedef zdl::DlSystem::ITensorItr<false> iterator;
-   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
-
-   virtual ~ITensor() {}
-
-   /**
-    * Returns a tensor iterator pointing to the beginning 
-    * of the data in the tensor.
-    * 
-    * @return A tensor iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual iterator begin() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the beginning of the data in the tensor.
-    * 
-    * @return A tensor const iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual const_iterator cbegin() const = 0;
-
-   /**
-    * Returns a tensor iterator pointing to the end of the
-    * data in the tensor. This tensor should not be
-    * dereferenced.
-    * 
-    * @return A tensor iterator that points to the end of the data 
-    *         (one past the last element) in the tensor.
-    */
-   virtual iterator end() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the end of the data in the tensor. This
-    * tensor should not be dereferenced.
-    * 
-    * @return A tensor const iterator that points to the end of the
-    *         data (one past the last element) in the tensor.
-    */
-   virtual const_iterator cend() const = 0;
-
-   /**
-    * @brief Gets the shape of this tensor.
-    *  
-    * The last element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest 
-    * varying dimension, etc. 
-    * 
-    * @return A shape class holding the tensor dimensions.
-    */
-   virtual TensorShape getShape() const = 0;
-
-   /**
-    * Returns the element size of the data in the tensor 
-    * (discounting strides). This is how big a buffer would
-    * need to be to hold the tensor data contiguously in
-    * memory.
-    *  
-    * @return The size of the tensor (in elements).
-    */
-   virtual size_t getSize() const = 0;
-
-   /**
-    * @brief Serializes the tensor to an output stream.
-    * 
-    * @param[in] output The output stream to which to write the tensor 
-    *  
-    * @throw std::runtime_error If the stream is ever in a bad 
-    *        state before the tensor is fully serialized.
-    */
-   virtual void serialize(std::ostream &output) const = 0;
-
-   friend iterator;
-   friend const_iterator;
-
-   virtual bool isQuantized() {return false;}
-   virtual float GetDelta() {return NAN;};
-   virtual float GetOffset() {return NAN;};
-
-protected:
-
-   /**
-    * Returns the tensor iterator implementation.
-    * 
-    * @return A pointer to the tensor iterator implementation.
-    */
-   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
deleted file mode 100644
index 57d2c8ea99..0000000000
--- a/third_party/snpe/include/DlSystem/ITensorFactory.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_FACTORY_HPP
-#define _ITENSOR_FACTORY_HPP
-
-#include "ITensor.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <istream>
-
-namespace zdl {
-    namespace DlSystem
-    {
-        class ITensor;
-        class TensorShape;
-    }
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Factory interface class to create ITensor objects.
- */
-class ZDL_EXPORT ITensorFactory
-{
-public:
-   virtual ~ITensorFactory() = default;
-
-   /**
-    * Creates a new ITensor with uninitialized data. 
-    *  
-    * The strides for the tensor will match the tensor dimensions 
-    * (i.e., the tensor data is contiguous in memory).
-    *  
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape) noexcept = 0;
-
-   /**
-    * Creates a new ITensor by loading it from a file.
-    *  
-    * @param[in] input The input stream from which to read the tensor 
-    *                  data.
-    *  
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    *
-    */
-   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
-
-   /**
-    * Create a new ITensor with specific data.
-    * (i.e. the tensor data is contiguous in memory). This tensor is
-    * primarily used to create a tensor where tensor size can't be
-    * computed directly from dimension. One such example is
-    * NV21-formatted image, or any YUV formatted image
-    *
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] data The actual data with which the Tensor object is filled.
-    *
-    * @param[in] dataSize The size of data
-    *
-    * @return A pointer to the created tensor
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
deleted file mode 100644
index 4ce12a9f11..0000000000
--- a/third_party/snpe/include/DlSystem/ITensorItr.hpp
+++ /dev/null
@@ -1,182 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_HPP_
-#define _ITENSOR_ITR_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include "ITensorItrImpl.hpp"
-
-#include <memory>
-#include <iterator>
-#include <iostream>
-
-namespace zdl {
-namespace DlSystem
-{
-   template<bool IS_CONST> class ITensorItr;
-   class ITensor;
-   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
-   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
-   {
-      return std::copy(first, last, result);
-   }
-}}
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A bidirectional iterator (with limited random access 
- * capabilities) for the zdl::DlSystem::ITensor class.
- *  
- * This is a standard bidrectional iterator and is compatible
- * with standard algorithm functions that operate on bidirectional 
- * access iterators (e.g., std::copy, std::fill, etc.). It uses a
- * template parameter to create const and non-const iterators 
- * from the same code. Iterators are easiest to declare via the 
- * typedefs iterator and const_iterator in the ITensor class 
- * (e.g., zdl::DlSystem::ITensor::iterator). 
- *  
- * Note that if the tensor the iterator is traversing was 
- * created with nondefault (i.e., nontrivial) strides, the 
- * iterator will obey the strides when traversing the tensor 
- * data. 
- *  
- * Also note that nontrivial strides dramatically affect the
- * performance of the iterator (on the order of 20x slower). 
- */ 
-template<bool IS_CONST=true>
-class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
-{
-public:
-
-   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
-
-   ITensorItr() = delete;
-   virtual ~ITensorItr() {}
-
-   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
-              bool isTrivial = false, 
-              float* data = nullptr)
-      : m_Impl(impl->clone())
-      , m_IsTrivial(isTrivial)
-      , m_Data(data)
-      , m_DataStart(data) {}
-
-   ITensorItr(const ITensorItr<IS_CONST>& itr)
-      : m_Impl(itr.m_Impl->clone()),
-        m_IsTrivial(itr.m_IsTrivial),
-        m_Data(itr.m_Data),
-        m_DataStart(itr.m_DataStart) {}
-
-   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
-   {
-      if (this == &other) return *this;
-      m_Impl = std::move(other.m_Impl->clone());
-      m_IsTrivial = other.m_IsTrivial;
-      m_Data = other.m_Data;
-      m_DataStart = other.m_DataStart;
-      return *this;
-   }
-
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
-   {
-      if (m_IsTrivial) m_Data++; else m_Impl->increment();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
-   {
-      ITensorItr tmp(*this);
-      operator++();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
-   {
-      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
-   {
-      ITensorItr tmp(*this);
-      operator--();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
-   {
-      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs += rhs; return lhs; }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
-   {
-      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs -= rhs; return lhs; }
-
-   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
-   {
-      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
-      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
-   }
-
-   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-   {
-      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
-      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
-   }
-   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return rhs < lhs; }
-   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs > rhs); }
-   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs < rhs); }
-
-   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
-   {
-      if (m_IsTrivial) return m_Data == rhs.m_Data;
-      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
-   }
-   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
-      { return !operator==(rhs); }
-
-   inline VALUE_REF operator[](size_t idx)
-   {
-      if (m_IsTrivial) return *(m_DataStart + idx);
-      return m_Impl->getReferenceAt(idx);
-   }
-   inline VALUE_REF operator*()
-      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
-   inline VALUE_REF operator->()
-      { return *(*this); }
-   inline float* dataPointer() const
-      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
-
-
-protected:
-   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
-   bool m_IsTrivial = false;
-   float* m_Data = nullptr;
-   float* m_DataStart = nullptr;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
deleted file mode 100644
index 069e7a1d69..0000000000
--- a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_IMPL_HPP_
-#define _ITENSOR_ITR_IMPL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-#include <memory>
-#include <iterator>
-
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-class ZDL_EXPORT DlSystem::ITensorItrImpl
-{
-public:
-   ITensorItrImpl() {}
-   virtual ~ITensorItrImpl() {}
-
-   virtual float getValue() const = 0;
-   virtual float& getReference() = 0;
-   virtual float& getReferenceAt(size_t idx) = 0;
-   virtual float* dataPointer() const = 0;
-   virtual void increment(int incVal = 1) = 0;
-   virtual void decrement(int decVal = 1) = 0;
-   virtual size_t getPosition() = 0;
-   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
-
-private:
-   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
-   ITensorItrImpl(const ITensorItrImpl& other) = delete;
-};
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
deleted file mode 100644
index a171ac7e81..0000000000
--- a/third_party/snpe/include/DlSystem/IUDL.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_IUDL_HPP_
-#define _DL_SYSTEM_IUDL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Base class user concrete UDL implementation.
- *
- * All functions are marked as:
- *
- * - virtual
- * - noexcept
- *
- * User should make sure no exceptions are propagated outside of
- * their module. Errors can be communicated via return values.
- */
-class ZDL_EXPORT IUDL {
-public:
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief .
-    *
-    * Destructor
-    */
-   virtual ~IUDL() = default;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Sets up the user's environment.
-    * This is called by the SNPE framework to allow the user the
-    * opportunity to setup anything which is needed for running
-    * user defined layers.
-    *
-    * @param cookie User provided opaque data returned by the SNPE
-    *               runtime
-    *
-    * @param insz How many elements in input size array
-    * @param indim Pointer to a buffer that holds input dimension
-    *               array
-    * @param indimsz Input dimension size  array of the buffer
-    *                 'indim'. Corresponds to indim
-    *
-    * @param outsz How many elements in output size array
-    * @param outdim Pointer to a buffer that holds output
-    *              dimension array
-    * @param outdimsz Output dimension size of the buffer 'oudim'.
-    *                  Corresponds to indim
-    *
-    * @return true on success, false otherwise
-    */
-   virtual bool setup(void *cookie,
-                      size_t insz, const size_t **indim, const size_t *indimsz,
-                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Close the instance. Invoked by the SNPE
-    * framework to allow the user the opportunity to release any resources
-    * allocated during setup.
-    *
-    * @param cookie - User provided opaque data returned by the SNPE runtime
-    */
-   virtual void close(void *cookie) noexcept = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Execute the user defined layer
-    *
-    * @param cookie User provided opaque data returned by the SNPE 
-    *               runtime
-    *
-    * @param input Const pointer to a float buffer that contains
-    *               the input
-    *
-    * @param output Float pointer to a buffer that would hold
-    *                 the user defined layer's output. This buffer
-    *                 is allocated and owned by SNPE runtime.
-    */
-   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
-};
-
-} // ns DlSystem
-
-} // ns zdl
-
-#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index ea491a545b..0000000000
--- a/third_party/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,358 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <math.h>
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10,
-
-        /// Each element is presented by an 16-bit quantized value.
-        TF16            = 11
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
-public:
-   UserBufferEncodingTfN() = delete;
-   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
-                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
-                                           bitWidth(bWidth),
-                                           m_StepExactly0(stepFor0),
-                                           m_QuantizedStepSize(stepSize){};
-
-   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
-            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
-                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
-            if (ubEncodingTfN) {
-                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
-                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
-                bitWidth = ubEncodingTfN->bitWidth;
-            }
-   }
-
-   size_t getElementSize() const noexcept override;
-   /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-   void setStepExactly0(uint64_t stepExactly0) {
-      m_StepExactly0 = stepExactly0;
-   }
-
-   /**
-     * @brief Sets the float value that each step represents
-     *
-     * @param[in] quantizedStepSize The float value of each step size
-     *
-    */
-   void setQuantizedStepSize(const float quantizedStepSize) {
-      m_QuantizedStepSize = quantizedStepSize;
-   }
-
-   /**
-     * @brief Retrieves the step that represents 0.0
-     *
-     * @return Step value
-    */
-   uint64_t getStepExactly0() const {
-      return m_StepExactly0;
-   }
-
-   /**
-    * Calculates the minimum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Minimum representable floating point value
-    */
-   float getMin() const {
-      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
-   }
-
-   /**
-    * Calculates the maximum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Maximum representable floating point value
-    */
-   float getMax() const{
-       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
-   };
-
-   /**
-     * @brief Retrieves the step size
-     *
-     * @return Step size
-    */
-   float getQuantizedStepSize() const {
-      return m_QuantizedStepSize;
-   }
-
-   ElementType_t getTypeFromWidth(uint8_t width);
-
-   uint8_t bitWidth;
-protected:
-   uint64_t m_StepExactly0;
-   float m_QuantizedStepSize;
-};
-
-
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingTfN(stepFor0, stepSize) {};
-
-    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
-
-/**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-
-    void setStepExactly0(const unsigned char stepExactly0) {
-        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
-    }
-
-/**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-
-    unsigned char getStepExactly0() const {
-        return UserBufferEncodingTfN::m_StepExactly0;
-    }
-
-};
-
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Retrieves the size of the inference data in the buffer, in bytes.
-      *
-      * The inference results from a dynamic-sized model may not be exactly the same size
-      * as the UserBuffer provided to SNPE. This function can be used to get the amount
-      * of output inference data, which may be less or greater than the size of the UserBuffer.
-      *
-      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
-      * or equal to getSize(). But if the inference results were more than the capacity of
-      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
-      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
-      * needs to be provided to SNPE to hold all of the inference results.
-      *
-      * @return Size required for the buffer to hold all inference results, which can be less
-      * or more than the size of the buffer, in bytes.
-    */
-    virtual size_t getOutputSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
deleted file mode 100644
index 59803fbd8f..0000000000
--- a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
+++ /dev/null
@@ -1,81 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _IUSERBUFFER_FACTORY_HPP
-#define _IUSERBUFFER_FACTORY_HPP
-
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include "DlEnums.hpp"
-namespace zdl {
-    namespace DlSystem {
-        class IUserBuffer;
-
-        class TensorShape;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* Factory interface class to create IUserBuffer objects.
-*/
-class ZDL_EXPORT IUserBufferFactory {
-public:
-    virtual ~IUserBufferFactory() = default;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @param[in] userBufferSource Reference to an UserBufferSource object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
deleted file mode 100644
index c7b85f43c1..0000000000
--- a/third_party/snpe/include/DlSystem/PlatformConfig.hpp
+++ /dev/null
@@ -1,230 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include <string>
-
-namespace zdl{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A structure OpenGL configuration
-  *
-  * @note When certain OpenGL context and display are provided to UserGLConfig for using
-  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
-  *       context and display remain vaild throughout the execution of neural network models.
-  */
-struct ZDL_EXPORT UserGLConfig
-{
-   /// Holds user EGL context.
-   ///
-   void* userGLContext = nullptr;
-
-   /// Holds user EGL display.
-   void* userGLDisplay = nullptr;
-};
-
-/**
-  * @brief .
-  *
-  * A structure Gpu configuration
-  */
-struct ZDL_EXPORT UserGpuConfig{
-   /// Holds user OpenGL configuration.
-   ///
-   UserGLConfig userGLConfig;
-};
-
-/**
-  * @brief .
-  *
-  * A class user platform configuration
-  */
-class ZDL_EXPORT PlatformConfig
-{
-public:
-
-   /**
-     * @brief .
-     *
-     * An enum class of all supported platform types
-     */
-   enum class PlatformType_t
-   {
-      /// Unknown platform type.
-      UNKNOWN = 0,
-
-      /// Snapdragon CPU.
-      CPU = 1,
-
-      /// Adreno GPU.
-      GPU = 2,
-
-      /// Hexagon DSP.
-      DSP = 3
-   };
-
-   /**
-     * @brief .
-     *
-     * A union class user platform configuration information
-     */
-   union PlatformConfigInfo
-   {
-      /// Holds user GPU Configuration.
-      ///
-      UserGpuConfig userGpuConfig;
-
-      PlatformConfigInfo(){};
-   };
-
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
-                      m_PlatformOptions("") {};
-
-   /**
-     * @brief Retrieves the platform type
-     *
-     * @return Platform type
-     */
-   PlatformType_t getPlatformType() const {return m_PlatformType;};
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
-
-   /**
-     * @brief Retrieves the Gpu configuration
-     *
-     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
-     *
-     * @return True if Gpu configuration was retrieved; false otherwise.
-     */
-   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
-   {
-      if(m_PlatformType == PlatformType_t::GPU)
-      {
-         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
-         return true;
-      }
-      else
-      {
-         return false;
-      }
-   }
-
-   /**
-     * @brief Sets the Gpu configuration
-     *
-     * @param[in] userGpuConfig Gpu Configuration
-     *
-     * @return True if Gpu configuration was successfully set; false otherwise.
-     */
-   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
-   {
-      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
-      {
-         switch (m_PlatformType)
-         {
-         case PlatformType_t::GPU:
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         case PlatformType_t::UNKNOWN:
-            m_PlatformType = PlatformType_t::GPU;
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         default:
-            return false;
-         }
-      }
-      else
-         return false;
-   }
-
-   /**
-     * @brief Sets the platform options
-     *
-     * @param[in] options Options as a string in the form of "keyword:options"
-     *
-     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
-     */
-   bool setPlatformOptions(std::string options) {
-      std::string oldOptions = m_PlatformOptions;
-      m_PlatformOptions = options;
-      if (isOptionsValid()) {
-         return true;
-      } else {
-         m_PlatformOptions = oldOptions;
-         return false;
-      }
-   }
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isOptionsValid() const;
-
-   /**
-     * @brief Gets the platform options
-     *
-     * @return Options as a string
-     */
-   std::string getPlatformOptions() const { return m_PlatformOptions; }
-
-    /**
-      * @brief Sets the platform options
-      *
-      * @param[in] optionName Name of platform options"
-      * @param[in] value Value of specified optionName
-      *
-      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
-      *         value of specified optionName.
-      *         If false, the platform options will not be changed.
-      */
-   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
-
-    /**
-       * @brief Removes the platform options
-       *
-       * @param[in] optionName Name of platform options"
-       * @param[in] value Value of specified optionName
-       *
-       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
-       *         If false, the platform options will not be changed.
-       */
-    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
-
-   static void SetIsUserGLBuffer(bool isUserGLBuffer);
-   static bool GetIsUserGLBuffer();
-
-private:
-   PlatformType_t m_PlatformType;
-   PlatformConfigInfo m_PlatformConfigInfo;
-   std::string m_PlatformOptions;
-   static bool m_IsUserGLBuffer;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}} //namespace end
-
-#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
deleted file mode 100644
index 1088a5b31f..0000000000
--- a/third_party/snpe/include/DlSystem/RuntimeList.hpp
+++ /dev/null
@@ -1,154 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/StringList.hpp"
-#include <cstddef>
-#include <memory>
-
-#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
-#define DL_SYSTEM_RUNTIME_LIST_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of Runtime List implementation.
-   class RuntimeListImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing list of runtimes
-  */
-class ZDL_EXPORT RuntimeList final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new runtime list
-    *
-    */
-   RuntimeList();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   RuntimeList(const RuntimeList& other);
-
-   /**
-   * @brief .
-   *
-   * constructor with single Runtime_t object
-   * @param[in] Runtime_t object
-   */
-   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   RuntimeList& operator=(const RuntimeList& other);
-
-   /**
-    * @brief .
-    *
-    * subscript operator.
-    */
-   Runtime_t& operator[](size_t index);
-
-   /**
-    * @brief Adds runtime to the end of the runtime list
-    *        order of precedence is former followed by latter entry
-    *
-    * @param[in] runtime to add
-    *
-    * Ruturns false If the runtime already exists
-    */
-   bool add(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief Removes the runtime from the list
-    *
-    * @param[in] runtime to be removed
-    *
-    * @note If the runtime is not found, nothing is done.
-    */
-   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
-
-   /**
-    * @brief Returns the number of runtimes in the list
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief Returns true if the list is empty
-    */
-   bool empty() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all runtime from the list
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns a StringList of names from the runtime list in
-    * order of precedence
-    */
-   zdl::DlSystem::StringList getRuntimeListNames() const;
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime string
-    * Returns a Runtime enum corresponding to the in param string
-    *
-    */
-   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime
-    * Returns a string corresponding to the in param runtime enum
-    *
-    */
-   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
-
-   ~RuntimeList();
-
-private:
-   void deepCopy(const RuntimeList &other);
-   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_RUNTIME_LIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
deleted file mode 100644
index c1eba3bad9..0000000000
--- a/third_party/snpe/include/DlSystem/String.hpp
+++ /dev/null
@@ -1,104 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef PLATFORM_STANDARD_STRING_HPP
-#define PLATFORM_STANDARD_STRING_HPP
-
-#include <cstdio>
-#include <string>
-#include <ostream>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for wrapping char * as a really stripped down std::string replacement.
- */
-class ZDL_EXPORT String final
-{
-public:
-   String() = delete;
-
-   /**
-    * Construct a string from std::string reference.
-    * @param str Reference to a std::string
-    */
-   explicit String(const std::string& str);
-
-   /**
-    * Construct a string from char* reference.
-    * @param a char*
-    */
-   explicit String(const char* str);
-
-   /**
-    * move constructor.
-    */
-   String(String&& other) noexcept;
-
-   /**
-    * copy constructor.
-    */
-   String(const String& other) = delete;
-
-   /**
-    * assignment operator.
-    */
-   String& operator=(const String&) = delete;
-
-   /**
-    * move assignment operator.
-    */
-   String& operator=(String&&) = delete;
-
-   /**
-    * class comparators
-    */
-   bool operator<(const String& rhs) const noexcept;
-   bool operator>(const String& rhs) const noexcept;
-   bool operator<=(const String& rhs) const noexcept;
-   bool operator>=(const String& rhs) const noexcept;
-   bool operator==(const String& rhs) const noexcept;
-   bool operator!=(const String& rhs) const noexcept;
-
-   /**
-    * class comparators against std::string
-    */
-   bool operator<(const std::string& rhs) const noexcept;
-   bool operator>(const std::string& rhs) const noexcept;
-   bool operator<=(const std::string& rhs) const noexcept;
-   bool operator>=(const std::string& rhs) const noexcept;
-   bool operator==(const std::string& rhs) const noexcept;
-   bool operator!=(const std::string& rhs) const noexcept;
-
-   const char* c_str() const noexcept;
-
-   ~String();
-private:
-
-   char* m_string;
-};
-
-/**
- * overloaded << operator
- */
-ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
deleted file mode 100644
index a9a7d5ed89..0000000000
--- a/third_party/snpe/include/DlSystem/StringList.hpp
+++ /dev/null
@@ -1,107 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <cstdio>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_STRINGLIST_HPP
-#define DL_SYSTEM_STRINGLIST_HPP
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for holding an order list of null-terminated ASCII strings.
- */
-class ZDL_EXPORT StringList final
-{
-public:
-   StringList() {}
-
-   /**
-    * Construct a string list with some pre-allocated memory.
-    * @warning Contents of the list will be uninitialized
-    * @param[in] length Number of elements for which to pre-allocate space.
-    */
-   explicit StringList(size_t length);
-
-   /**
-    * Append a string to the list.
-    * @param[in] str Null-terminated ASCII string to append to the list.
-    */
-   void append(const char* str);
-
-   /**
-    * Returns the string at the indicated position,
-    *  or an empty string if the positions is greater than the size
-    *  of the list.
-    * @param[in] idx Position in the list of the desired string
-    */
-   const char* at(size_t idx) const noexcept;
-
-   /**
-    * Pointer to the first string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** begin() const noexcept;
-
-   /**
-    * Pointer to one after the last string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** end() const noexcept;
-
-   /**
-    * Return the number of valid string pointers held by this list.
-    */
-   size_t size() const noexcept;
-
-
-   /**
-    * assignment operator. 
-    */
-   StringList& operator=(const StringList&) noexcept;
-
-   /**
-    * copy constructor.
-    * @param[in] other object to copy.
-    */
-   StringList(const StringList& other);
-
-   /**
-    * move constructor.
-    * @param[in] other object to move.    
-    */
-   StringList(StringList&& other) noexcept;
-
-   ~StringList();
-private:
-   void copy(const StringList& other);
-
-   void resize(size_t length);
-
-   void clear();
-
-   static const char* s_Empty;
-   const char** m_Strings = nullptr;
-   const char** m_End = nullptr;
-   size_t       m_Size = 0;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_STRINGLIST_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
deleted file mode 100644
index feecec6667..0000000000
--- a/third_party/snpe/include/DlSystem/TensorMap.hpp
+++ /dev/null
@@ -1,120 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "ITensor.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_MAP_HPP
-#define DL_SYSTEM_TENSOR_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor map implementation.
-   class TensorMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of tensor.
-  */
-class ZDL_EXPORT TensorMap final
-{
-public:
-
-  /**
-   * @brief .
-   *
-   * Creates a new empty tensor map
-   */
-   TensorMap();
-
-  /**
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */
-   TensorMap(const TensorMap& other);
-
-  /**
-    * assignment operator. 
-    */
-   TensorMap& operator=(const TensorMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, the
-    *       tensor is replaced with the existing tensor.
-    */
-   void add(const char *name, zdl::DlSystem::ITensor *tensor);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *  
-    * @param[in] name The name of the tensor to get. 
-    *  
-    * @return nullptr if no tensor with the specified name is 
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensors
-    */
-   zdl::DlSystem::StringList getTensorNames() const;
-
-   ~TensorMap();
-private:
-   void swap(const TensorMap &other);
-   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
deleted file mode 100644
index 99583dccb4..0000000000
--- a/third_party/snpe/include/DlSystem/TensorShape.hpp
+++ /dev/null
@@ -1,203 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include <vector>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape implementation.
-   class TensorShapeImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Convenient typedef to represent dimension
- */
-using Dimension = size_t;
-
-/**
-  * @brief .
-  *
-  * A class representing the shape of tensor. It is used at the
-  * time of creation of tensor.
-  */
-class ZDL_EXPORT TensorShape final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in
-    * initializer list fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    */
-   TensorShape(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in array
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] size Size of the array.
-    *
-    */
-   TensorShape(const Dimension *dims, size_t size);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a vector of dims specified in
-    * vector fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    */   
-   TensorShape(std::vector<Dimension> dims);
-
-   /**
-   * @brief .
-   *   
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */   
-   TensorShape(const TensorShape& other);
-
-   /**
-    * @brief .
-    *  
-    * assignment operator. 
-    */   
-   TensorShape& operator=(const TensorShape& other);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with no dims. It can be extended later
-    * by invoking concatenate.
-    */
-   TensorShape();
-
-  /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * initializer list fashion to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-   */
-   void concatenate(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * the array to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @param[in] size Size of the array.
-    *
-   */
-   void concatenate(const Dimension *dims, size_t size);
-
-  /**
-    * @brief .
-    *
-    * Concatenates an additional dimension to the existing
-    * dimensions.
-    *
-    * @param[in] dim The dimensions are specified in which the last element
-    * of the vector represents the fastest varying dimension and the
-    * zeroth element represents the slowest varying, etc.
-    *
-   */
-   void concatenate(const Dimension &dim);
-
-  /**
-    * @brief .
-    *
-    * Retrieves a single dimension, based on its index.
-    *
-    * @return The value of dimension
-    *
-    * @throws std::out_of_range if the index is >= the number of
-    * dimensions (or rank).
-    */
-   Dimension& operator[](size_t index);
-   Dimension& operator[](size_t index) const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves the rank i.e. number of dimensions.
-    *
-    * @return The rank
-    */
-   size_t rank() const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves a pointer to the first dimension of shape
-    *
-    * @return nullptr if no dimension exists; otherwise, points to
-    * the first dimension. 
-    *
-    */
-   const Dimension* getDimensions() const;
-
-   ~TensorShape();
-
-private:
-   void swap(const TensorShape &other);
-   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
-
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
deleted file mode 100644
index cef946e2e6..0000000000
--- a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape map implementation.
-   class TensorShapeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of names and tensorshapes.
-  */
-class ZDL_EXPORT TensorShapeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new tensor shape map
-    *
-    */
-   TensorShapeMap();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   TensorShapeMap(const TensorShapeMap& other);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   TensorShapeMap& operator=(const TensorShapeMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, no new
-    *       tensor is added.
-    */
-   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *
-    * @param[in] name The name of the tensor to get.
-    *
-    * @return nullptr if no tensor with the specified name is
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensor shapes
-    */
-   zdl::DlSystem::StringList getTensorShapeNames() const;
-
-   ~TensorShapeMap();
-private:
-   void swap(const TensorShapeMap &other);
-   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
deleted file mode 100644
index 21fce1b04a..0000000000
--- a/third_party/snpe/include/DlSystem/UDLContext.hpp
+++ /dev/null
@@ -1,243 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef UDL_CONTEXT_HPP
-#define UDL_CONTEXT_HPP
-
-#include <cstring> // memset
-#include <tuple>
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl { namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * UDLContext holds the user defined layer context which 
- * consists of a layer name, layer ID, blob and blob size. 
- *  
- * An instance of UDLContext is passed as an argument to the
- * UDLFactoryFunc provided by the user every time the SNPE 
- * runtime encounters an unknown layer descriptor. The instance 
- * of a UDLContext is created by the SNPE runtime and is 
- * consumed by the user's factory function. The user should 
- * obtain a copy of this class and should not assume any 
- * prolonged object lifetime beyond the UDLFactoryFunction.
- */
-class ZDL_EXPORT UDLContext final {
-public:
-   /**
-    * @brief Constructor
-    *
-    * @param[in] name name of the layer
-    *
-    * @param[in] type layer type
-    *
-    * @param[in] id identifier for the layer
-    *
-    * @param[in] id Blob/bytes as packed by the user code as part of
-    *           the Python converter script
-    */
-   UDLContext(const std::string& name,
-              const std::string& type,
-              int32_t id,
-              const std::string& blob) :
-      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
-      // FIXME not dealing with alloc error
-      m_Buffer = new uint8_t[m_Size];
-      std::memcpy(m_Buffer, blob.data(), m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Empty constructor is useful for
-    * creating an empty UDLContext and then run copy constructor
-    * from a fully initialized one.
-    */
-   explicit UDLContext() {}
-
-   /**
-    * @brief .
-    *
-    * destructor Deallocates any internal allocated memory
-    */
-   ~UDLContext() { release(); }
-
-   /**
-    * @brief .
-    *
-    * Deallocate any internally allocated memory
-    */
-   void release() {
-      if (m_Buffer && m_Size)
-         std::memset(m_Buffer, 0, m_Size);
-      delete []m_Buffer;
-      m_Buffer = nullptr;
-      m_Size = 0;
-   }
-
-   /**
-    * @brief .
-    *
-    * Copy Constructor - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    */
-   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
-      m_Type(ctx.m_Type),
-      m_Id(ctx.m_Id) {
-      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
-      // current compiler does not support get<type>
-      m_Buffer = std::get<0>(cpy);
-      m_Size = std::get<1>(cpy);
-   }
-
-   /**
-    * @brief 
-    *
-    * Assignment operator - makes a copy from ctx
-    *
-    * @param[in] ctx Source UDLContext to copy from
-    *
-    * @return this
-    */
-   UDLContext& operator=(const UDLContext& ctx) {
-      UDLContext c (ctx);
-      this->swap(c); // non throwing swap
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Move Constructor - Move internals from ctx into this
-    *
-    * @param[in] ctx Source UDLContext to move from
-    */
-   UDLContext(UDLContext&& ctx) :
-      m_Name(std::move(ctx.m_Name)),
-      m_Type(std::move(ctx.m_Type)),
-      m_Buffer(ctx.m_Buffer),
-      m_Size(ctx.m_Size),
-      m_Id(ctx.m_Id) {
-      ctx.clear();
-   }
-
-   /**
-    * @brief .
-    *
-    * Assignment move - Move assignment operator from ctx
-    *
-    * @param[in] ctx Source UDLContext to move from
-    *
-    * @return this
-    */
-   UDLContext& operator=(UDLContext&& ctx) {
-      m_Name = std::move(ctx.m_Name);
-      m_Type = std::move(ctx.m_Type);
-      m_Buffer = ctx.m_Buffer;
-      m_Size = ctx.m_Size;
-      m_Id = ctx.m_Id;
-      ctx.clear();
-      return *this;
-   }
-
-   /**
-    * @brief .
-    *
-    * Obtain the name of the layer
-    *
-    * @return const reference to the name of the layer
-    */
-   const std::string& getName() const noexcept { return m_Name; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the type of the layer
-    *
-    * @return const reference to the type of the layer
-    */
-   const std::string& getType() const noexcept { return m_Type; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the Id of the layer
-    *
-    * @return The id of the layer
-    */
-   int32_t getId() const noexcept  { return m_Id; }
-
-   /**
-    * @brief .
-    *
-    * Obtain the size of the blob
-    *
-    * @return Size of the internal blob
-    */
-   size_t getSize() const noexcept { return m_Size; }
-
-   /**
-    * @brief .
-    *
-    * Get a const pointer to the internal blob
-    *
-    * @return Const pointer to the internal blob
-    */
-   const uint8_t* getBlob() const noexcept { return m_Buffer; }
-
-   /**
-    * @brief .
-    *
-    * Get a copy of the blob/size into a tuple
-    *
-    * @return A tuple with a pointer to a copy of the blob and a
-    *         size
-    */
-   std::tuple<uint8_t*, size_t> getCopy() const {
-      uint8_t* buf = new uint8_t[m_Size];
-      // FIXME missing memcpy
-      std::memcpy(buf, m_Buffer, m_Size);
-      return std::make_tuple(buf, m_Size);
-   }
-
-   /**
-    * @brief .
-    *
-    * Set zeros in the internals members
-    */
-   void clear() {
-      m_Name.clear();
-      m_Type.clear();
-      m_Buffer = 0;
-      m_Size = 0;
-      m_Id = -1;
-   }
-private:
-   void swap(UDLContext& c) noexcept {
-      std::swap(m_Name, c.m_Name);
-      std::swap(m_Type, c.m_Type);
-      std::swap(m_Id,   c.m_Id);
-      std::swap(m_Buffer, c.m_Buffer);
-      std::swap(m_Size, c.m_Size);
-   }
-   std::string m_Name; // name of the layer instance
-   std::string m_Type; // The actual layer type
-   uint8_t*    m_Buffer = nullptr;
-   size_t      m_Size = 0;
-   int32_t     m_Id = -1;
-};
-
-}}
-
-#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
deleted file mode 100644
index 6a95eef170..0000000000
--- a/third_party/snpe/include/DlSystem/UDLFunc.hpp
+++ /dev/null
@@ -1,87 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _UDL_FUNC_HPP_
-#define _UDL_FUNC_HPP_
-
-#include <functional>
-
-#include "ZdlExportDefine.hpp"
-#include <DlSystem/IUDL.hpp>
-
-namespace zdl {
-    namespace DlSystem {
-        class UDLContext;
-    }
-}
-
-namespace zdl { namespace DlSystem {
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
- * UDLBundle - a simple way to bundle func and cookie into one type
- */
-
-
-/**
- * @brief .
- * 
- * Convenient typedef for user defined layer creation factory
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @return IUDL* - a Concrete instance of IUDL derivative
- */
-using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * default UDL factory implementation
- *
- * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
- *        SNPE runtime.
- *
- * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
- *        CreateInstance. SNPE's runtime is passing this back to the user.
- * 
- * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
- *         implementation for UDL. When SNPE's runtime sees nullptr as a return
- *         value from the factory, it will halt execution if model has an unknown layer
- *
- */
-inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- * 
- * Simple struct to bundle 2 elements.
- * A user defined cookie that would be returned for each
- * IUDL call. The user can place anything there and the
- * SNPE runtime will provide it back
- */
-struct ZDL_EXPORT UDLBundle {
-   void          *cookie = nullptr;
-   UDLFactoryFunc func   = DefaultUDLFunc;
-};
-
-}}
-
-
-#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
deleted file mode 100644
index a03ddfe1d1..0000000000
--- a/third_party/snpe/include/DlSystem/UserBufferMap.hpp
+++ /dev/null
@@ -1,122 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
-#define DL_SYSTEM_USER_BUFFER_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserBuffer map implementation.
-    class UserBufferMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserBuffer.
-  */
-class ZDL_EXPORT UserBufferMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserBuffer map
-     */
-    UserBufferMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserBufferMap(const UserBufferMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserBufferMap& operator=(const UserBufferMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding UserBuffer pointer
-     *        to the map
-     *
-     * @param[in] name The name of the UserBuffer
-     * @param[in] userBuffer The pointer to the UserBuffer
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       UserBuffer pointer would be updated.
-     */
-    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
-
-    /**
-     * @brief Removes a mapping of one UserBuffer and its name by its name
-     *
-     * @param[in] name The name of UserBuffer to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of UserBuffers in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all UserBuffers from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief Returns the UserBuffer given its name.
-     *
-     * @param[in] name The name of the UserBuffer to get.
-     *
-     * @return nullptr if no UserBuffer with the specified name is
-     *         found; otherwise, a valid pointer to the UserBuffer.
-     */
-    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all UserBuffers
-     *
-     * @return A list of UserBuffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    ~UserBufferMap();
-private:
-    void swap(const UserBufferMap &other);
-    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp b/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
deleted file mode 100644
index 3685a8ddab..0000000000
--- a/third_party/snpe/include/DlSystem/UserMemoryMap.hpp
+++ /dev/null
@@ -1,129 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_USER_MEMORY_MAP_HPP
-#define DL_SYSTEM_USER_MEMORY_MAP_HPP
-
-namespace DlSystem
-{
-    // Forward declaration of UserMemory map implementation.
-    class UserMemoryMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-class IUserBuffer;
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of UserMemory.
-  */
-class ZDL_EXPORT UserMemoryMap final
-{
-public:
-
-    /**
-     * @brief .
-     *
-     * Creates a new empty UserMemory map
-     */
-    UserMemoryMap();
-
-    /**
-     * copy constructor.
-     * @param[in] other object to copy.
-     */
-    UserMemoryMap(const UserMemoryMap& other);
-
-    /**
-      * assignment operator.
-      */
-    UserMemoryMap& operator=(const UserMemoryMap& other);
-
-    /**
-     * @brief Adds a name and the corresponding buffer address
-     *        to the map
-     *
-     * @param[in] name The name of the UserMemory
-     * @param[in] address The pointer to the Buffer Memory
-     *
-     * @note If a UserBuffer with the same name already exists, the new
-     *       address would be updated.
-     */
-    void add(const char *name, void *address);
-
-    /**
-     * @brief Removes a mapping of one Buffer address and its name by its name
-     *
-     * @param[in] name The name of Memory address to be removed
-     *
-     * @note If no UserBuffer with the specified name is found, nothing
-     *       is done.
-     */
-    void remove(const char *name) noexcept;
-
-    /**
-     * @brief Returns the number of User Memory addresses in the map
-     */
-    size_t size() const noexcept;
-
-    /**
-     * @brief .
-     *
-     * Removes all User Memory from the map
-     */
-    void clear() noexcept;
-
-    /**
-     * @brief .
-     *
-     * Returns the names of all User Memory
-     *
-     * @return A list of Buffer names.
-     */
-    zdl::DlSystem::StringList getUserBufferNames() const;
-
-    /**
-     * @brief Returns the no of UserMemory addresses mapped to the buffer
-     *
-     * @param[in] name The name of the UserMemory
-     *
-     */
-    size_t getUserMemoryAddressCount(const char *name) const noexcept;
-
-    /**
-     * @brief Returns address at a specified index corresponding to a UserMemory buffer name
-     *
-     * @param[in] name The name of the buffer
-     * @param[in] index The index in the list of addresses
-     *
-     */
-    void* getUserMemoryAddressAtIndex(const char *name, uint32_t index) const noexcept;
-
-    ~UserMemoryMap();
-private:
-    void swap(const UserMemoryMap &other);
-    std::unique_ptr<::DlSystem::UserMemoryMapImpl> m_UserMemoryMapImpl;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem namespace
-} // zdl namespace
-
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index 92eb786d31..0000000000
--- a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#pragma once
-
-#ifndef ZDL_EXPORT
-#define ZDL_EXPORT
-#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
deleted file mode 100644
index 66097ba569..0000000000
--- a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2018-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef SNPE_PLATFORMVALIDATOR_HPP
-#define SNPE_PLATFORMVALIDATOR_HPP
-
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#define DO_PRAGMA(s) _Pragma(#s)
-#define NO_WARNING "-Wunused-variable"
-
-#ifdef __clang__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("clang diagnostic push") \
-DO_PRAGMA(clang diagnostic ignored clang_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("clang diagnostic pop")
-
-#elif defined __GNUC__
-#define SNPE_DISABLE_WARNINGS(clang_warning,gcc_warning) \
-_Pragma("GCC diagnostic push") \
-DO_PRAGMA(GCC diagnostic ignored gcc_warning)
-
-#define SNPE_ENABLE_WARNINGS \
-_Pragma("GCC diagnostic pop")
-
-#else
-#define SNPE_DISABLE_WARNINGS(...)
-#define SNPE_ENABLE_WARNINGS
-#endif
-
-SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
-#include <string>
-#include <memory>
-SNPE_ENABLE_WARNINGS
-
-namespace zdl
-{
-   namespace SNPE
-   {
-      class PlatformValidator;
-
-      class IPlatformValidatorRuntime;
-   }
-}
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* The class for checking SNPE compatibility/capability of a device.
-*
-*/
-
-class ZDL_EXPORT zdl::SNPE::PlatformValidator
-{
-public:
-   /**
-    * @brief Default Constructor of the PlatformValidator Class
-    *
-    * @return A new instance of a PlatformValidator object
-    *         that can be used to check the SNPE compatibility
-    *         of a device
-    */
-   PlatformValidator();
-
-   ~PlatformValidator();
-
-   /**
-    * @brief Sets the runtime processor for compatibility check
-    *
-    * @return Void
-    */
-   void setRuntime(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * @brief Checks if the Runtime prerequisites for SNPE are available.
-    *
-    * @return True if the Runtime prerequisites are available, else false.
-    */
-   bool isRuntimeAvailable();
-
-   /**
-    * @brief Returns the core version for the Runtime selected.
-    *
-    * @return String which contains the actual core version value
-    */
-   std::string getCoreVersion();
-
-   /**
-    * @brief Returns the library version for the Runtime selected.
-    *
-    * @return String which contains the actual lib version value
-    */
-   std::string getLibVersion();
-
-   /**
-    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
-    *
-    * @return If True, the device is ready for SNPE execution, else not.
-    */
-
-   bool runtimeCheck();
-
-private:
-    zdl::DlSystem::Runtime_t m_runtimeType;
-    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
deleted file mode 100644
index 380a3e0e6e..0000000000
--- a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
-#define PSNPE_APPLICATIONBUFFERMAP_HPP
-#include <vector>
-#include <string>
-#include <unordered_map>
-
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * A class representing the UserBufferMap of Input and Output asynchronous mode.
- */
-
-class ZDL_EXPORT ApplicationBufferMap final
-{
-
- public:
-   /**
-    * @brief Adds a name and the corresponding buffer
-    *        to the map
-    *
-    * @param[in] name The name of the UserBuffer
-    * @param[in] buffer The vector of the uint8_t data
-    *
-    * @note If a UserBuffer with the same name already exists, the new
-    *       UserBuffer pointer would be updated.
-    */
-   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
-   void add(const char* name, std::vector<float>& buff) noexcept;
-   /**
-    * @brief Removes a mapping of one UserBuffer and its name by its name
-    *
-    * @param[in] name The name of UserBuffer to be removed
-    *
-    * @note If no UserBuffer with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char* name) noexcept;
-
-   /**
-    * @brief Returns the number of UserBuffers in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all UserBuffers from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the UserBuffer given its name.
-    *
-    * @param[in] name The name of the UserBuffer to get.
-    *
-    * @return nullptr if no UserBuffer with the specified name is
-    *         found; otherwise, a valid pointer to the UserBuffer.
-    */
-   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
-   const std::vector<uint8_t>& operator[](const char* name) const;
-   /**
-    * @brief .
-    *
-    * Returns the names of all UserAsyncBufferMap
-    *
-    * @return A list of UserBuffer names.
-    */
-   zdl::DlSystem::StringList getUserBufferNames() const;
-   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
-   explicit ApplicationBufferMap();
-   ~ApplicationBufferMap();
-   explicit ApplicationBufferMap(
-     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
-
- private:
-   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-
-#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
deleted file mode 100644
index a823c0c7fa..0000000000
--- a/third_party/snpe/include/SNPE/PSNPE.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// =============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-// =============================================================================
-
-#ifndef PSNPE_HPP
-#define PSNPE_HPP
-
-#include <cstdlib>
-#include <functional>
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-#include "UserBufferList.hpp"
-#include "RuntimeConfigList.hpp"
-#include "ApplicationBufferMap.hpp"
-
-namespace zdl
-{
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- *@ brief build snpe instance in serial or parallel
- *
- */
-enum ZDL_EXPORT BuildMode {
-   SERIAL = 0,
-   PARALLEL = 1
-};
-/**
- * @brief  Input and output transmission mode
- */
-enum ZDL_EXPORT InputOutputTransmissionMode
-{
-   sync = 0,
-   outputAsync = 1,
-   inputOutputAsync = 2
-};
-
-/**
- * @brief  A structure representing parameters of callback function of Async Output mode
- */
-struct ZDL_EXPORT OutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   bool executeStatus;
-   std::string errorMsg;
-   OutputAsyncCallbackParam(size_t _index,bool _status, const std::string& _errorMsg = std::string())
-     : dataIndex(_index),executeStatus(_status), errorMsg(_errorMsg){};
-};
-/**
- * @brief  A structure representing parameters of callback function of Async Input/Output mode
- */
-struct ZDL_EXPORT InputOutputAsyncCallbackParam
-{
-   size_t dataIndex;
-   const ApplicationBufferMap& outputMap;
-   bool executeStatus;
-   std::string errorMsg;
-   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status,
-                                 const std::string _ErrorMsg = std::string())
-     : dataIndex(_index)
-     , outputMap(output_map)
-     , executeStatus(_status)
-     , errorMsg(_ErrorMsg){};
-};
-/**
- * @brief  This callback is called when the output data is ready, only use for Output Async mode
- */
-using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
-/**
- * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
- */
-using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
-/**
- * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
- */
-using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
-    const zdl::DlSystem::StringList &)>;
-/**
- * @brief .
- *
- * A structure PSNPE configuration
- *
- */
-struct ZDL_EXPORT BuildConfig final
-{
-   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
-   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
-   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
-   zdl::DlSystem::StringList outputTensors;///< Specify the output layer name
-   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
-   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
-   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
-   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
-   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
-   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
-   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
-   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
-   uint64_t encode[2] = {0, 0};
-   bool enableInitCache = false;
-   std::string platformOptions;
-   std::string diaglogOutputDir = "./diaglogs/"; ///< Specify a diaglog output directory to save the generated Diaglog files.
-};
-/**
- * @brief .
- *
- * The class for executing SNPE instances in parallel.
- */
-class ZDL_EXPORT PSNPE final
-{
- public:
-   ~PSNPE();
-
-   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
-
-   /**
-    * @brief Build snpe instances.
-    *
-    */
-   bool build(BuildConfig& buildConfig) noexcept;
-
-   /**
-    * @brief Execute snpe instances in Async Output mode and Sync mode
-    *
-    * @param[in] inputBufferList A list of user buffers that contains the input data
-    *
-    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
-    *
-    */
-   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
-
-   /**
-    * @brief  Execute snpe instances in Async Input/Output mode
-    *
-    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
-    *                     need to be matched with names retrived through getInputTensorNames()
-    *
-    * @param dataIndex Index of the input data
-    *
-    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
-    *
-    * @return True if executed successfully; flase, otherwise.
-    */
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
-   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
-   /**
-    * @brief Returns the input layer names of the network.
-    *
-    * @return StringList which contains the input layer names
-    */
-   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the output layer names of the network.
-    *
-    * @return StringList which contains the output layer names
-    */
-   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Returns the input tensor dimensions of the network.
-    *
-    * @return TensorShape which contains the dimensions.
-    */
-   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
-
-   const zdl::DlSystem::TensorShape getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Returns attributes of buffers.
-    *
-    * @see zdl::SNPE
-    *
-    * @return BufferAttributes of input/output tensor named.
-    */
-   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
-
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) const noexcept;
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) const noexcept;
-
-   const char* getLastErrorString();
-
- private:
-   PSNPE(const PSNPE&) = delete;
-   PSNPE& operator=(const PSNPE&) = delete;
-   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-} // namespace PSNPE
-} // namespace zdl
-#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
deleted file mode 100644
index 837dba092a..0000000000
--- a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
-#define PSNPE_RUNTIMECONFIGLIST_HPP
-
-#include <iostream>
-#include "DlContainer/IDlContainer.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/RuntimeList.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-namespace zdl {
-namespace PSNPE {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The structure for configuring a BulkSNPE runtime
- *
- */
-struct ZDL_EXPORT RuntimeConfig final {
-    zdl::DlSystem::Runtime_t runtime;
-    zdl::DlSystem::RuntimeList runtimeList;
-    zdl::DlSystem::PerformanceProfile_t perfProfile;
-    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
-    bool enableCPUFallback;
-    RuntimeConfig()
-        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
-          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
-          enableCPUFallback{false} {}
-    RuntimeConfig(const RuntimeConfig& other) {
-        runtime = other.runtime;
-        runtimeList = other.runtimeList;
-        perfProfile = other.perfProfile;
-        enableCPUFallback = other.enableCPUFallback;
-        inputDimensionsMap = other.inputDimensionsMap;
-    }
-
-    RuntimeConfig& operator=(const RuntimeConfig& other) {
-        this->runtimeList = other.runtimeList;
-        this->runtime = other.runtime;
-        this->perfProfile = other.perfProfile;
-        this->enableCPUFallback = other.enableCPUFallback;
-        this->inputDimensionsMap = other.inputDimensionsMap;
-        return *this;
-    }
-
-    ~RuntimeConfig() {}
-};
-
-/**
- * @brief .
- *
- * The class for creating a RuntimeConfig container.
- *
- */
-class ZDL_EXPORT RuntimeConfigList final {
-   public:
-    RuntimeConfigList();
-    RuntimeConfigList(const size_t size);
-    void push_back(const RuntimeConfig& runtimeConfig);
-    RuntimeConfig& operator[](const size_t index);
-    RuntimeConfigList& operator=(const RuntimeConfigList& other);
-    size_t size() const noexcept;
-    size_t capacity() const noexcept;
-    void clear() noexcept;
-    ~RuntimeConfigList() = default;
-
-   private:
-    void swap(const RuntimeConfigList& other);
-    std::vector<RuntimeConfig> m_runtimeConfigs;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}  // namespace PSNPE
-}  // namespace zdl
-#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
deleted file mode 100644
index 5ab45b82ee..0000000000
--- a/third_party/snpe/include/SNPE/SNPE.hpp
+++ /dev/null
@@ -1,258 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_SNPE_HPP_
-#define _SNPE_SNPE_HPP_
-
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/DlVersion.hpp"
-#include "DlSystem/IBufferAttributes.hpp"
-#include "DlSystem/ITensor.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/TensorMap.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/StringList.hpp"
-#include "DlSystem/IUserBuffer.hpp"
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/UserMemoryMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-   namespace SNPE
-   {
-      class SnpeRuntime;
-   }
-}
-namespace zdl {
-   namespace DiagLog
-   {
-      class IDiagLog;
-   }
-}
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The SNPE interface class definition
- */
-class ZDL_EXPORT SNPE final
-{
-public:
-
-   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
-   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
-   ~SNPE();
-
-   /**
-    * @brief Gets the names of input tensors to the network
-    *
-    * To support multiple input scenarios, where multiple tensors are
-    * passed through execute() in a TensorMap, each tensor needs to
-    * be uniquely named. The names of tensors can be retrieved
-    * through this function.
-    *
-    * In the case of a single input, one name will be returned.
-    *
-    * @note Note that because the returned value is an Optional list,
-    * the list must be verified as boolean true value before being
-    * dereferenced.
-    *
-    * @return An Optional List of input tensor names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getInputTensorNames() const noexcept;
-
-    /**
-     * @brief Gets the names of output tensors to the network
-     *
-     * @return List of output tensor names.
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputTensorNames() const noexcept;
-
-   /**
-    * @brief Gets the name of output tensor from the input layer name
-    *
-    * @return Output tensor name.
-    */
-   zdl::DlSystem::StringList
-      getOutputTensorNamesByLayerName(const char *name) const noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A map of tensors that contains the input data for
-    *            each input. The names of tensors needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.  To forward propagate
-    *       and get results in user-supplied tensors, use
-    *       executeWithSuppliedOutputTensors.
-    */
-   bool execute(const zdl::DlSystem::TensorMap &input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output
-    *
-    * @param[in] A single tensor contains the input data.
-    *
-    * @param[in,out] An empty map of tensors that will contain the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the layer name) upon return
-    *
-    * @note output tensormap has to be empty.
-    */
-   bool execute(const zdl::DlSystem::ITensor *input,
-                zdl::DlSystem::TensorMap &output) noexcept;
-
-   /**
-    * @brief Processes the input data and returns the output, using
-    *        user-supplied buffers
-    *
-    * @param[in] A map of UserBuffers that contains the input data for
-    *            each input. The names of UserBuffers needs to be
-    *            matched with names retrieved through
-    *            getInputTensorNames()
-    *
-    * @param[in,out] A map of UserBuffers that will hold the output
-    *                data of potentially multiple layers (the key
-    *                in the map is the UserBuffer name)
-    *
-    * @note input and output UserBuffer maps must be fully pre-populated. with
-    *       dimensions matching what the network expects.
-    *       For example, if there are 5 output UserBuffers they all have to be
-    *       present in map.
-    *
-    *       Caller must guarantee that for the duration of execute(), the buffer
-    *       stored in UserBuffer would remain valid.  For more detail on buffer
-    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
-    *       documentation.
-    */
-   bool execute(const zdl::DlSystem::UserBufferMap &input,
-                const zdl::DlSystem::UserBufferMap &output) noexcept;
-
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A UserMemoryMap of virtual addresses
-    *
-    */
-   bool registerIonBuffers(const zdl::DlSystem::UserMemoryMap& ionBufferMap) noexcept;
-
-    /**
-    * @brief Regiter Client ION Buffers
-    * @param[in] A StringList of ION Buffer names
-    *
-    */
-   bool deregisterIonBuffers(const zdl::DlSystem::StringList& ionBufferNames) noexcept;
-
-    /**
-    * @brief Returns the version string embedded at model conversion
-    * time.
-    *
-    * @return Model version string, which is a free-form string
-    *         supplied at the time of the conversion
-    *
-    */
-   zdl::DlSystem::String getModelVersion() const noexcept;
-
-   /**
-    * @brief Returns the dimensions of the input data to the model in the
-    * form of TensorShape. The dimensions in TensorShape corresponds to
-    * what the tensor dimensions would need to be for an input tensor to
-    * the model.
-    *
-    * @param[in] layer input name.
-    *
-    * @note Note that this function only makes sense for networks 
-    *       that have a fixed input size. For networks in which the
-    *       input size varies with each call of Execute(), this
-    *       function should not be used.
-    *
-    * @note Because the returned type is an Optional instance, it must
-    *       be verified as a boolean true value before being dereferenced.
-    * 
-    * @return An Optional instance of TensorShape that maintains dimensions,
-    *         matching the tensor dimensions for input to the model,
-    *         where the last entry is the fastest varying dimension, etc.
-    *  
-    * @see zdl::DlSystem::ITensor
-    * @see zdl::DlSystem::TensorShape
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions() const noexcept;
-   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
-      getInputDimensions(const char *name) const noexcept;
-
-   /**
-    * @brief Gets the output layer(s) for the network. 
-    *  
-    * Note that the output layers returned by this function may be 
-    * different than those specified when the network was created 
-    * via the zdl::SNPE::SNPEBuilder. For example, if the
-    * network was created in debug mode with no explicit output 
-    * layers specified, this will contain all layers.
-    *
-    * @note Note that because the returned value is an Optional StringList,
-    * the list must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @return A List of output layer names.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
-      getOutputLayerNames() const noexcept;
-
-   /**
-     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
-     *
-     * @param[in] Tensor name.
-     *
-     * @return BufferAttributes of input/output tensor named
-     */
-   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Get the diagnostic logging interface
-    *
-    * @note Note that because the returned type is an Optional instance,
-    * it must be verified as a boolean true value before being
-    * dereferenced.
-    *
-    * @see zdl::DlSystem::Optional
-    */
-   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
-      getDiagLogInterface() noexcept;
-
-private:
-   SNPE(const SNPE&) = delete;
-   SNPE& operator=(const SNPE&) = delete;
-
-   std::unique_ptr<SnpeRuntime> m_Runtime;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index 5fc7846ced..0000000000
--- a/third_party/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,306 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2017-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_BUILDER_HPP_
-#define _SNPE_BUILDER_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/DlOptional.hpp"
-#include "DlSystem/TensorShapeMap.hpp"
-#include "DlSystem/PlatformConfig.hpp"
-#include "DlSystem/IOBufferDataTypeMap.hpp"
-#include "DlSystem/RuntimeList.hpp"
-
-namespace zdl {
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-struct SNPEBuilderImpl;
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The builder class for creating SNPE objects.
- * Not meant to be extended.
- */
-class ZDL_EXPORT SNPEBuilder final
-{
-private:
-   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
-public:
-
-   /**
-    * @brief Constructor of NeuralNetwork Builder with a supplied model.
-    *
-    * @param[in] container A container holding the model.
-    *
-    * @return A new instance of a SNPEBuilder object
-    *         that can be used to configure and build
-    *         an instance of SNPE.
-    *
-    */
-   explicit SNPEBuilder(
-      zdl::DlContainer::IDlContainer* container);
-   ~SNPEBuilder();
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the runtime processor.
-    *
-    * @param[in] targetRuntimeProcessor The target runtime.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessor(
-      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
-
-   /**
-    * @brief Requests a performance profile.
-    *
-    * @param[in] targetRuntimeProfile The target performance profile.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPerformanceProfile(
-      zdl::DlSystem::PerformanceProfile_t performanceProfile);
-
-   /**
-    * @brief Sets the profiling level. Default profiling level for
-    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
-    *
-    * @param[in] profilingLevel The target profiling level.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setProfilingLevel(
-      zdl::DlSystem::ProfilingLevel_t profilingLevel);
-
-    /**
-     * @brief Sets a preference for execution priority.
-     *
-     * This allows the caller to give coarse hint to SNPE runtime
-     * about the priority of the network.  SNPE runtime is free to use
-     * this information to co-ordinate between different workloads
-     * that may or may not extend beyond SNPE.
-     *
-     * @param[in] ExecutionPriorityHint_t The target performance profile.
-     *
-     * @return The current instance of SNPEBuilder.
-     */
-   SNPEBuilder& setExecutionPriorityHint(
-            zdl::DlSystem::ExecutionPriorityHint_t priority);
-
-    /**
-    * @brief Sets the layers that will generate output.
-    *
-    * @param[in] outputLayerNames List of layer names to
-    *                             output. An empty list will
-    *                             result in only the final
-    *                             layer of the model being
-    *                             the output layer.  The list
-    *                             will be copied.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setOutputLayers(
-      const zdl::DlSystem::StringList& outputLayerNames);
-
-   /**
-   * @brief Sets the output tensor names.
-   *
-   * @param[in] outputTensorNames List of tensor names to
-   *                             output. An empty list will
-   *                             result in producing output for the final
-   *                             output tensor of the model.
-   *                             The list will be copied.
-   *
-   * @return The current instance of SNPEBuilder.
-   */
-   SNPEBuilder& setOutputTensors(
-      const zdl::DlSystem::StringList& outputTensorNames);
-
-   /**
-    * @brief Passes in a User-defined layer.
-    *
-    * @param udlBundle Bundle of udl factory function and a cookie
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUdlBundle(
-      zdl::DlSystem::UDLBundle udlBundle);
-
-   /**
-    * @brief Sets whether this neural network will perform inference with
-    *        input from user-supplied buffers, and write output to user-supplied
-    *        buffers.  Default behaviour is to use tensors created by
-    *        ITensorFactory.
-    *
-    * @param[in] bufferMode Whether to use user-supplied buffer or not.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUseUserSuppliedBuffers(
-      bool bufferMode);
-
-    /**
-    * @brief Sets the debug mode of the runtime.
-    *
-    * @param[in] debugMode This enables debug mode for the runtime. It
-    *                      does two things. For an empty
-    *                      outputLayerNames list, all layers will be
-    *                      output. It might also disable some internal
-    *                      runtime optimizations (e.g., some networks
-    *                      might be optimized by combining layers,
-    *                      etc.).
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setDebugMode(
-      bool debugMode);
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
-    *       setRuntimeProcessorOrder()
-    *
-    * @brief Sets the mode of CPU fallback functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality
-    *                   of CPU fallback. When the CPU fallback
-    *                   functionality is enabled, layers in model that
-    *                   violates runtime constraints will run on CPU
-    *                   while the rest of non-violating layers will
-    *                   run on the chosen runtime processor. In
-    *                   disabled mode, models with layers violating
-    *                   runtime constraints will NOT run on the chosen
-    *                   runtime processor and will result in runtime
-    *                   exception. By default, the functionality is
-    *                   enabled.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setCPUFallbackMode(
-      bool mode);
-
-
-   /**
-    * @brief Sets network's input dimensions to enable resizing of
-    *        the spatial dimensions of each layer for fully convolutional networks,
-    *        and the batch dimension for all networks.
-    *
-    * @param[in] tensorShapeMap The map of input names and their new dimensions.
-    *                           The new dimensions overwrite the input dimensions
-    *                           embedded in the model and then resize each layer
-    *                           of the model. If the model contains
-    *                           layers whose dimensions cannot be resized e.g FullyConnected,
-    *                           exception will be thrown when SNPE instance is actually built.
-    *                           In general the batch dimension is always resizable.
-    *                           After resizing of layers' dimensions in model based
-    *                           on new input dimensions, the new model is revalidated
-    *                           against all runtime constraints, whose failures may
-    *                           result in cpu fallback situation.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
-
-   /**
-    * @brief Sets the mode of init caching functionality.
-    *
-    * @param[in] mode   This flag enables/disables the functionality of init caching.
-    *                   When init caching functionality is enabled, a set of init caches
-    *                   will be created during network building/initialization process
-    *                   and will be added to DLC container. If such DLC container is saved
-    *                   by the user, in subsequent network building/initialization processes
-    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
-    *                   In disable mode, no init caches will be added to DLC container.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setInitCacheMode(
-      bool cacheMode);
-
-   /**
-    * @brief Returns an instance of SNPE based on the current parameters.
-    *
-    * @return A new instance of a SNPE object that can be used
-    *         to execute models or null if any errors occur.
-    */
-   std::unique_ptr<SNPE> build() noexcept;
-
-   /**
-    * @brief Sets the platform configuration.
-    *
-    * @param[in] platformConfig The platform configuration.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
-
-   /**
-    * @brief Sets network's runtime order of precedence. Example:
-    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
-    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
-    *        setRuntimeProcessorOrder() is invoked
-    *
-    * @param[in] runtimeList The list of runtime in order of precedence
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
-
-    /**
-    * @brief Sets the unconsumed tensors as output
-    *
-    * @param[in] setOutput This enables unconsumed tensors (i.e)
-    *                      outputs which are not inputs to any
-    *                      layer (basically dead ends) to be marked
-    *                      for output
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setUnconsumedTensorsAsOutputs(
-      bool setOutput);
-
-    /**
-    * @brief Execution terminated when exceeding time limit.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] timeout Time limit value
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setTimeOut(
-      uint64_t timeout);
-
-
-   /**
-    * @brief Sets the datatype of the buffer.
-    *        Only valid for dsp runtime currently.
-    *
-    * @param[in] Map of the buffer names and the datatype that needs to be set.
-    *
-    * @return The current instance of SNPEBuilder.
-    */
-   SNPEBuilder& setBufferDataType(const zdl::DlSystem::IOBufferDataTypeMap& dataTypeMap);
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}}
-
-#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index 2d78e81b17..0000000000
--- a/third_party/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,220 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2015-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _SNPE_FACTORY_HPP_
-#define _SNPE_FACTORY_HPP_
-
-#include "SNPE/SNPE.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/UDLFunc.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/DlOptional.hpp"
-
-namespace zdl {
-   namespace DlSystem
-   {
-      class ITensorFactory;
-      class IUserBufferFactory;
-   }
-   namespace DlContainer
-   {
-      class IDlContainer;
-   }
-}
-
-
-
-namespace zdl { namespace SNPE {
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * The factory class for creating SNPE objects.
- *
- */
-class ZDL_EXPORT SNPEFactory
-{
-public:
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
-
-   /**
-    * Indicates whether the supplied runtime is available on the
-    * current platform.
-    *
-    * @param[in] runtime The target runtime to check.
-    *
-    * @param[in] option Extent to perform runtime available check.
-    *
-    * @return True if the supplied runtime is available; false,
-    *         otherwise.
-    */
-   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
-                                  zdl::DlSystem::RuntimeCheckOption_t option);
-
-   /**
-    * Gets a reference to the tensor factory.
-    *
-    * @return A reference to the tensor factory.
-    */
-   static zdl::DlSystem::ITensorFactory& getTensorFactory();
-
-   /**
-    * Gets a reference to the UserBuffer factory.
-    *
-    * @return A reference to the UserBuffer factory.
-    */
-   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
-
-   /**
-    * Gets the version of the SNPE library.
-    *
-    * @return Version of the SNPE library.
-    *
-    */
-   static zdl::DlSystem::Version_t getLibraryVersion();
-
-   /**
-    * Set the SNPE storage location for all SNPE instances in this
-    * process. Note that this may only be called once, and if so
-    * must be called before creating any SNPE instances.
-    *
-    * @param[in] storagePath Absolute path to a directory which SNPE may
-    *  use for caching and other storage purposes.
-    *
-    * @return True if the supplied path was succesfully set as
-    *  the SNPE storage location, false otherwise.
-    */
-   static bool setSNPEStorageLocation(const char* storagePath);
-
-   /**
-    * @brief Register a user-defined op package with SNPE.
-    *
-    * @param[in] regLibraryPath Path to the registration library
-    *                      that allows clients to register a set of operations that are
-    *                      part of the package, and share op info with SNPE
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool addOpPackage( const std::string& regLibraryPath );
-
-   /**
-    * Indicates whether the OpenGL and OpenCL interoperability is supported
-    * on GPU platform.
-    *
-    * @return True if the OpenGL and OpenCl interop is supported; false,
-    *         otherwise.
-    */
-   static bool isGLCLInteropSupported();
-
-   static const char* getLastError();
-
-   /**
-    * Initializes logging with the specified log level.
-    * initializeLogging with level, is used on Android platforms
-    * and after successful initialization, SNPE
-    * logs are printed in android logcat logs.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging().
-    *
-    * Please note, enabling logging can have performance impact.
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Initializes logging with the specified log level and log path.
-    * initializeLogging with level & log path, is used on non Android
-    * platforms and after successful initialization, SNPE
-    * logs are printed in std output & into log files created in the
-    * log path.
-    *
-    * It is recommended to initializeLogging before creating any
-    * SNPE instances, in order to capture information related to
-    * core initialization. If this is called again after first
-    * time initialization, subsequent calls are ignored.
-    * Also, Logging can be re-initialized after a call to
-    * terminateLogging API by calling initializeLogging again.
-    *
-    * A typical usage of Logging life cycle can be
-    * initializeLogging()
-    *        any other SNPE API like isRuntimeAvailable()
-    * * setLogLevel() - optional - can be called anytime
-    *         between initializeLogging & terminateLogging
-    *		  SNPE instance creation, inference, destroy
-    * terminateLogging()
-    *
-    * Please note, enabling logging can have performance impact
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @param[in] Path of directory to store logs.
-    *      If path is empty, the default path is "./Log".
-    *      For android, the log path is ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool initializeLogging(const zdl::DlSystem::LogLevel_t& level, const std::string& logPath);
-
-   /**
-    * Updates the current logging level with the specified level.
-    * setLogLevel is optional, called anytime after initializeLogging
-    * and before terminateLogging, to update the log level set.
-    * Log levels can be updated multiple times by calling setLogLevel
-    * A call to setLogLevel() is ignored if it is made before
-    * initializeLogging() or after terminateLogging()
-    *
-    * @param[in] LogLevel_t Log level (LOG_INFO, LOG_WARN, etc.).
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool setLogLevel(const zdl::DlSystem::LogLevel_t& level);
-
-   /**
-    * Terminates logging.
-    *
-    * It is recommended to terminateLogging after initializeLogging
-    * in order to disable logging information.
-    * If this is called before initialization or after first time termination,
-    * calls are ignored.
-    *
-    * @return True if successful, False otherwise.
-    */
-   static bool terminateLogging(void);
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-}}
-
-
-#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
deleted file mode 100644
index a660bca0f6..0000000000
--- a/third_party/snpe/include/SNPE/UserBufferList.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-#ifndef PSNPE_USERBUFFERLIST_HPP
-#define PSNPE_USERBUFFERLIST_HPP
-
-#include <vector>
-#include "DlSystem/UserBufferMap.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace PSNPE
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-/**
-* @brief .
-*
-* The class for creating a UserBufferMap container.
-*
-*/
-class ZDL_EXPORT UserBufferList final
-{
-public:
-   UserBufferList();
-   UserBufferList(const size_t size);
-   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
-   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
-   UserBufferList& operator =(const UserBufferList &other);
-   size_t size() const noexcept;
-   size_t capacity() const noexcept;
-   void clear() noexcept;
-   ~UserBufferList() = default;
-
-private:
-   void swap(const UserBufferList &other);
-   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
-
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // namespace PSNPE
-} // namespace zdl
-#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
deleted file mode 100644
index 7b2567920e..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoBase.h
+++ /dev/null
@@ -1,537 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_BASE_H
-#define SNPE_UDO_BASE_H
-
-#include <stdint.h>
-
-// Provide values to use for API version.
-#define API_VERSION_MAJOR 1
-#define API_VERSION_MINOR 6
-#define API_VERSION_TEENY 0
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-// Defines a bitmask of enum values.
-typedef uint32_t SnpeUdo_Bitmask_t;
-typedef SnpeUdo_Bitmask_t Udo_Bitmask_t;
-
-// A string of characters, rather than an array of bytes.
-// Assumed to be UTF-8.
-typedef char* SnpeUdo_String_t;
-typedef SnpeUdo_String_t Udo_String_t;
-
-// The maximum allowable length of a SnpeUdo_String_t in bytes,
-// including null terminator. SNPE will truncate strings longer
-// than this.
-#define SNPE_UDO_MAX_STRING_SIZE 1024
-
-/**
-  * An enum which holds the various error types.
-  * The error types are divided to classes :
-  * 0 - 99    : generic errors
-  * 100 - 200 : errors related to configuration
-  *
-  */
-typedef enum
-{
-   /// No Error
-   SNPE_UDO_NO_ERROR                    = 0,          UDO_NO_ERROR                    = 0,
-   /// Unsupported value for core type
-   SNPE_UDO_WRONG_CORE                  = 1,          UDO_WRONG_CORE                  = 1,
-   /// Invalid attribute/argument passed into UDO API
-   SNPE_UDO_INVALID_ARGUMENT            = 2,          UDO_INVALID_ARGUMENT            = 2,
-   /// Unsupported feature error
-   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,          UDO_UNSUPPORTED_FEATURE         = 3,
-   /// Error relating to memory allocation
-   SNPE_UDO_MEM_ALLOC_ERROR             = 4,          UDO_MEM_ALLOC_ERROR             = 4,
-   /* Configuration Specific errors */
-   /// No op with given attributes available in library
-   SNPE_UDO_WRONG_OPERATION             = 100,        UDO_WRONG_OPERATION             = 100,
-   /// Unsupported value for core type in UDO configuration
-   SNPE_UDO_WRONG_CORE_TYPE             = 101,        UDO_WRONG_CORE_TYPE             = 101,
-   /// Wrong number of params in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,        UDO_WRONG_NUM_OF_PARAMS         = 102,
-   /// Wrong number of dimensions for tensor(s) in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,        UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
-   /// Wrong number of input tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,        UDO_WRONG_NUM_OF_INPUTS         = 104,
-   /// Wrong number of output tensors in UDO definition
-   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,        UDO_WRONG_NUM_OF_OUTPUTS        = 105,
-   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,        UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
-   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF, UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
-} SnpeUdo_ErrorType_t;
-
-typedef SnpeUdo_ErrorType_t Udo_ErrorType_t;
-
-/**
-  * An enum which holds the various data types.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  * \n FIXED_XX types are targeted for data in tensors.
-  * \n UINT / INT types are targeted for scalar params
-  */
-typedef enum
-{
-   /// data type: 16-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,        UDO_DATATYPE_FLOAT_16       = 0x01,
-   /// data type: 32-bit floating point
-   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,        UDO_DATATYPE_FLOAT_32       = 0x02,
-   /// data type: 4-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,        UDO_DATATYPE_FIXED_4        = 0x04,
-   /// data type: 8-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,        UDO_DATATYPE_FIXED_8        = 0x08,
-   /// data type: 16-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,        UDO_DATATYPE_FIXED_16       = 0x10,
-   /// data type: 32-bit fixed point
-   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,        UDO_DATATYPE_FIXED_32       = 0x20,
-   /// data type: 8-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_8         = 0x100,       UDO_DATATYPE_UINT_8         = 0x100,
-   /// data type: 16-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_16        = 0x200,       UDO_DATATYPE_UINT_16        = 0x200,
-   /// data type: 32-bit unsigned integer
-   SNPE_UDO_DATATYPE_UINT_32        = 0x400,       UDO_DATATYPE_UINT_32        = 0x400,
-   /// data type: 8-bit signed integer
-   SNPE_UDO_DATATYPE_INT_8          = 0x1000,      UDO_DATATYPE_INT_8          = 0x1000,
-   /// data type: 16-bit signed integer
-   SNPE_UDO_DATATYPE_INT_16         = 0x2000,      UDO_DATATYPE_INT_16         = 0x2000,
-   /// data type: 32-bit signed integer
-   SNPE_UDO_DATATYPE_INT_32         = 0x4000,      UDO_DATATYPE_INT_32         = 0x4000,
-   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF,  UDO_DATATYPE_LAST           = 0xFFFFFFFF
-} SnpeUdo_DataType_t;
-
-typedef SnpeUdo_DataType_t Udo_DataType_t;
-
-/**
-  * An enum which holds the various layouts.
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// data layout (4D): NHWC (batch-height-width-channel)
-   SNPE_UDO_LAYOUT_NHWC             = 0x01,        UDO_LAYOUT_NHWC             = 0x01,
-   /// data layout (4D): NCHW (batch-channel-height-width)
-   SNPE_UDO_LAYOUT_NCHW             = 0x02,        UDO_LAYOUT_NCHW             = 0x02,
-   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
-   SNPE_UDO_LAYOUT_NDHWC            = 0x04,        UDO_LAYOUT_NDHWC            = 0x04,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,        UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
-   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,        UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,        UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
-   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,        UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
-   // Indicates no data will be allocated for this tensor.
-   // Used to specify optional inputs/outputs positionally.
-   SNPE_UDO_LAYOUT_NULL             = 0x13,        UDO_LAYOUT_NULL             = 0x13,
-   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF,  UDO_LAYOUT_LAST             = 0xFFFFFFFF
-} SnpeUdo_TensorLayout_t;
-
-typedef SnpeUdo_TensorLayout_t Udo_TensorLayout_t;
-
-/**
-  * An enum which holds the UDO library Core type .
-  * Designed to be used as single values or combined into a bitfield parameter
-  * (0x1, 0x2, 0x4, etc)
-  */
-typedef enum
-{
-   /// Library target IP Core is undefined
-   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,          UDO_CORETYPE_UNDEFINED   = 0x00,
-   /// Library target IP Core is CPU
-   SNPE_UDO_CORETYPE_CPU         = 0x01,          UDO_CORETYPE_CPU         = 0x01,
-   /// Library target IP Core is GPU
-   SNPE_UDO_CORETYPE_GPU         = 0x02,          UDO_CORETYPE_GPU         = 0x02,
-   /// Library target IP Core is DSP
-   SNPE_UDO_CORETYPE_DSP         = 0x04,          UDO_CORETYPE_DSP         = 0x04,
-   SNPE_UDO_CORETYPE_LAST        = 0xFFFFFFFF,    UDO_CORETYPE_LAST        = 0xFFFFFFFF
-} SnpeUdo_CoreType_t;
-
-typedef SnpeUdo_CoreType_t Udo_CoreType_t;
-
-/**
-  * An enum to specify the parameter type : Scalar or Tensor
-  */
-typedef enum
-{
-   /// UDO static param type: scalar
-   SNPE_UDO_PARAMTYPE_SCALAR = 0x00,         UDO_PARAMTYPE_SCALAR = 0x00,
-   /// UDO static param type: string
-   SNPE_UDO_PARAMTYPE_STRING = 0x01,         UDO_PARAMTYPE_STRING = 0x01,
-   /// UDO static param type: tensor
-   SNPE_UDO_PARAMTYPE_TENSOR = 0x02,         UDO_PARAMTYPE_TENSOR = 0x02,
-   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF,   UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
-} SnpeUdo_ParamType_t;
-
-typedef SnpeUdo_ParamType_t Udo_ParamType_t;
-
-/**
-  * An enum to specify quantization type
-  */
-typedef enum
-{
-   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
-   SNPE_UDO_QUANTIZATION_NONE   = 0x00,         UDO_QUANTIZATION_NONE   = 0x00,
-   /// Tensor Quantization type: Tensorflow-style
-   SNPE_UDO_QUANTIZATION_TF     = 0x01,         UDO_QUANTIZATION_TF     = 0x01,
-   SNPE_UDO_QUANTIZATION_QMN    = 0x02,         UDO_QUANTIZATION_QMN    = 0x02,
-   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF,   UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
-} SnpeUdo_QuantizationType_t;
-
-typedef SnpeUdo_QuantizationType_t Udo_QuantizationType_t;
-
-/**
- * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
- *
- */
-typedef struct
-{
-   /// version field: major - for backward-incompatible changes
-   uint32_t major;
-   /// version field: minor - for backward-compatible feature updates
-   uint32_t minor;
-   /// version field: teeny - for minor bug-fixes and clean-up
-   uint32_t teeny;
-} SnpeUdo_Version_t;
-
-typedef SnpeUdo_Version_t Udo_Version_t;
-
-/**
- * @brief A struct returned from version query, contains the Library version and API version
- *
- */
-typedef struct
-{
-   /// Version of UDO library. Controlled by users
-   SnpeUdo_Version_t libVersion;
-   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
-   SnpeUdo_Version_t apiVersion;
-} SnpeUdo_LibVersion_t;
-
-/**
- * @brief A struct returned from version query, contains the package version
- *
- */
-typedef struct
-{
-   /// Version of UDO API used in package.
-   Udo_Version_t apiVersion;
-} Udo_PkgVersion_t;
-
-/**
- * @brief A union to hold the value of a generic type. Allows defining a parameter struct
- * in a generic way, with a "value" location that holds the data regardless of the type.
- *
- */
-typedef union
-{
-   /// value type: float
-   float    floatValue;
-   /// value type: unsigned 32-bit integer
-   uint32_t uint32Value;
-   /// value type: signed 32-bit integer
-   int32_t  int32Value;
-   /// value type: unsigned 16-bit integer
-   uint16_t uint16Value;
-   /// value type: signed 16-bit integer
-   int16_t  int16Value;
-   /// value type: unsigned 8-bit integer
-   uint8_t  uint8Value;
-   /// value type: signed 8-bit integer
-   int8_t   int8Value;
-} SnpeUdo_Value_t;
-
-typedef SnpeUdo_Value_t Udo_Value_t;
-
-/**
- * @brief A struct which defines a scalar parameter : name, data type, and union of values
- *
- */
-typedef struct
-{
-   /// The parameter data type : float, int, etc.
-   SnpeUdo_DataType_t  dataType;
-   /// a union of specified type which holds the data
-   SnpeUdo_Value_t dataValue;
-} SnpeUdo_ScalarParam_t;
-
-typedef SnpeUdo_ScalarParam_t Udo_ScalarParam_t;
-
-/**
- * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
- *
- */
-typedef struct
-{
-   /// minimum value of the quantization range of data
-   float minValue;
-   /// maximum value of the quantization range of data
-   float maxValue;
-} SnpeUdo_TFQuantize_t;
-
-typedef SnpeUdo_TFQuantize_t Udo_TFQuantize_t;
-
-/**
- * @brief A struct which defines the quantization type, and union of supported quantization structs
- *
- */
-typedef struct
-{
-   /// quantization type (only TF-style currently supported)
-   SnpeUdo_QuantizationType_t quantizeType;
-   union
-   {
-     /// TF-style min-max quantization ranges
-     SnpeUdo_TFQuantize_t TFParams;
-   };
-} SnpeUdo_QuantizeParams_t;
-
-typedef SnpeUdo_QuantizeParams_t Udo_QuantizeParams_t;
-
-/**
- * @brief A struct which defines the datatype associated with a specified core-type
- * This should be used to denote the datatypes for a single tensor info, depending
- * on the intended execution core.
- *
- */
-typedef struct
-{
-    /// The IP Core
-    SnpeUdo_CoreType_t     coreType;
-    /// The associated datatype for this coreType
-    SnpeUdo_DataType_t       dataType;
-} SnpeUdo_PerCoreDatatype_t;
-
-typedef SnpeUdo_PerCoreDatatype_t Udo_PerCoreDatatype_t;
-
-/**
- * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
- *        Also holds a pointer to the tensor data.
- *
- */
-typedef struct
-{
-   /// The maximum allowable dimensions of the tensor. The memory held in
-   /// _tensorData_ is guaranteed to be large enough for this.
-   uint32_t*                maxDimensions;
-   /// The current dimensions of the tensor. An operation may modify the current
-   /// dimensions of its output, to indicate cases where the output has been
-   /// "resized".
-   /// Note that for static parameters, the current and max dimensions must
-   /// match.
-   uint32_t*                currDimensions;
-   /// Quantization params applicable to the tensor. Currently only supports
-   /// Tensorflow quantization style.
-   SnpeUdo_QuantizeParams_t quantizeParams;
-   /// Number of dimensions to the tensor: 3D, 4D, etc.
-   uint32_t                 tensorRank;
-   /// The parameter data type: float, int, etc.
-   SnpeUdo_DataType_t       dataType;
-   /// The tensor layout type: NCHW, NHWC, etc.
-   SnpeUdo_TensorLayout_t   layout;
-   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
-   /// based on core-specific definitions.
-   void*                    tensorData;
-} SnpeUdo_TensorParam_t;
-
-typedef SnpeUdo_TensorParam_t Udo_TensorParam_t;
-
-/**
- * @brief A struct which defines tensor information for activation tensors only
- *
- * It describes an activation tensor object using its name, the intended layout and the datatype
- * it will take depending on the intended runtime core. The repeated field indicates that
- * that the tensor info describes several input/output activation tensors, which all share the
- * aforementioned properties.
- */
-typedef struct
-{
-    /// The tensor name
-    SnpeUdo_String_t    tensorName;
-    /// The tensor layout type: NCHW, NHWC, etc.
-    SnpeUdo_TensorLayout_t   layout;
-    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
-    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
-    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
-    bool repeated;
-    /// A boolean field indicating whether input is static or not.
-    bool isStatic;
-} SnpeUdo_TensorInfo_t;
-
-typedef SnpeUdo_TensorInfo_t Udo_TensorInfo_t;
-
-/**
- * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
- *
- */
-typedef struct
-{
-   /// Type is scalar or tensor
-  SnpeUdo_ParamType_t paramType;
-  /// The param name, for example : "offset", "activation_type"
-  SnpeUdo_String_t    paramName;
-  union
-  {
-    /// scalar param value
-    SnpeUdo_ScalarParam_t scalarParam;
-    /// tensor param value
-    SnpeUdo_TensorParam_t tensorParam;
-    /// string param value
-    SnpeUdo_String_t      stringParam;
-  };
-} SnpeUdo_Param_t;
-
-typedef SnpeUdo_Param_t Udo_Param_t;
-
-/**
- * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
- *
- */
-typedef struct
-{
-   /// The IP Core
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
-   /// Based on SnpeUdo_DataType
-   SnpeUdo_Bitmask_t      operationCalculationTypes;
-} SnpeUdo_OpCoreInfo_t;
-
-typedef SnpeUdo_OpCoreInfo_t Udo_OpCoreInfo_t;
-
-/**
- * @brief A struct which defines the common and core-specific Operation information
- *
- */
-typedef struct
-{
-   /// Operation type
-   SnpeUdo_String_t      operationType;
-   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t     supportedByCores;
-   /// Number of static parameters defined by the op
-   uint32_t              numOfStaticParams;
-   /// Array of static parameters. Can be scalar or tensor params
-   SnpeUdo_Param_t*      staticParams;
-   /// Number of input tensors this op receives
-   uint32_t              numOfInputs;
-   /// Array of input tensor names to this operation
-   SnpeUdo_String_t*      inputNames;
-   /// Number of output tensors this op receives
-   uint32_t              numOfOutputs;
-   /// Array of output tensor names to this operation
-   SnpeUdo_String_t*      outputNames;
-   /// Number of cores that the op can execute on
-   uint32_t              numOfCoreInfo;
-   /// Array of per-core information entries
-   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
-    /// Array of input tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     inputInfos;
-   /// Array of output tensor infos for this operation
-   SnpeUdo_TensorInfo_t*     outputInfos;
-} SnpeUdo_OperationInfo_t;
-
-typedef SnpeUdo_OperationInfo_t Udo_OperationInfo_t;
-
-/**
- * @brief A struct which provides the implementation library info : type, name
- *
- */
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// library name. will be looked at in the standard library path
-   SnpeUdo_String_t       libraryName;
-} SnpeUdo_LibraryInfo_t;
-
-typedef SnpeUdo_LibraryInfo_t Udo_LibraryInfo_t;
-
-/**
- * @brief A struct returned by the registration library and contains information on the UDO package :
- * name, operations, libraries, etc.
- *
- */
-typedef struct
-{
-   /// A string containing the package name
-   SnpeUdo_String_t         packageName;
-   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
-   /// Translated based on SnpeUdo_CoreType
-   SnpeUdo_Bitmask_t        supportedCoreTypes;
-   /// The number of implementation libraries in the package
-   uint32_t                numOfImplementationLib;
-   /// Array of implementation libraries names/types
-   SnpeUdo_LibraryInfo_t*   implementationLib;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t         operationsString;
-   /// Number of supported operations
-   uint32_t                numOfOperations;
-   /// Array of Operation info structs. Each entry describes one
-   /// Operation (name, params, inputs, outputs)
-   SnpeUdo_OperationInfo_t* operationsInfo;
-} SnpeUdo_RegInfo_t;
-
-typedef SnpeUdo_RegInfo_t Udo_RegInfo_t;
-
-/**
-* @brief A struct returned by the implementation library and contains information on the
-* specific library: name, IP Core, operations, etc.
-*
-*/
-typedef struct
-{
-   /// Defines the IP Core that this implementation library is targeting
-   SnpeUdo_CoreType_t     udoCoreType;
-   /// A string containing the package name
-   SnpeUdo_String_t       packageName;
-   /// A string containing all operation types separated by space
-   SnpeUdo_String_t       operationsString;
-   /// Number of supported operations
-   uint32_t              numOfOperations;
-} SnpeUdo_ImpInfo_t;
-
-typedef SnpeUdo_ImpInfo_t Udo_ImpInfo_t;
-
-/**
- * @brief This struct defines an operation. It is used for validation
- * or creation of an operation.
- * In case of using it for creation, the static params which are tensors
- * contain pointers to the real data (weights, for example), and input/output
- * tensors also include pointers to the buffers used.
- */
-typedef struct
-{
-   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
-   SnpeUdo_CoreType_t      udoCoreType;
-   /// Operation type
-   SnpeUdo_String_t        operationType;
-   /// The number of static parameters provided in the staticParams array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfStaticParams;
-   /// Array of static parameters
-   SnpeUdo_Param_t*        staticParams;
-   /// The number of input parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfInputs;
-   /// Array of input tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  inputs;
-   /// The number of output parameters provided in inputs array.
-   /// this number has to match the number provided by the UDO Registration library information
-   uint32_t               numOfOutputs;
-   /// Array of output tensors, providing layout, data type, sizes, etc
-   /// When used to create an operation, also contains the initial location of the data
-   SnpeUdo_TensorParam_t*  outputs;
-} SnpeUdo_OpDefinition_t;
-
-typedef SnpeUdo_OpDefinition_t Udo_OpDefinition_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
deleted file mode 100644
index a0cb648cf7..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImpl.h
+++ /dev/null
@@ -1,343 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_IMPL_H
-#define SNPE_UDO_IMPL_H
-
-#include <stdbool.h>
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
-typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
-
-typedef SnpeUdo_OpFactory_t Udo_OpFactory_t;
-typedef SnpeUdo_Operation_t Udo_Operation_t;
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in error.
- *
- * @param[in] globalInfrastructure Global core-specific infrastructure to be
- *            used by operations created in this library. The definition and
- *            semantics of this object will be defined in the corresponding
- *            implementation header for the core type.
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initImplLibrary(void* globalInfrastructure);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitImplLibraryFunction_t)(void*);
-
-/**
- * @brief A function to query the API version of the UDO implementation library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_initImplLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateImplLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query info on the UDO implementation library.
- *        The function populates a structure which contains information about
- *        operations that are part of this library
- *
- * @param[in, out] implementationInfo A pointer to struct which contains information
- *                 on the operations
- *
- * @return error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
-
-typedef SnpeUdo_GetImpInfoFunction_t Udo_GetImpInfoFunction_t;
-
-/**
- * @brief A function to create an operation factory.
- *        The function receives the operation type, and an array of static parameters,
- *        and returns operation factory handler
- *
- * @param[in] udoCoreType The Core type to create the operation on. An error will
- *            be returned if this does not match the core type of the library.
- *
- * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
- *            core type. The definition and semantics of this object will be defined
- *            in the corresponding implementation header for the core type.
- *
- * @param[in] operationType A string containing Operation type. for example "MY_CONV"
- *
- * @param[in] numOfStaticParams The number of static parameters.
- *
- * @param[in] staticParams Array of static parameters
- *
- * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
-                        void*                perFactoryInfrastructure,
-                        SnpeUdo_String_t      operationType,
-                        uint32_t             numOfStaticParams,
-                        SnpeUdo_Param_t*      staticParams,
-                        SnpeUdo_OpFactory_t*  opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
-                                     void*,
-                                     SnpeUdo_String_t,
-                                     uint32_t,
-                                     SnpeUdo_Param_t*,
-                                     SnpeUdo_OpFactory_t*);
-
-typedef SnpeUdo_CreateOpFactoryFunction_t Udo_CreateOpFactoryFunction_t;
-
-/**
- * @brief A function to release the resources allocated for an operation factory
- *        created by this library.
- *
- * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
-
-typedef SnpeUdo_ReleaseOpFactoryFunction_t Udo_ReleaseOpFactoryFunction_t;
-
-/**
- * @brief A function to create an operation from the factory.
- *        The function receives array of inputs and array of outputs, and creates an operation
- *        instance, returning the operation instance handler.
- *
- * @param[in] opFactory OpFactory instance containing the parameters for this operation.
- *
- * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
- *            and semantics of this object will be defined in the implementation header
- *            appropriate to this core type.
- *
- * @param[in] numOfInputs The number of input tensors this operation will receive.
- *
- * @param[in] inputs Array of input tensors, providing both the sizes and initial
- *            location of the data.
- *
- * @param[in] numOfOutputs Number of output tensors this operation will produce.
- *
- * @param[in] outputs Array of output tensors, providing both the sizes and
- *            initial location of the data.
- *
- * @param[in,out] operation Handle for newly created operation instance.
- *
- * @return Error Code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
-                        void*                 perOpInfrastructure,
-                        uint32_t              numOfInputs,
-                        SnpeUdo_TensorParam_t* inputs,
-                        uint32_t              numOfOutputs,
-                        SnpeUdo_TensorParam_t* outputs,
-                        SnpeUdo_Operation_t*   operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
-                                     void*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     uint32_t,
-                                     SnpeUdo_TensorParam_t*,
-                                     SnpeUdo_Operation_t*);
-
-typedef SnpeUdo_CreateOperationFunction_t Udo_CreateOperationFunction_t;
-
-/**
- * @brief A pointer to notification function.
- *
- *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
- *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
- *        notify function, this function will be called by the implementation library at the
- *        end of execution. The implementation library will pass the notify function the ID
- *        that was provided to it when "executeUdoOp" was called.
- *
- * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
- *            Can be used to track the notifications, in case of multiple execute calls issued.
- *
- * @return Error code
- *
- */
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
-
-typedef SnpeUdo_ExternalNotify_t Udo_ExternalNotify_t;
-
-/**
- * @brief Operation execution function.
- *
- *        Calling this function will run the operation on set of inputs, generating a set of outputs.
- *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
- *        non-blocking mode, the calling entity can pass an ID and a notification function.
- *        At the end of the execution this notification function would be called, passing it the ID.
- *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
- *
- * @param[in] operation handle to the operation on which execute is invoked
- * @param[in] blocking flag to indicate execution mode.
- *            If set, execution is blocking,
- *            e.g SnpeUdo_executeOp call does not return until execution is done.
- *            If not set, SnpeUdo_executeOp returns immediately, and the
- *            library will call the notification function (if set) when execution is done.
- *
- * @param[in] ID 32-bit number that can be used by the calling entity to track execution
- *            in case of non-blocking execution.
- *            For example, it can be a sequence number, increased by one on each call.
- *
- * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
- *            non-blocking, the library will call this function at end of execution,
- *            passing the number provided as ID
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
-                  bool         blocking,
-                  const uint32_t ID,
-                  SnpeUdo_ExternalNotify_t notifyFunc);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
-                               bool,
-                               const uint32_t,
-                               SnpeUdo_ExternalNotify_t);
-
-typedef SnpeUdo_ExecuteOpFunction_t Udo_ExecuteOpFunction_t;
-
-/**
- * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
- *        returned from creation of a new operation instance.
- *        <b> Not supported in this release. </b>
- *
- *        This function allows the calling entity to change some of the inputs and outputs
- *        between calls to execute.
- *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
- *        Any other change may be rejected by the implementation library, causing
- *        immediate invalidation of the operation instance
- *
- * @param[in] operation Operation on which IO tensors are set
- *
- * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation inputs, providing only those that it wants to change.
- *
- * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
- *            operation outputs, providing only those that it wants to change.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
-                SnpeUdo_TensorParam_t* inputs,
-                SnpeUdo_TensorParam_t* outputs);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
-                             SnpeUdo_TensorParam_t*,
-                             SnpeUdo_TensorParam_t*);
-
-typedef SnpeUdo_SetOpIOFunction_t Udo_SetOpIOFunction_t;
-
-/**
- * @brief A function to return execution times.
- *
- *        This function can be called to query the operation execution times on the IP core
- *        on which the operation is run. The time is provided in micro-seconds
- *
- * @param[in] operation Handle to operation whose execution time is being profiled
- *
- * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
- *                execution time in usec into this value.
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
-
-typedef SnpeUdo_ProfileOpFunction_t Udo_ProfileOpFunction_t;
-
-/**
- * @brief A function to release the operation instance
- *        \n When it is called, the implementation library needs to release all resources
- *        allocated for this operation instance.
- *        \n Note that all function pointers which are part of SnpeUdo_Operation become
- *        <b> invalid </b> once releaseUdoOp call returns.
- *
- * @param[in] operation Handle to operation to be released
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
-
-typedef SnpeUdo_ReleaseOpFunction_t Udo_ReleaseOpFunction_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
deleted file mode 100644
index 3bbe0638e6..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
+++ /dev/null
@@ -1,44 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a CPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_CPU_H
-#define SNPE_UDO_IMPL_CPU_H
-
-#include <stdio.h>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief This struct provides the infrastructure needed by a developer of
- * CPU UDO Implementation library.
- *
- * The framework/runtime which loads the CPU UDO implementation library provides
- * this infrastructure data to the loaded library at the time of op factory creation.
- * as an opaque pointer. It contains hooks for the UDO library to invoke supported
- * functionality at the time of execution
- *
- * @param getData function pointer to retrieve raw tensor data from opaque pointer
- *  passed into the UDO when creating an instance.
- * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
- */
-
-typedef struct
-{
-   /// function pointer to retrieve raw tensor data from opaque pointer
-   /// passed into the UDO when creating an instance.
-   float* (*getData)(void*);
-   /// function pointer to retrieve tensor data size from opaque pointer
-   size_t (*getDataSize) (void*);
-} SnpeUdo_CpuInfrastructure_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
deleted file mode 100644
index b97a649320..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
+++ /dev/null
@@ -1,207 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-//==============================================================================
-/*
- * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
- *
- */
-//==============================================================================
-
-
-// Header to be used by a DSP Hexnn UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_DSP_H
-#define SNPE_UDO_IMPL_DSP_H
-#include <stdio.h>
-#include "SnpeUdo/UdoImpl.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        This function is HexNN specific, use case is when registration library is not in use.
- *        Optional function.
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @return Error code, indicating if the operation can be created on this set of configuration or not.
- *
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
-                           uint32_t numOfStaticParams,
-                           const SnpeUdo_Param_t* staticParams);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
-                                                                    uint32_t,
-                                                                    const SnpeUdo_Param_t*);
-
-typedef SnpeUdo_ValidateOperationFunction_t Udo_ValidateOperationFunction_t;
-
-// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
-typedef enum {
-        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,        UDO_DSP_TENSOR_LAYOUT_PLAIN = 0x00,
-        SNPE_UDO_DSP_TENSOR_LAYOUT_D32   = 0x01,        UDO_DSP_TENSOR_LAYOUT_D32   = 0x01
-} SnpeUdo_HexNNTensorLayout_t;
-
-typedef SnpeUdo_HexNNTensorLayout_t Udo_HexNNTensorLayout_t;
-
-/**
- * @brief A function to query numbers of inputs and outputs,
- *        quantization type of each input and each output as arrays,
- *        and data layout (plain vs d32) of each input and each output as arrays
- *        of an operation.
- * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
- * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
- *
- * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
- * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
- *
- * @param[in] operationType Operation type
- * @param[in] numOfStaticParams Number of static params defined by the op
- * @param[in] staticParams Array of static params to the op
- * @param[in,out] numOfInputs Number of input tensors to the op
- * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
- * @param[in,out] inputsLayouts Array of layout type for each input tensor
- * @param[in,out] numOfOutputs Number of output tensors to the op
- * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
- * @param[in,out] outputsLayouts Array of layout type for each output tensor
- * @return error code, indicating status of query
- */
-
-SnpeUdo_ErrorType_t
-SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
-                        uint32_t numOfStaticParams,
-                        const SnpeUdo_Param_t* staticParams,
-                        uint32_t* numOfInputs,
-                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
-                        uint32_t* numOfOutputs,
-                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
-                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
-
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
-                                                                 uint32_t,
-                                                                 const SnpeUdo_Param_t*,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**,
-                                                                 uint32_t*,
-                                                                 SnpeUdo_QuantizationType_t**,
-                                                                 SnpeUdo_HexNNTensorLayout_t**);
-
-typedef SnpeUdo_QueryOperationFunction_t Udo_QueryOperationFunction_t;
-
-// Global infrastructure functions supported by Hexagon-NN v2
-typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
-typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
-typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
-                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
-                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
-                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
-typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
-                                                   uint32_t batch,
-                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
-                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
-                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
-                                                   SnpeUdo_DataType_t dataType);
-typedef void* (*udoMemalign_t) (size_t n, size_t size);
-typedef void* (*udoMalloc_t) (size_t size);
-typedef void* (*udoCalloc_t) (size_t n, size_t size);
-typedef void (*udoFree_t) (void* ptr);
-typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
-typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
-typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
-typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
-
-typedef struct hexNNv2GlobalInfra {
-    udoSetOutputTensorSize_t udoSetOutputTensorSize;
-    udoGetInputD32Paddings_t udoGetInputD32Paddings;
-    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
-    udoMemalign_t udoMemalign;
-    udoMalloc_t udoMalloc;
-    udoCalloc_t udoCalloc;
-    udoFree_t udoFree;
-    udoGetVtcmSize_t udoGetVtcmSize;
-    udoGetVtcmPtr_t udoGetVtcmPtr;
-    udoVtcmIsReal_t udoVtcmIsReal;
-    udoRunWorkerThreads_t udoRunWorkerThreads;
-} SnpeUdo_HexNNv2GlobalInfra_t;
-
-typedef SnpeUdo_HexNNv2GlobalInfra_t Udo_HexNNv2GlobalInfra_t;
-
-// hexnn types
-typedef enum hexnnInfraType {
-   UDO_INFRA_HEXNN_V2,
-   UDO_INFRA_HEXNN_V3   // reserved, do not use
-} SnpeUdo_HexNNInfraType_t;
-
-typedef SnpeUdo_HexNNInfraType_t Udo_HexNNInfraType_t;
-
-typedef struct {
-    Udo_CreateOpFactoryFunction_t create_op_factory;
-    Udo_CreateOperationFunction_t create_operation;
-    Udo_ExecuteOpFunction_t execute_op;
-    Udo_ReleaseOpFunction_t release_op;
-    Udo_ReleaseOpFactoryFunction_t release_op_factory;
-    Udo_ValidateOperationFunction_t validate_op;
-    Udo_QueryOperationFunction_t query_op;
-} udo_func_package_t;
-
-/**
- * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
- *
- * The framework/runtime which loads the Hexnn UDO implementation library provides
- * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
- * function, and passing it (cast to void*). The Hexnn UDO library is expected
- * to cast it back to this structure.
- *
- */
-typedef struct dspGlobalInfrastructure {
-    SnpeUdo_Version_t   dspInfraVersion;     // api version
-    SnpeUdo_HexNNInfraType_t infraType;
-    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
-} SnpeUdo_DspGlobalInfrastructure_t;
-
-typedef SnpeUdo_DspGlobalInfrastructure_t Udo_DspGlobalInfrastructure_t;
-
-/**
- * hexnn v2 per op factory infrastructure
- *
- * The framework/runtime passes per op factory infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
- * UDO implementation library is expected to cast it back to this following struct.
- *
- */
-typedef struct hexnnv2OpFactoryInfra {
-   unsigned long graphId;
-} SnpeUdo_HexNNv2OpFactoryInfra_t;
-
-typedef SnpeUdo_HexNNv2OpFactoryInfra_t Udo_HexNNv2OpFactoryInfra_t;
-
-/**
- * hexnn v2 per operation infrastructure
- *
- * The framework/runtime passes per operation infrastructure as a void pointer
- * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
- * UDO implementation library is expected to cast it to the following type and save it.
- *
- * This is needed to be passed back into some functions from global infrastructure.
- *
- */
-typedef void* SnpeUdo_HexNNv2OpInfra_t;
-
-typedef SnpeUdo_HexNNv2OpInfra_t Udo_HexNNv2OpInfra_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
deleted file mode 100644
index 1af654d110..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
+++ /dev/null
@@ -1,112 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-// Header to be used by a GPU UDO Implementation library
-
-#ifndef SNPE_UDO_IMPL_GPU_H
-#define SNPE_UDO_IMPL_GPU_H
-
-#include "CL/cl.h"
-#include "SnpeUdo/UdoBase.h"
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * This header defines version 0.0.0 of the GPU UDO Infrastructure.
- * It defines the interpretation of the global and per-OpFactory infrastructure pointers
- * as well as the interpretation of tensorData pointers.
- *
- * The per-Operation infrastructure pointer is defined to be null, and should not be used.
- *
- * The SnpeUdoTensorParam_t struct below provides the interpretation for
- * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
- *
- * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
- * as a host-readable data pointer.
- *
- */
-
-/**
- * @brief Function to retrieve opencl program from Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is pointer to opencl program which will be populated with
- * valid opencl program if found in Program Cache repository.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
-   (void* programCache, const char* programName, cl_program* program);
-
-/**
- * @brief Function to store valid opencl program in Program Cache repository.
- * @param programCache is opaque pointer to Program Cache repository provided by
- * SNPE GPU UDO runtime.
- * @param programName is name associated with opencl program for UDO.
- * @param program is valid opencl program after program is built.
- * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
- * on success.
- * */
-typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
-   (void* programCache, const char * programName, cl_program program);
-
-/**
- * @brief Global Infrastructure Definition for GPU UDO Implementations.
- */
-typedef struct {
-   // Infrastructure definition version. This header is 0.0.0
-   SnpeUdo_Version_t   gpuInfraVersion;
-   SnpeUdo_getProgram_t SnpeUdo_getProgram;
-   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
-} SnpeUdo_GpuInfrastructure_t;
-
-/**
- * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
- * @note  This version of the infrastructure definition guarantees that the same
- *        Per OpFactory infrastructure pointer will be provided to all OpFactories
- *        in the same network.
- */
-typedef struct
-{
-   cl_context context;
-   cl_command_queue commandQueue;
-   void* programCache;
-} SnpeUdo_GpuOpFactoryInfrastructure_t;
-
-/**
- * @brief Opaque tensorData definition for operation inputs and outputs.
- *
- * The following is a list of all SnpeUdoTensorLayout_t values supported by the
- * GPU UDO implementation, and how the parameters of the struct should be
- * interpreted in each case:
- *
- * SNPE_UDO_LAYOUT_NHWC:
- *   mem shall be single-element array, pointing to a cl buffer memory object.
- *   the dimensions of this object match the dimensions specified in the encompassing
- *   SnpeUdoTensorParam_t's currDimensions.
- *
- *   memCount shall be 1.
- *
- *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
- *   implementation.
- *
- */
-typedef struct
-{
-   cl_mem*   mem;
-   uint32_t  memCount;
-   uint32_t  paddedRank;
-   uint32_t* paddedDimensions;
-
-} SnpeUdo_GpuTensorData_t;
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
deleted file mode 100644
index a5d2398833..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoReg.h
+++ /dev/null
@@ -1,108 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_REG_H
-#define SNPE_UDO_REG_H
-
-#include "SnpeUdo/UdoShared.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief Initialize the shared library's data structures. Calling any other
- *        library function before this one will result in an error being returned.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_initRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_InitRegLibraryFunction_t)(void);
-
-/**
- * @brief A function to query the API version of the UDO registration library.
- *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
- *        struct for API version and library version.
- *
- * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
- *                 library and api versions.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
-
-/**
- * @brief Release the shared library's data structures, and invalidate any
- *        handles returned by the library. The behavior of any outstanding
- *        asynchronous calls made to this library when this function is called
- *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
- *        return an error after this function has been successfully called.
- *
- *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
- *        function, and re-initialize the library.
- *
- * @return Error code
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_terminateRegLibrary(void);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
-
-
-/**
- * @brief A function to query the info on the UDO set.
- *        The function populates a structure which contains information about
- *        the package and operations contained in it.
- *
- * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
-
-/**
- * @brief A function to validate that a set of params is supported by an operation
- *        The function receives an operation definition struct, and returns if this configuration is
- *        supported (e.g. if an operation can be created using this configuration)
- *
- * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
- *            validate that an operation can be created with this configuration.
- *
- * @return Error code, indicating is the operation can be created on this set or not.
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
deleted file mode 100644
index 418d9db9e2..0000000000
--- a/third_party/snpe/include/SnpeUdo/UdoShared.h
+++ /dev/null
@@ -1,48 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2019-2021 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef SNPE_UDO_SHARED_H
-#define SNPE_UDO_SHARED_H
-
-#include "SnpeUdo/UdoBase.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief A function to return the various versions as they relate to the UDO
- *        The function returns a struct containing the the following:
- *        libVersion: the version of the implementation library compiled for the UDO. Set by user
- *        apiVersion: the version of the UDO API used in compiling the implementation library.
- *        Set by SNPE
- *
- * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
- *
- * @return Error code
- *
- */
-SnpeUdo_ErrorType_t
-SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_ErrorType_t
-(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
-
-typedef SnpeUdo_GetVersionFunction_t Udo_GetVersionFunction_t;
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // SNPE_UDO_SHARED_H
diff --git a/third_party/snpe/larch64 b/third_party/snpe/larch64
deleted file mode 120000
index 2e2a1c315b..0000000000
--- a/third_party/snpe/larch64
+++ /dev/null
@@ -1 +0,0 @@
-aarch64-ubuntu-gcc7.5
\ No newline at end of file
diff --git a/third_party/snpe/x86_64 b/third_party/snpe/x86_64
deleted file mode 120000
index 700025efab..0000000000
--- a/third_party/snpe/x86_64
+++ /dev/null
@@ -1 +0,0 @@
-x86_64-linux-clang
\ No newline at end of file
diff --git a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so b/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
deleted file mode 100644
index 20d1377a01..0000000000
--- a/third_party/snpe/x86_64-linux-clang/libHtpPrepare.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c4c33680010a8c7b2eef33e809844c0ad1d5ab0f0ec37abd49d924204670b357
-size 13556072
diff --git a/third_party/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
deleted file mode 100644
index 0367b1106b..0000000000
--- a/third_party/snpe/x86_64-linux-clang/libSNPE.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:024891d2e4e4e265a1e7e72b27bad41ee6ae077d2197f45959bb32f8071dc8cf
-size 5350008
diff --git a/third_party/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
deleted file mode 100755
index db98cba162..0000000000
--- a/third_party/snpe/x86_64-linux-clang/libomp.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f4784aa68e7ebdbe97db732eab87618b0a5fb73abeab4daed5476e01829b0e6e
-size 759208
diff --git a/tinygrad_repo b/tinygrad_repo
index 0e34f9082e..3501a71478 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b
+Subproject commit 3501a714785ff370cffb966a45d5f9cdf6c9ea7a
diff --git a/tools/Brewfile b/tools/Brewfile
new file mode 100644
index 0000000000..af610be75d
--- /dev/null
+++ b/tools/Brewfile
@@ -0,0 +1,15 @@
+brew "git-lfs"
+brew "capnp"
+brew "coreutils"
+brew "eigen"
+brew "ffmpeg"
+brew "glfw"
+brew "libusb"
+brew "libtool"
+brew "llvm"
+brew "openssl@3.0"
+brew "qt@5"
+brew "zeromq"
+cask "gcc-arm-embedded"
+brew "portaudio"
+brew "gcc@13"
diff --git a/tools/README.md b/tools/README.md
index 69b0e025e8..d52c8f4522 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -8,42 +8,26 @@ Most of openpilot should work natively on macOS. On Windows you can use WSL for
 
 ## Native setup on Ubuntu 24.04 and macOS
 
+Follow these instructions for a fully managed setup experience. If you'd like to manage the dependencies yourself, just read the setup scripts in this directory.
+
 **1. Clone openpilot**
-
-NOTE: This repository uses Git LFS for large files. Ensure you have [Git LFS](https://git-lfs.com/) installed and set up before cloning or working with it.
-
-Either do a partial clone for faster download:
 ``` bash
-git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
-```
-
-or do a full clone:
-``` bash
-git clone --recurse-submodules https://github.com/commaai/openpilot.git
+git clone https://github.com/commaai/openpilot.git
 ```
 
 **2. Run the setup script**
-
 ``` bash
 cd openpilot
 tools/op.sh setup
 ```
 
-**3. Git LFS**
-
-``` bash
-git lfs pull
-```
-
-**4. Activate a python shell**
-
+**3. Activate a Python shell**
 Activate a shell with the Python dependencies installed:
 ``` bash
 source .venv/bin/activate
 ```
 
-**5. Build openpilot**
-
+**4. Build openpilot**
 ``` bash
 scons -u -j$(nproc)
 ```
@@ -62,8 +46,6 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 ## Directory Structure
 
 ```
-├── ubuntu_setup.sh     # Setup script for Ubuntu
-├── mac_setup.sh        # Setup script for macOS
 ├── cabana/             # View and plot CAN messages from drives or in realtime
 ├── camerastream/       # Cameras stream over the network
 ├── joystick/           # Control your car with a joystick
diff --git a/tools/auto_source.py b/tools/auto_source.py
index 401929a9ad..bef6a43e53 100755
--- a/tools/auto_source.py
+++ b/tools/auto_source.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import sys
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 
 def main():
@@ -9,7 +9,7 @@ def main():
     sys.exit(1)
 
   log_path = sys.argv[1]
-  lr = LogReader(log_path, sort_by_time=True)
+  lr = LogReader(log_path, default_mode=ReadMode.AUTO, sort_by_time=True)
   print("\n".join(lr.logreader_identifiers))
 
 
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index fd8f691d19..f91d6a1441 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -1,4 +1,3 @@
-import asyncio
 import dataclasses
 import json
 import logging
@@ -6,8 +5,6 @@ import os
 import ssl
 import subprocess
 
-import pyaudio
-import wave
 from aiohttp import web
 from aiohttp import ClientSession
 
@@ -22,35 +19,6 @@ TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
 WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
 
 
-## UTILS
-async def play_sound(sound: str):
-  SOUNDS = {
-    "engage": "selfdrive/assets/sounds/engage.wav",
-    "disengage": "selfdrive/assets/sounds/disengage.wav",
-    "error": "selfdrive/assets/sounds/warning_immediate.wav",
-  }
-  assert sound in SOUNDS
-
-  chunk = 5120
-  with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf:
-    def callback(in_data, frame_count, time_info, status):
-      data = wf.readframes(frame_count)
-      return data, pyaudio.paContinue
-
-    p = pyaudio.PyAudio()
-    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
-                    channels=wf.getnchannels(),
-                    rate=wf.getframerate(),
-                    output=True,
-                    frames_per_buffer=chunk,
-                    stream_callback=callback)
-    stream.start_stream()
-    while stream.is_active():
-      await asyncio.sleep(0)
-    stream.stop_stream()
-    stream.close()
-    p.terminate()
-
 ## SSL
 def create_ssl_cert(cert_path: str, key_path: str):
   try:
@@ -86,14 +54,6 @@ async def ping(request: 'web.Request'):
   return web.Response(text="pong")
 
 
-async def sound(request: 'web.Request'):
-  params = await request.json()
-  sound_to_play = params["sound"]
-
-  await play_sound(sound_to_play)
-  return web.json_response({"status": "ok"})
-
-
 async def offer(request: 'web.Request'):
   params = await request.json()
   body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
@@ -111,14 +71,13 @@ def main():
   # Enable joystick debug mode
   Params().put_bool("JoystickDebugMode", True)
 
-  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
+  # App needs to be HTTPS for WebRTC to work on the browser
   ssl_context = create_ssl_context()
 
   app = web.Application()
   app.router.add_get("/", index)
   app.router.add_get("/ping", ping, allow_head=True)
   app.router.add_post("/offer", offer)
-  app.router.add_post("/sound", sound)
   app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
   web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
 
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 362a51f5c9..3d64f83204 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,6 +1,6 @@
 moc_*
 *.moc
 
-cabana
+_cabana
 dbc/car_fingerprint_to_dbc.json
 tests/test_cabana
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 7933098e34..a721b1aa13 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -45,17 +45,17 @@ cabana --demo
 To load a specific route for replay, provide the route as an argument:
 
 ```shell
-cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+cabana "5beb9b58bd12b691/0000010a--a51155e496"
 ```
 
-Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+Replace "5beb9b58bd12b691/0000010a--a51155e496" with your desired route identifier.
 
 
 ### Running Cabana with multiple cameras
 To run Cabana with multiple cameras, use the following command:
 
 ```shell
-cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+cabana "5beb9b58bd12b691/0000010a--a51155e496" --dcam --ecam
 ```
 
 ### Streaming CAN Messages from a comma Device
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 1cacaba4a2..098a6351b7 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,21 +1,84 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'widgets')
+import subprocess
+import os
+import shutil
+
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+
+# Detect Qt - skip build if not available
+if arch == "Darwin":
+  try:
+    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+    has_qt = os.path.isdir(os.path.join(brew_prefix, "opt/qt@5"))
+  except (FileNotFoundError, subprocess.CalledProcessError):
+    has_qt = False
+else:
+  has_qt = shutil.which('qmake') is not None
+if not has_qt:
+  Return()
+
+SConscript(['#tools/replay/SConscript'])
+Import('replay_lib')
+
+qt_env = env.Clone()
+qt_modules = ["Widgets", "Gui", "Core"]
+
+qt_libs = []
+if arch == "Darwin":
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
+  qt_dirs = [
+    os.path.join(qt_env['QTDIR'], "include"),
+  ]
+  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
+  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
+  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
+else:
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
+  qt_dirs = [
+    f"{qt_install_headers}",
+  ]
+
+  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
+  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
+  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
+
+  qt_libs = [f"Qt5{m}" for m in qt_modules] + ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+qt_env.Tool('qt3')
+
+qt_env['CPPPATH'] += qt_dirs
+qt_flags = [
+  "-D_REENTRANT",
+  "-DQT_NO_DEBUG",
+  "-DQT_WIDGETS_LIB",
+  "-DQT_GUI_LIB",
+  "-DQT_CORE_LIB",
+  "-DQT_MESSAGELOGCONTEXT",
+]
+qt_env['CXXFLAGS'] += qt_flags
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
+qt_env['LIBS'] = qt_libs
 
 base_frameworks = qt_env['FRAMEWORKS']
-base_libs = [common, messaging, cereal, visionipc, 'qt_util', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 if arch == "Darwin":
-  base_frameworks.append('OpenCL')
   base_frameworks.append('QtCharts')
-  base_frameworks.append('QtSerialBus')
 else:
-  base_libs.append('OpenCL')
   base_libs.append('Qt5Charts')
-  base_libs.append('Qt5SerialBus')
 
-qt_libs = ['qt_util'] + base_libs
+qt_libs = base_libs
 
 cabana_env = qt_env.Clone()
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+if arch == "Darwin":
+  cabana_env['CPPPATH'] += [f"{brew_prefix}/include"]
+  cabana_env['LIBPATH'] += [f"{brew_prefix}/lib"]
+
+cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -27,10 +90,11 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
 
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
                                                'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
-                                               'utils/export.cc', 'utils/util.cc',
+                                               'utils/export.cc', 'utils/util.cc', 'utils/elidedlabel.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'panda.cc',
+                                               'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
   cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
@@ -39,4 +103,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc_repo', "#cereal", "#msgq_repo"])
+cabana_env.Depends(generate_dbc, ["#common", '#opendbc_repo', "#cereal", "#msgq_repo"])
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index eb0af5b64a..0be28f06b7 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -111,7 +111,8 @@ void BinaryView::highlight(const cabana::Signal *sig) {
   if (sig != hovered_sig) {
     for (int i = 0; i < model->items.size(); ++i) {
       auto &item_sigs = model->items[i].sigs;
-      if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) {
+      auto has = [](const auto &v, auto p) { return std::find(v.begin(), v.end(), p) != v.end(); };
+      if ((sig && has(item_sigs, sig)) || (hovered_sig && has(item_sigs, hovered_sig))) {
         auto index = model->index(i / model->columnCount(), i % model->columnCount());
         emit model->dataChanged(index, index, {Qt::DisplayRole});
       }
@@ -157,7 +158,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 void BinaryView::highlightPosition(const QPoint &pos) {
   if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
-    const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back();
     highlight(sig);
   }
 }
@@ -208,12 +209,12 @@ void BinaryView::refresh() {
   highlightPosition(QCursor::pos());
 }
 
-QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
-  QSet<const cabana::Signal *> overlapping;
+std::set<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
+  std::set<const cabana::Signal *> overlapping;
   for (const auto &item : model->items) {
     if (item.sigs.size() > 1) {
       for (auto s : item.sigs) {
-        if (s->type == cabana::Signal::Type::Normal) overlapping += s;
+        if (s->type == cabana::Signal::Type::Normal) overlapping.insert(s);
       }
     }
   }
@@ -258,7 +259,7 @@ void BinaryViewModel::refresh() {
         int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
         int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
           break;
         }
         if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
@@ -275,16 +276,13 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
-  int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
-  for (int i = 0; i < valid_rows * column_count; ++i) {
-    items[i].valid = true;
-  }
   endResetModel();
   updateState();
 }
 
 void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
   auto &item = items[row * column_count + col];
+  item.valid = true;
   if (item.val != val || item.bg_color != color) {
     item.val = val;
     item.bg_color = color;
@@ -407,7 +405,9 @@ bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, con
   if (!index.isValid()) return false;
   auto model = (const BinaryViewModel*)(index.model());
   int idx = (index.row() + dy) * model->columnCount() + index.column() + dx;
-  return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false;
+  if (idx < 0 || idx >= (int)model->items.size()) return false;
+  auto &s = model->items[idx].sigs;
+  return std::find(s.begin(), s.end(), sig) != s.end();
 }
 
 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -424,7 +424,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
     painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
-  } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {  // not resizing
+  } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
@@ -436,7 +436,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
-    auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
+    auto color_role = (std::find(item->sigs.begin(), item->sigs.end(), bin_view->hovered_sig) != item->sigs.end()) ? QPalette::BrightText : QPalette::Text;
     painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
   }
 
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 920deb0018..e568228b37 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -1,10 +1,9 @@
 #pragma once
 
+#include <set>
 #include <tuple>
 #include <vector>
 
-#include <QList>
-#include <QSet>
 #include <QStyledItemDelegate>
 #include <QTableView>
 
@@ -51,7 +50,7 @@ public:
     bool is_msb = false;
     bool is_lsb = false;
     uint8_t val;
-    QList<const cabana::Signal *> sigs;
+    std::vector<const cabana::Signal *> sigs;
     bool valid = false;
   };
   std::vector<Item> items;
@@ -68,7 +67,7 @@ public:
   BinaryView(QWidget *parent = nullptr);
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
-  QSet<const cabana::Signal*> getOverlappingSignals() const;
+  std::set<const cabana::Signal*> getOverlappingSignals() const;
   void updateState() { model->updateState(); }
   void paintEvent(QPaintEvent *event) override {
     is_message_active = can->isMessageActive(model->msg_id);
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
new file mode 100755
index 0000000000..00709734a5
--- /dev/null
+++ b/tools/cabana/cabana
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$(cd "$DIR/../../" && pwd)"
+
+install_qt() {
+  if [[ "$(uname)" == "Darwin" ]]; then
+    brew install qt@5
+    brew link qt@5 || true
+  else
+    SUDO=""
+    if [[ ! $(id -u) -eq 0 ]]; then
+      SUDO="sudo"
+    fi
+    $SUDO apt-get install -y --no-install-recommends \
+      qtbase5-dev \
+      qtbase5-dev-tools \
+      qttools5-dev-tools \
+      libqt5charts5-dev \
+      libqt5svg5-dev \
+      libqt5serialbus5-dev \
+      libqt5x11extras5-dev \
+      libqt5opengl5-dev
+  fi
+}
+
+# Install Qt if not found
+if ! command -v qmake &> /dev/null; then
+  echo "Qt not found, installing dependencies..."
+  install_qt
+fi
+
+# Build _cabana
+cd "$ROOT"
+scons -j"$(nproc)" tools/cabana/_cabana
+
+exec "$DIR/_cabana" "$@"
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 97f178b1f3..9e4cfc4a51 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -1,7 +1,6 @@
 #include <QApplication>
 #include <QCommandLineParser>
 
-#include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
 #include "tools/cabana/streams/devicestream.h"
 #include "tools/cabana/streams/pandastream.h"
@@ -47,13 +46,13 @@ int main(int argc, char *argv[]) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
     try {
-      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial").toStdString()});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
   } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
-    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan").toStdString()});
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -71,7 +70,7 @@ int main(int argc, char *argv[]) {
     if (!route.isEmpty()) {
       auto replay_stream = std::make_unique<ReplayStream>(&app);
       bool auto_source = cmd_parser.isSet("auto");
-      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) {
+      if (!replay_stream->loadRoute(route.toStdString(), cmd_parser.value("data_dir").toStdString(), replay_flags, auto_source)) {
         return 0;
       }
       stream = replay_stream.release();
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/tools/cabana/cameraview.cc
similarity index 59%
rename from selfdrive/ui/qt/widgets/cameraview.cc
rename to tools/cabana/cameraview.cc
index 81ef613393..13c838efd8 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/tools/cabana/cameraview.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "tools/cabana/cameraview.h"
 
 #ifdef __APPLE__
 #include <OpenGL/gl3.h>
@@ -6,7 +6,6 @@
 #include <GLES3/gl3.h>
 #endif
 
-#include <cmath>
 #include <QApplication>
 
 namespace {
@@ -27,19 +26,6 @@ const char frame_vertex_shader[] =
   "}\n";
 
 const char frame_fragment_shader[] =
-#ifdef QCOM2
-  "#version 300 es\n"
-  "#extension GL_OES_EGL_image_external_essl3 : enable\n"
-  "precision mediump float;\n"
-  "uniform samplerExternalOES uTexture;\n"
-  "in vec2 vTexCoord;\n"
-  "out vec4 colorOut;\n"
-  "void main() {\n"
-  "  colorOut = texture(uTexture, vTexCoord);\n"
-  // gamma to improve worst case visibility when dark
-  "  colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n"
-  "}\n";
-#else
 #ifdef __APPLE__
   "#version 330 core\n"
 #else
@@ -58,7 +44,6 @@ const char frame_fragment_shader[] =
   "  float b = y + 1.772 * uv.x;\n"
   "  colorOut = vec4(r, g, b, 1.0);\n"
   "}\n";
-#endif
 
 } // namespace
 
@@ -79,35 +64,22 @@ CameraWidget::~CameraWidget() {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
     glDeleteBuffers(1, &frame_ibo);
-#ifndef QCOM2
     glDeleteTextures(2, textures);
-#endif
+    shader_program_.reset();
   }
   doneCurrent();
 }
 
-// Qt uses device-independent pixels, depending on platform this may be
-// different to what OpenGL uses
-int CameraWidget::glWidth() {
-    return width() * devicePixelRatio();
-}
-
-int CameraWidget::glHeight() {
-  return height() * devicePixelRatio();
-}
-
 void CameraWidget::initializeGL() {
   initializeOpenGLFunctions();
 
-  program = std::make_unique<QOpenGLShaderProgram>(context());
-  bool ret = program->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
-  assert(ret);
-  ret = program->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
-  assert(ret);
+  shader_program_ = std::make_unique<QOpenGLShaderProgram>(context());
+  shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
+  shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
+  shader_program_->link();
 
-  program->link();
-  GLint frame_pos_loc = program->attributeLocation("aPosition");
-  GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
+  GLint frame_pos_loc = shader_program_->attributeLocation("aPosition");
+  GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord");
 
   auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
   const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
@@ -135,15 +107,12 @@ void CameraWidget::initializeGL() {
   glBindBuffer(GL_ARRAY_BUFFER, 0);
   glBindVertexArray(0);
 
-  glUseProgram(program->programId());
-
-#ifdef QCOM2
-  glUniform1i(program->uniformLocation("uTexture"), 0);
-#else
   glGenTextures(2, textures);
-  glUniform1i(program->uniformLocation("uTextureY"), 0);
-  glUniform1i(program->uniformLocation("uTextureUV"), 1);
-#endif
+
+  shader_program_->bind();
+  shader_program_->setUniformValue("uTextureY", 0);
+  shader_program_->setUniformValue("uTextureUV", 1);
+  shader_program_->release();
 }
 
 void CameraWidget::showEvent(QShowEvent *event) {
@@ -164,97 +133,57 @@ void CameraWidget::stopVipcThread() {
     vipc_thread->wait();
     vipc_thread = nullptr;
   }
-
-#ifdef QCOM2
-  EGLDisplay egl_display = eglGetCurrentDisplay();
-  assert(egl_display != EGL_NO_DISPLAY);
-  for (auto &pair : egl_images) {
-    eglDestroyImageKHR(egl_display, pair.second);
-    assert(eglGetError() == EGL_SUCCESS);
-  }
-  egl_images.clear();
-#endif
 }
 
 void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
   available_streams = streams;
 }
 
-mat4 CameraWidget::calcFrameMatrix() {
-  // Scale the frame to fit the widget while maintaining the aspect ratio.
-  float widget_aspect_ratio = (float)width() / height();
-  float frame_aspect_ratio = (float)stream_width / stream_height;
-  float zx = std::min(frame_aspect_ratio / widget_aspect_ratio, 1.0f);
-  float zy = std::min(widget_aspect_ratio / frame_aspect_ratio, 1.0f);
-
-  return mat4{{
-    zx, 0.0, 0.0, 0.0,
-    0.0, zy, 0.0, 0.0,
-    0.0, 0.0, 1.0, 0.0,
-    0.0, 0.0, 0.0, 1.0,
-  }};
-}
-
 void CameraWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
   std::lock_guard lk(frame_lock);
-  if (frames.empty()) return;
+  if (!current_frame_) return;
 
-  int frame_idx = frames.size() - 1;
+  // Scale for aspect ratio
+  float widget_ratio = (float)width() / height();
+  float frame_ratio = (float)stream_width / stream_height;
+  float scale_x = std::min(frame_ratio / widget_ratio, 1.0f);
+  float scale_y = std::min(widget_ratio / frame_ratio, 1.0f);
 
-  // Always draw latest frame until sync logic is more stable
-  // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
-  //   if (frames[frame_idx].first == draw_frame_id) break;
-  // }
+  glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio());
 
-  // Log duplicate/dropped frames
-  if (frames[frame_idx].first == prev_frame_id) {
-    qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
-  } else if (frames[frame_idx].first != prev_frame_id + 1) {
-    qDebug() << "Skipped frame" << frames[frame_idx].first;
-  }
-  prev_frame_id = frames[frame_idx].first;
-  VisionBuf *frame = frames[frame_idx].second;
-  assert(frame != nullptr);
+  shader_program_->bind();
+  QMatrix4x4 transform;
+  transform.scale(scale_x, scale_y, 1.0f);
+  shader_program_->setUniformValue("uTransform", transform);
 
-  auto frame_mat = calcFrameMatrix();
-
-  glViewport(0, 0, glWidth(), glHeight());
-  glBindVertexArray(frame_vao);
-  glUseProgram(program->programId());
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 
-#ifdef QCOM2
-  // no frame copy
-  glActiveTexture(GL_TEXTURE0);
-  glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]);
-  assert(glGetError() == GL_NO_ERROR);
-#else
-  // fallback to copy
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, textures[0]);
-  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y);
-  assert(glGetError() == GL_NO_ERROR);
+  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, current_frame_->y);
 
   glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
-  glActiveTexture(GL_TEXTURE0 + 1);
+  glActiveTexture(GL_TEXTURE1);
   glBindTexture(GL_TEXTURE_2D, textures[1]);
-  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv);
-  assert(glGetError() == GL_NO_ERROR);
-#endif
+  glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv);
 
-  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
-  glEnableVertexAttribArray(0);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
-  glDisableVertexAttribArray(0);
+  glBindVertexArray(frame_vao);
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr);
   glBindVertexArray(0);
+
+  // Reset both texture units
+  glActiveTexture(GL_TEXTURE1);
   glBindTexture(GL_TEXTURE_2D, 0);
   glActiveTexture(GL_TEXTURE0);
+  glBindTexture(GL_TEXTURE_2D, 0);
   glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
   glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+
+  shader_program_->release();
 }
 
 void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
@@ -263,32 +192,6 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
   stream_height = vipc_client->buffers[0].height;
   stream_stride = vipc_client->buffers[0].stride;
 
-#ifdef QCOM2
-  EGLDisplay egl_display = eglGetCurrentDisplay();
-  assert(egl_display != EGL_NO_DISPLAY);
-  for (auto &pair : egl_images) {
-    eglDestroyImageKHR(egl_display, pair.second);
-  }
-  egl_images.clear();
-
-  for (int i = 0; i < vipc_client->num_buffers; i++) {  // import buffers into OpenGL
-    int fd = dup(vipc_client->buffers[i].fd);  // eglDestroyImageKHR will close, so duplicate
-    EGLint img_attrs[] = {
-      EGL_WIDTH, (int)vipc_client->buffers[i].width,
-      EGL_HEIGHT, (int)vipc_client->buffers[i].height,
-      EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12,
-      EGL_DMA_BUF_PLANE0_FD_EXT, fd,
-      EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
-      EGL_DMA_BUF_PLANE0_PITCH_EXT, (int)vipc_client->buffers[i].stride,
-      EGL_DMA_BUF_PLANE1_FD_EXT, fd,
-      EGL_DMA_BUF_PLANE1_OFFSET_EXT, (int)vipc_client->buffers[i].uv_offset,
-      EGL_DMA_BUF_PLANE1_PITCH_EXT, (int)vipc_client->buffers[i].stride,
-      EGL_NONE
-    };
-    egl_images[i] = eglCreateImageKHR(egl_display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs);
-    assert(eglGetError() == EGL_SUCCESS);
-  }
-#else
   glBindTexture(GL_TEXTURE_2D, textures[0]);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
@@ -304,7 +207,6 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
   glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
   glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
   assert(glGetError() == GL_NO_ERROR);
-#endif
 }
 
 void CameraWidget::vipcFrameReceived() {
@@ -314,7 +216,7 @@ void CameraWidget::vipcFrameReceived() {
 void CameraWidget::vipcThread() {
   VisionStreamType cur_stream = requested_stream_type;
   std::unique_ptr<VisionIpcClient> vipc_client;
-  VisionIpcBufExtra meta_main = {0};
+  VisionIpcBufExtra frame_meta = {};
 
   while (!QThread::currentThread()->isInterruptionRequested()) {
     if (!vipc_client || cur_stream != requested_stream_type) {
@@ -341,25 +243,19 @@ void CameraWidget::vipcThread() {
       emit vipcThreadConnected(vipc_client.get());
     }
 
-    if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) {
+    if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) {
       {
         std::lock_guard lk(frame_lock);
-        frames.push_back(std::make_pair(meta_main.frame_id, buf));
-        while (frames.size() > FRAME_BUFFER_SIZE) {
-          frames.pop_front();
-        }
+        current_frame_ = buf;
+        frame_meta_ = frame_meta;
       }
       emit vipcThreadFrameReceived();
-    } else {
-      if (!isVisible()) {
-        vipc_client->connected = false;
-      }
     }
   }
 }
 
 void CameraWidget::clearFrames() {
   std::lock_guard lk(frame_lock);
-  frames.clear();
+  current_frame_ = nullptr;
   available_streams.clear();
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/tools/cabana/cameraview.h
similarity index 67%
rename from selfdrive/ui/qt/widgets/cameraview.h
rename to tools/cabana/cameraview.h
index e446ef5987..930b13d82c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/tools/cabana/cameraview.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <deque>
-#include <map>
 #include <memory>
 #include <mutex>
 #include <set>
@@ -13,25 +11,8 @@
 #include <QOpenGLWidget>
 #include <QThread>
 
-#ifdef QCOM2
-#define EGL_EGLEXT_PROTOTYPES
-#define EGL_NO_X11
-#define GL_TEXTURE_EXTERNAL_OES 0x8D65
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-#include <drm/drm_fourcc.h>
-#endif
-
 #include "msgq/visionipc/visionipc_client.h"
 
-#ifdef SUNNYPILOT
-#include "selfdrive/ui/sunnypilot/ui.h"
-#else
-#include "selfdrive/ui/ui.h"
-#endif
-
-const int FRAME_BUFFER_SIZE = 5;
-
 class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   Q_OBJECT
 
@@ -39,8 +20,6 @@ public:
   using QOpenGLWidget::QOpenGLWidget;
   explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
   ~CameraWidget();
-  void setBackgroundColor(const QColor &color) { bg = color; }
-  void setFrameId(int frame_id) { draw_frame_id = frame_id; }
   void setStreamType(VisionStreamType type) { requested_stream_type = type; }
   VisionStreamType getStreamType() { return active_stream_type; }
   void stopVipcThread();
@@ -56,21 +35,13 @@ protected:
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual mat4 calcFrameMatrix();
   void vipcThread();
   void clearFrames();
 
-  int glWidth();
-  int glHeight();
-
   GLuint frame_vao, frame_vbo, frame_ibo;
   GLuint textures[2];
-  std::unique_ptr<QOpenGLShaderProgram> program;
-  QColor bg = QColor("#000000");
-
-#ifdef QCOM2
-  std::map<int, EGLImageKHR> egl_images;
-#endif
+  std::unique_ptr<QOpenGLShaderProgram> shader_program_;
+  QColor bg = Qt::black;
 
   std::string stream_name;
   int stream_width = 0;
@@ -81,9 +52,8 @@ protected:
   std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
   std::recursive_mutex frame_lock;
-  std::deque<std::pair<uint32_t, VisionBuf*>> frames;
-  uint32_t draw_frame_id = 0;
-  uint32_t prev_frame_id = 0;
+  VisionBuf* current_frame_ = nullptr;
+  VisionIpcBufExtra frame_meta_ = {};
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index 3588c5edc6..9dfdc595f0 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -45,7 +45,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   createToolButtons();
   setRubberBand(QChartView::HorizontalRubberBand);
   setMouseTracking(true);
-  setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
+  setTheme(utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
   signal_value_font.setPointSize(9);
 
   QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache);
@@ -237,8 +237,8 @@ void ChartView::updateTitle() {
   for (auto &s : sigs) {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
     s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
-                      .arg(decoration, titleColorCss, s.sig->name,
-                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
+                      .arg(decoration, titleColorCss, QString::fromStdString(s.sig->name),
+                           msgColorCss, QString::fromStdString(msgName(s.msg_id)), QString::fromStdString(s.msg_id.toString())));
   }
   split_chart_act->setEnabled(sigs.size() > 1);
   resetChartCache();
@@ -324,7 +324,8 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *
       if (!can->liveStreaming()) {
         s.segment_tree.build(s.vals);
       }
-      s.series->replace(QVector<QPointF>::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals));
+      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
+      s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
     }
   }
   updateAxisY();
@@ -338,13 +339,13 @@ void ChartView::updateAxisY() {
 
   double min = std::numeric_limits<double>::max();
   double max = std::numeric_limits<double>::lowest();
-  QString unit = sigs[0].sig->unit;
+  QString unit = QString::fromStdString(sigs[0].sig->unit);
 
   for (auto &s : sigs) {
     if (!s.series->isVisible()) continue;
 
     // Only show unit when all signals have the same unit
-    if (unit != s.sig->unit) {
+    if (unit != QString::fromStdString(s.sig->unit)) {
       unit.clear();
     }
 
@@ -382,7 +383,7 @@ void ChartView::updateAxisY() {
     QFontMetrics fm(axis_y->labelsFont());
     for (int i = 0; i < tick_count; i++) {
       qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1));
-      max_label_width = std::max(max_label_width, fm.width(QString::number(value, 'f', n)));
+      max_label_width = std::max(max_label_width, fm.horizontalAdvance(QString::number(value, 'f', n)));
     }
 
     int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
@@ -570,13 +571,13 @@ void ChartView::showTip(double sec) {
     if (s.series->isVisible()) {
       QString value = "--";
       // use reverse iterator to find last item <= sec.
-      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; });
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; });
       if (it != s.vals.crend() && it->x() >= axis_x->min()) {
-        value = s.sig->formatValue(it->y(), false);
+        value = QString::fromStdString(s.sig->formatValue(it->y(), false));
         s.track_pt = *it;
         x = std::max(x, chart()->mapToPosition(*it).x());
       }
-      QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
+      QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : "";
       QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
       QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
       text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
@@ -747,7 +748,7 @@ void ChartView::drawTimeline(QPainter *painter) {
   QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
   QPainterPath path;
   path.addRoundedRect(time_str_rect, 3, 3);
-  painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
+  painter->fillPath(path, utils::isDarkTheme() ? Qt::darkGray : Qt::gray);
   painter->setPen(palette().color(QPalette::BrightText));
   painter->setFont(axis_x->labelsFont());
   painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
@@ -765,7 +766,7 @@ void ChartView::drawSignalValue(QPainter *painter) {
   for (auto &s : sigs) {
     auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
                                [](auto &p, double x) { return p.x() > x + EPSILON; });
-    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--";
+    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--";
     QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
     QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
     QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
@@ -838,7 +839,8 @@ void ChartView::setSeriesType(SeriesType type) {
     }
     for (auto &s : sigs) {
       s.series = createSeries(series_type, s.sig->color);
-      s.series->replace(QVector<QPointF>::fromStdVector(series_type == SeriesType::StepLine ? s.step_vals : s.vals));
+      const auto &points = series_type == SeriesType::StepLine ? s.step_vals : s.vals;
+      s.series->replace(QVector<QPointF>(points.cbegin(), points.cend()));
     }
     updateSeriesPoints();
     updateTitle();
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 08840f4663..44dca42152 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -1,13 +1,13 @@
 #include "tools/cabana/chart/chartswidget.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QApplication>
-#include <QFutureSynchronizer>
 #include <QMenu>
+#include <QMimeData>
 #include <QScrollBar>
 #include <QToolBar>
-#include <QtConcurrent>
 
 #include "tools/cabana/chart/chart.h"
 
@@ -166,15 +166,16 @@ void ChartsWidget::removeTab(int index) {
 void ChartsWidget::updateTabBar() {
   for (int i = 0; i < tabbar->count(); ++i) {
     const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()];
-    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count()));
+    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg((int)charts_in_tab.size()));
   }
 }
 
 void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
-  QFutureSynchronizer<void> future_synchronizer;
+  std::vector<std::future<void>> futures;
   for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events));
+    futures.push_back(std::async(std::launch::async, &ChartView::updateSeries, c, nullptr, &new_events));
   }
+  for (auto &f : futures) f.get();
 }
 
 void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
@@ -203,7 +204,7 @@ void ChartsWidget::showValueTip(double sec) {
 }
 
 void ChartsWidget::updateState() {
-  if (charts.isEmpty()) return;
+  if (charts.empty()) return;
 
   const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
@@ -247,14 +248,14 @@ void ChartsWidget::updateToolBar() {
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
-  remove_all_btn->setEnabled(!charts.isEmpty());
+  remove_all_btn->setEnabled(!charts.empty());
 }
 
 void ChartsWidget::settingChanged() {
   if (std::exchange(current_theme, settings.theme) != current_theme) {
     undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
     redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
-    auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
+    auto theme = utils::isDarkTheme() ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
     for (auto c : charts) {
       c->setTheme(theme);
     }
@@ -281,9 +282,9 @@ ChartView *ChartsWidget::createChart(int pos) {
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
-  pos = std::clamp(pos, 0, charts.size());
-  charts.insert(pos, chart);
-  currentCharts().insert(pos, chart);
+  pos = std::clamp(pos, 0, (int)charts.size());
+  charts.insert(charts.begin() + pos, chart);
+  currentCharts().insert(currentCharts().begin() + pos, chart);
   updateLayout(true);
   updateToolBar();
   return chart;
@@ -302,7 +303,7 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
 
 void ChartsWidget::splitChart(ChartView *src_chart) {
   if (src_chart->sigs.size() > 1) {
-    int pos = charts.indexOf(src_chart) + 1;
+    int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart(pos);
       src_chart->chart()->removeSeries(it->series);
@@ -322,6 +323,32 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
   }
 }
 
+QStringList ChartsWidget::serializeChartIds() const {
+  QStringList chart_ids;
+  for (auto c : charts) {
+    QStringList ids;
+    for (const auto& s : c->sigs)
+      ids += QString("%1|%2").arg(QString::fromStdString(s.msg_id.toString()), QString::fromStdString(s.sig->name));
+    chart_ids += ids.join(',');
+  }
+  std::reverse(chart_ids.begin(), chart_ids.end());
+  return chart_ids;
+}
+
+void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
+  for (const auto& chart_id : chart_ids) {
+    int index = 0;
+    for (const auto& part : chart_id.split(',')) {
+      const auto sig_parts = part.split('|');
+      if (sig_parts.size() != 2) continue;
+      MessageId msg_id = MessageId::fromString(sig_parts[0].toStdString());
+      if (auto* msg = dbc()->msg(msg_id))
+        if (auto* sig = msg->sig(sig_parts[1].toStdString()))
+          showChart(msg_id, sig, true, index++ > 0);
+    }
+  }
+}
+
 void ChartsWidget::setColumnCount(int n) {
   n = std::clamp(n, 1, MAX_COLUMN_COUNT);
   if (column_count != n) {
@@ -400,14 +427,14 @@ void ChartsWidget::doAutoScroll() {
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH * 1.5, QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
     auto items = dlg.seletedItems();
-    if (!items.isEmpty()) {
+    if (!items.empty()) {
       auto c = createChart();
       for (auto it : items) {
         c->addSignal(it->msg_id, it->sig);
@@ -417,10 +444,10 @@ void ChartsWidget::newChart() {
 }
 
 void ChartsWidget::removeChart(ChartView *chart) {
-  charts.removeOne(chart);
+  charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end());
   chart->deleteLater();
   for (auto &[_, list] : tab_charts) {
-    list.removeOne(chart);
+    list.erase(std::remove(list.begin(), list.end(), chart), list.end());
   }
   updateToolBar();
   updateLayout(true);
@@ -434,7 +461,7 @@ void ChartsWidget::removeAll() {
   }
   tab_charts.clear();
 
-  if (!charts.isEmpty()) {
+  if (!charts.empty()) {
     for (auto c : charts) {
       delete c;
     }
@@ -534,10 +561,11 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
     auto chart = qobject_cast<ChartView *>(event->source());
     if (w != chart) {
       for (auto &[_, list] : charts_widget->tab_charts) {
-        list.removeOne(chart);
+        list.erase(std::remove(list.begin(), list.end(), chart), list.end());
       }
-      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
-      charts_widget->currentCharts().insert(to, chart);
+      auto &cur = charts_widget->currentCharts();
+      int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0;
+      cur.insert(cur.begin() + to, chart);
       charts_widget->updateLayout(true);
       charts_widget->updateTabBar();
       event->acceptProposedAction();
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 46e7f546b0..ef3fbc471a 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -43,6 +43,8 @@ public:
   ChartsWidget(QWidget *parent = nullptr);
   void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
   inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
+  QStringList serializeChartIds() const;
+  void restoreChartsFromIds(const QStringList &chart_ids);
 
 public slots:
   void setColumnCount(int n);
@@ -79,7 +81,7 @@ private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void newTab();
   void removeTab(int index);
-  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
+  inline std::vector<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
   ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 
   QLabel *title_label;
@@ -98,8 +100,8 @@ private:
   QUndoStack *zoom_undo_stack;
 
   ToolButton *remove_all_btn;
-  QList<ChartView *> charts;
-  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  std::vector<ChartView *> charts;
+  std::unordered_map<int, std::vector<ChartView *>> tab_charts;
   TabBar *tabbar;
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 63f3a7d575..6f2fd8de46 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -46,7 +46,7 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
 
   for (const auto &[id, _] : can->lastMessages()) {
     if (auto m = dbc()->msg(id)) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
+      msgs_combo->addItem(QString("%1 (%2)").arg(QString::fromStdString(m->name)).arg(QString::fromStdString(id.toString())), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);
@@ -92,8 +92,8 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), sig->name);
-  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), QString::fromStdString(sig->name));
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString()));
 
   QLabel *label = new QLabel(text);
   label->setContentsMargins(5, 0, 5, 0);
@@ -102,8 +102,8 @@ void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, cons
   parent->setItemWidget(new_item, label);
 }
 
-QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
-  QList<SignalSelector::ListItem *> ret;
+std::vector<SignalSelector::ListItem *> SignalSelector::seletedItems() {
+  std::vector<SignalSelector::ListItem *> ret;
   for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
   return ret;
 }
diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h
index f46779f044..5b6e37e56a 100644
--- a/tools/cabana/chart/signalselector.h
+++ b/tools/cabana/chart/signalselector.h
@@ -15,7 +15,7 @@ public:
   };
 
   SignalSelector(QString title, QWidget *parent);
-  QList<ListItem *> seletedItems();
+  std::vector<ListItem *> seletedItems();
   inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
 
 private:
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 09f86a095a..91435cd5ac 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -4,51 +4,97 @@
 #include <limits>
 #include <QPainter>
 
-void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
-  points.clear();
-  double value = 0;
-  auto [first, last] = can->eventsInRange(msg_id, std::make_pair(last_msg_ts -range, last_msg_ts));
-  for (auto it = first; it != last; ++it) {
-    if (sig->getValue((*it)->dat, (*it)->size, &value)) {
-      points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value);
-    }
-  }
-
-  if (points.empty() || size.isEmpty()) {
+void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size) {
+  if (first == last || size.isEmpty()) {
     pixmap = QPixmap();
     return;
   }
 
-  const auto [min, max] = std::minmax_element(points.begin(), points.end(),
-                                              [](auto &l, auto &r) { return l.y() < r.y(); });
-  min_val = min->y() == max->y() ? min->y() - 1 : min->y();
-  max_val = min->y() == max->y() ? max->y() + 1 : max->y();
-  freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
+  points_.clear();
+  min_val = std::numeric_limits<double>::max();
+  max_val = std::numeric_limits<double>::lowest();
+  points_.reserve(std::distance(first, last));
+
+  uint64_t start_time = (*first)->mono_time;
+  double value = 0.0;
+  for (auto it = first; it != last; ++it) {
+    if (sig->getValue((*it)->dat, (*it)->size, &value)) {
+      min_val = std::min(min_val, value);
+      max_val = std::max(max_val, value);
+      points_.emplace_back(((*it)->mono_time - start_time) / 1e9, value);
+    }
+  }
+
+  if (points_.empty()) {
+    pixmap = QPixmap();
+    return;
+  }
+
+  freq_ = points_.size() / std::max(points_.back().x() - points_.front().x(), 1.0);
   render(sig->color, range, size);
 }
 
 void Sparkline::render(const QColor &color, int range, QSize size) {
-  const double xscale = (size.width() - 1) / (double)range;
-  const double yscale = (size.height() - 3) / (max_val - min_val);
-  for (auto &v : points) {
-    v = QPoint(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
+  // Adjust for flat lines
+  bool is_flat_line = min_val == max_val;
+  if (is_flat_line) {
+    min_val -= 1.0;
+    max_val += 1.0;
   }
 
+  // Calculate scaling
+  const double xscale = (size.width() - 1) / (double)range;
+  const double yscale = (size.height() - 3) / (max_val - min_val);
+  bool draw_individual_points = (points_.back().x() * xscale / points_.size()) > 8.0;
+
+  // Transform or downsample points
+  render_points_.reserve(points_.size());
+  render_points_.clear();
+  if (draw_individual_points) {
+    for (const auto &p : points_) {
+      render_points_.emplace_back(p.x() * xscale, 1.0 + (max_val - p.y()) * yscale);
+    }
+  } else if (is_flat_line) {
+    double y = size.height() / 2.0;
+    render_points_.emplace_back(0.0, y);
+    render_points_.emplace_back(points_.back().x() * xscale, y);
+  } else {
+    double prev_y = points_.front().y();
+    render_points_.emplace_back(points_.front().x() * xscale, 1.0 + (max_val - prev_y) * yscale);
+    bool in_flat = false;
+
+    for (size_t i = 1; i < points_.size(); ++i) {
+      const auto &p = points_[i];
+      double y = p.y();
+      if (std::abs(y - prev_y) < 1e-6) {
+        in_flat = true;
+      } else {
+        if (in_flat) render_points_.emplace_back(points_[i - 1].x() * xscale, 1.0 + (max_val - prev_y) * yscale);
+        render_points_.emplace_back(p.x() * xscale, 1.0 + (max_val - y) * yscale);
+        in_flat = false;
+      }
+      prev_y = y;
+    }
+    if (in_flat) render_points_.emplace_back(points_.back().x() * xscale, 1.0 + (max_val - prev_y) * yscale);
+  }
+
+  // Render to pixmap
   qreal dpr = qApp->devicePixelRatio();
-  size *= dpr;
-  if (size != pixmap.size()) {
-    pixmap = QPixmap(size);
+  const QSize pixmap_size = size * dpr;
+  if (pixmap.size() != pixmap_size) {
+    pixmap = QPixmap(pixmap_size);
   }
   pixmap.setDevicePixelRatio(dpr);
   pixmap.fill(Qt::transparent);
   QPainter painter(&pixmap);
-  painter.setRenderHint(QPainter::Antialiasing, points.size() < 500);
+  painter.setRenderHint(QPainter::Antialiasing, render_points_.size() <= 500);
   painter.setPen(color);
-  painter.drawPolyline(points.data(), points.size());
+  painter.drawPolyline(render_points_.data(), render_points_.size());
+
   painter.setPen(QPen(color, 3));
-  if ((points.back().x() - points.front().x()) / points.size() > 8) {
-    painter.drawPoints(points.data(), points.size());
+  if (draw_individual_points) {
+    painter.drawPoints(render_points_.data(), render_points_.size());
   } else {
-    painter.drawPoint(points.back());
+    painter.drawPoint(render_points_.back());
   }
 }
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 806f0a61eb..7f30047d0d 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -9,7 +9,7 @@
 
 class Sparkline {
 public:
-  void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size);
+  void update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size);
   inline double freq() const { return freq_; }
   bool isEmpty() const { return pixmap.isNull(); }
 
@@ -20,6 +20,7 @@ public:
 private:
   void render(const QColor &color, int range, QSize size);
 
-  std::vector<QPointF> points;
+  std::vector<QPointF> points_;
+  std::vector<QPointF> render_points_;
   double freq_ = 0;
 };
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
index be71602838..233fa80373 100644
--- a/tools/cabana/chart/tiplabel.cc
+++ b/tools/cabana/chart/tiplabel.cc
@@ -7,6 +7,7 @@
 #include <QToolTip>
 
 #include "tools/cabana/settings.h"
+#include "tools/cabana/utils/util.h"
 
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
   setAttribute(Qt::WA_ShowWithoutActivating);
@@ -19,7 +20,7 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::Frameless
   font.setPointSizeF(8.34563465);
   setFont(font);
   auto palette = QToolTip::palette();
-  if (settings.theme != DARK_THEME) {
+  if (!utils::isDarkTheme()) {
     palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
     palette.setColor(QPalette::ToolTipText, QRgb(0x404044));  // same color as chart label brush
   }
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index 52861723f4..f158528b51 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -4,22 +4,22 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
-                               const QString &node, const QString &comment, QUndoCommand *parent)
+EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size,
+                               const std::string &node, const std::string &comment, QUndoCommand *parent)
     : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
     old_node = msg->transmitter;
     old_comment = msg->comment;
-    setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
+    setText(QObject::tr("edit message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
   } else {
-    setText(QObject::tr("new message %1:%2").arg(name).arg(id.address));
+    setText(QObject::tr("new message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
   }
 }
 
 void EditMsgCommand::undo() {
-  if (old_name.isEmpty())
+  if (old_name.empty())
     dbc()->removeMsg(id);
   else
     dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
@@ -34,12 +34,12 @@ void EditMsgCommand::redo() {
 RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     message = *msg;
-    setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address));
+    setText(QObject::tr("remove message %1:%2").arg(QString::fromStdString(message.name)).arg(id.address));
   }
 }
 
 void RemoveMsgCommand::undo() {
-  if (!message.name.isEmpty()) {
+  if (!message.name.empty()) {
     dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
@@ -47,7 +47,7 @@ void RemoveMsgCommand::undo() {
 }
 
 void RemoveMsgCommand::redo() {
-  if (!message.name.isEmpty())
+  if (!message.name.empty())
     dbc()->removeMsg(id);
 }
 
@@ -55,7 +55,7 @@ void RemoveMsgCommand::redo() {
 
 AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
     : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("add signal %1 to %2:%3").arg(QString::fromStdString(sig.name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void AddSigCommand::undo() {
@@ -85,7 +85,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si
       }
     }
   }
-  setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("remove signal %1 from %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
@@ -108,7 +108,7 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *
       }
     }
   }
-  setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("edit signal %1 in %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index 0736d9b83f..4081f86985 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -1,6 +1,8 @@
 #pragma once
 
+#include <string>
 #include <utility>
+#include <vector>
 
 #include <QUndoCommand>
 #include <QUndoStack>
@@ -10,14 +12,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
-                 const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node,
+                 const std::string &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
+  std::string old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 
@@ -52,7 +54,7 @@ public:
 
 private:
   const MessageId id;
-  QList<cabana::Signal> sigs;
+  std::vector<cabana::Signal> sigs;
 };
 
 class EditSignalCommand : public QUndoCommand {
@@ -63,7 +65,7 @@ public:
 
 private:
   const MessageId id;
-  QList<std::pair<cabana::Signal, cabana::Signal>> sigs; // QList<{old_sig, new_sig}>
+  std::vector<std::pair<cabana::Signal, cabana::Signal>> sigs; // {old_sig, new_sig}
 };
 
 namespace UndoStack {
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index e9c869fce7..8e41cf54e3 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -4,10 +4,6 @@
 
 #include "tools/cabana/utils/util.h"
 
-uint qHash(const MessageId &item) {
-  return qHash(item.source) ^ qHash(item.address);
-}
-
 // cabana::Msg
 
 cabana::Msg::~Msg() {
@@ -22,7 +18,7 @@ cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) {
   return s;
 }
 
-cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) {
+cabana::Signal *cabana::Msg::updateSignal(const std::string &sig_name, const cabana::Signal &new_sig) {
   auto s = sig(sig_name);
   if (s) {
     *s = new_sig;
@@ -31,7 +27,7 @@ cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana:
   return s;
 }
 
-void cabana::Msg::removeSignal(const QString &sig_name) {
+void cabana::Msg::removeSignal(const std::string &sig_name) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   if (it != sigs.end()) {
     delete *it;
@@ -57,7 +53,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   return *this;
 }
 
-cabana::Signal *cabana::Msg::sig(const QString &sig_name) const {
+cabana::Signal *cabana::Msg::sig(const std::string &sig_name) const {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   return it != sigs.end() ? *it : nullptr;
 }
@@ -69,17 +65,17 @@ int cabana::Msg::indexOf(const cabana::Signal *sig) const {
   return -1;
 }
 
-QString cabana::Msg::newSignalName() {
-  QString new_name;
+std::string cabana::Msg::newSignalName() {
+  std::string new_name;
   for (int i = 1; /**/; ++i) {
-    new_name = QString("NEW_SIGNAL_%1").arg(i);
+    new_name = "NEW_SIGNAL_" + std::to_string(i);
     if (sig(new_name) == nullptr) break;
   }
   return new_name;
 }
 
 void cabana::Msg::update() {
-  if (transmitter.isEmpty()) {
+  if (transmitter.empty()) {
     transmitter = DEFAULT_NODE_NAME;
   }
   mask.assign(size, 0x00);
@@ -109,7 +105,7 @@ void cabana::Msg::update() {
 
       mask[i] |= ((1ULL << sz) - 1) << shift;
 
-      bits -= size;
+      bits -= sz;
       i = sig->is_little_endian ? i - 1 : i + 1;
     }
   }
@@ -129,13 +125,13 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
-  if (receiver_name.isEmpty()) {
+  if (receiver_name.empty()) {
     receiver_name = DEFAULT_NODE_NAME;
   }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);
-  size_t hash = qHash(name);
+  size_t hash = std::hash<std::string>{}(name);
   float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
   float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
 
@@ -143,7 +139,7 @@ void cabana::Signal::update() {
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
 
-QString cabana::Signal::formatValue(double value, bool with_unit) const {
+std::string cabana::Signal::formatValue(double value, bool with_unit) const {
   // Show enum string
   int64_t raw_value = round((value - offset) / factor);
   for (const auto &[val, desc] : val_desc) {
@@ -152,8 +148,10 @@ QString cabana::Signal::formatValue(double value, bool with_unit) const {
     }
   }
 
-  QString val_str = QString::number(value, 'f', precision);
-  if (with_unit && !unit.isEmpty()) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*f", precision, value);
+  std::string val_str(buf);
+  if (with_unit && !unit.empty()) {
     val_str += " " + unit;
   }
   return val_str;
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index d2b25bc5f2..a10e7871fe 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -1,23 +1,35 @@
 #pragma once
 
+#include <cstdio>
+#include <cstdlib>
+#include <functional>
 #include <limits>
+#include <string>
 #include <utility>
 #include <vector>
 
 #include <QColor>
 #include <QMetaType>
-#include <QString>
 
-const QString UNTITLED = "untitled";
-const QString DEFAULT_NODE_NAME = "XXX";
+const std::string UNTITLED = "untitled";
+const std::string DEFAULT_NODE_NAME = "XXX";
 constexpr int CAN_MAX_DATA_BYTES = 64;
 
 struct MessageId {
   uint8_t source = 0;
   uint32_t address = 0;
 
-  QString toString() const {
-    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
+  std::string toString() const {
+    char buf[64];
+    snprintf(buf, sizeof(buf), "%u:%X", source, address);
+    return buf;
+  }
+
+  inline static MessageId fromString(const std::string &str) {
+    auto pos = str.find(':');
+    if (pos == std::string::npos) return {};
+    return MessageId{.source = uint8_t(std::stoul(str.substr(0, pos))),
+                     .address = uint32_t(std::stoul(str.substr(pos + 1), nullptr, 16))};
   }
 
   bool operator==(const MessageId &other) const {
@@ -37,15 +49,17 @@ struct MessageId {
   }
 };
 
-uint qHash(const MessageId &item);
 Q_DECLARE_METATYPE(MessageId);
 
 template <>
 struct std::hash<MessageId> {
-  std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
+  std::size_t operator()(const MessageId &k) const noexcept {
+    return std::hash<uint8_t>{}(k.source) ^ (std::hash<uint32_t>{}(k.address) << 1);
+  }
 };
 
-typedef std::vector<std::pair<double, QString>> ValueDescription;
+typedef std::vector<std::pair<double, std::string>> ValueDescription;
+Q_DECLARE_METATYPE(ValueDescription);
 
 namespace cabana {
 
@@ -55,7 +69,7 @@ public:
   Signal(const Signal &other) = default;
   void update();
   bool getValue(const uint8_t *data, size_t data_size, double *val) const;
-  QString formatValue(double value, bool with_unit = true) const;
+  std::string formatValue(double value, bool with_unit = true) const;
   bool operator==(const cabana::Signal &other) const;
   inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
 
@@ -66,16 +80,16 @@ public:
   };
 
   Type type = Type::Normal;
-  QString name;
+  std::string name;
   int start_bit, msb, lsb, size;
   double factor = 1.0;
   double offset = 0;
   bool is_signed;
   bool is_little_endian;
   double min, max;
-  QString unit;
-  QString comment;
-  QString receiver_name;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
   ValueDescription val_desc;
   int precision = 0;
   QColor color;
@@ -91,20 +105,20 @@ public:
   Msg(const Msg &other) { *this = other; }
   ~Msg();
   cabana::Signal *addSignal(const cabana::Signal &sig);
-  cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const QString &sig_name);
+  cabana::Signal *updateSignal(const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const std::string &sig_name);
   Msg &operator=(const Msg &other);
   int indexOf(const cabana::Signal *sig) const;
-  cabana::Signal *sig(const QString &sig_name) const;
-  QString newSignalName();
+  cabana::Signal *sig(const std::string &sig_name) const;
+  std::string newSignalName();
   void update();
   inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
 
   uint32_t address;
-  QString name;
+  std::string name;
   uint32_t size;
-  QString comment;
-  QString transmitter;
+  std::string comment;
+  std::string transmitter;
   std::vector<cabana::Signal *> sigs;
 
   std::vector<uint8_t> mask;
@@ -117,4 +131,8 @@ public:
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
 void updateMsbLsb(cabana::Signal &s);
 inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
-inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
+inline std::string doubleToString(double value) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*g", std::numeric_limits<double>::digits10, value);
+  return buf;
+}
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 1c03c8a0aa..d9c129ee81 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -3,11 +3,12 @@
 #include <QFile>
 #include <QFileInfo>
 #include <QRegularExpression>
+#include <QString>
 
-DBCFile::DBCFile(const QString &dbc_file_name) {
-  QFile file(dbc_file_name);
+DBCFile::DBCFile(const std::string &dbc_file_name) {
+  QFile file(QString::fromStdString(dbc_file_name));
   if (file.open(QIODevice::ReadOnly)) {
-    name_ = QFileInfo(dbc_file_name).baseName();
+    name_ = QFileInfo(QString::fromStdString(dbc_file_name)).baseName().toStdString();
     filename = dbc_file_name;
     parse(file.readAll());
   } else {
@@ -15,34 +16,35 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   }
 }
 
-DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  parse(content);
+DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name), filename("") {
+  parse(QString::fromStdString(content));
 }
 
 bool DBCFile::save() {
-  assert(!filename.isEmpty());
+  assert(!filename.empty());
   return writeContents(filename);
 }
 
-bool DBCFile::saveAs(const QString &new_filename) {
+bool DBCFile::saveAs(const std::string &new_filename) {
   filename = new_filename;
   return save();
 }
 
-bool DBCFile::writeContents(const QString &fn) {
-  QFile file(fn);
+bool DBCFile::writeContents(const std::string &fn) {
+  QFile file(QString::fromStdString(fn));
   if (file.open(QIODevice::WriteOnly)) {
-    return file.write(generateDBC().toUtf8()) >= 0;
+    std::string content = generateDBC();
+    return file.write(content.c_str(), content.size()) >= 0;
   }
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
-  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
+  m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -51,12 +53,12 @@ cabana::Msg *DBCFile::msg(uint32_t address) {
   return it != msgs.end() ? &it->second : nullptr;
 }
 
-cabana::Msg *DBCFile::msg(const QString &name) {
+cabana::Msg *DBCFile::msg(const std::string &name) {
   auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
@@ -93,13 +95,13 @@ void DBCFile::parse(const QString &content) {
         seen = false;
       }
     } catch (std::exception &e) {
-      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString());
+      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(QString::fromStdString(filename)).arg(line_num).arg(e.what()).arg(line).toStdString());
     }
 
     if (seen) {
       seen_first = true;
     } else if (!seen_first) {
-      header += raw_line + "\n";
+      header += raw_line.toStdString() + "\n";
     }
   }
 
@@ -122,9 +124,9 @@ cabana::Msg *DBCFile::parseBO(const QString &line) {
   // Create a new message object
   cabana::Msg *msg = &msgs[address];
   msg->address = address;
-  msg->name = match.captured("name");
+  msg->name = match.captured("name").toStdString();
   msg->size = match.captured("size").toULong();
-  msg->transmitter = match.captured("transmitter").trimmed();
+  msg->transmitter = match.captured("transmitter").trimmed().toStdString();
   return msg;
 }
 
@@ -141,7 +143,7 @@ void DBCFile::parseCM_BO(const QString &line, const QString &content, const QStr
     throw std::runtime_error("Invalid message comment format");
 
   if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
-    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"");
+    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"").toStdString();
 }
 
 void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
@@ -160,7 +162,7 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip
   if (!match.hasMatch())
     throw std::runtime_error("Invalid SG_ line format");
 
-  QString name = match.captured(1);
+  std::string name = match.captured(1).toStdString();
   if (current_msg->sig(name) != nullptr)
     throw std::runtime_error("Duplicate signal name");
 
@@ -188,8 +190,8 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip
   s.offset = match.captured(offset + 7).toDouble();
   s.min = match.captured(8 + offset).toDouble();
   s.max = match.captured(9 + offset).toDouble();
-  s.unit = match.captured(10 + offset);
-  s.receiver_name = match.captured(11 + offset).trimmed();
+  s.unit = match.captured(10 + offset).toStdString();
+  s.receiver_name = match.captured(11 + offset).trimmed().toStdString();
   current_msg->sigs.push_back(new cabana::Signal(s));
 }
 
@@ -205,8 +207,8 @@ void DBCFile::parseCM_SG(const QString &line, const QString &content, const QStr
   if (!match.hasMatch())
     throw std::runtime_error("Invalid CM_ SG_ line format");
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
-    s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
+    s->comment = match.captured(3).trimmed().replace("\\\"", "\"").toStdString();
   }
 }
 
@@ -217,55 +219,60 @@ void DBCFile::parseVAL(const QString &line) {
   if (!match.hasMatch())
     throw std::runtime_error("invalid VAL_ line format");
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
     QStringList desc_list = match.captured(3).trimmed().split('"');
     for (int i = 0; i < desc_list.size(); i += 2) {
       auto val = desc_list[i].trimmed();
       if (!val.isEmpty() && (i + 1) < desc_list.size()) {
         auto desc = desc_list[i + 1].trimmed();
-        s->val_desc.push_back({val.toDouble(), desc});
+        s->val_desc.push_back({val.toDouble(), desc.toStdString()});
       }
     }
   }
 }
 
-QString DBCFile::generateDBC() {
-  QString dbc_string, comment, val_desc;
+std::string DBCFile::generateDBC() {
+  std::string dbc_string, comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
-    if (!m.comment.isEmpty()) {
-      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
+    const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
+    if (!m.comment.empty()) {
+      std::string escaped_comment = m.comment;
+      // Replace " with \"
+      for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
+        escaped_comment.replace(pos, 1, "\\\"");
+      comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped_comment + "\";\n";
     }
     for (auto sig : m.getSignals()) {
-      QString multiplexer_indicator;
+      std::string multiplexer_indicator;
       if (sig->type == cabana::Signal::Type::Multiplexor) {
         multiplexer_indicator = "M ";
       } else if (sig->type == cabana::Signal::Type::Multiplexed) {
-        multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
+        multiplexer_indicator = "m" + std::to_string(sig->multiplex_value) + " ";
       }
-      dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
-                        .arg(sig->name)
-                        .arg(multiplexer_indicator)
-                        .arg(sig->start_bit)
-                        .arg(sig->size)
-                        .arg(sig->is_little_endian ? '1' : '0')
-                        .arg(sig->is_signed ? '-' : '+')
-                        .arg(doubleToString(sig->factor))
-                        .arg(doubleToString(sig->offset))
-                        .arg(doubleToString(sig->min))
-                        .arg(doubleToString(sig->max))
-                        .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
-      if (!sig->comment.isEmpty()) {
-        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
+      const std::string &recv = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
+      dbc_string += " SG_ " + sig->name + " " + multiplexer_indicator + ": " +
+                    std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
+                    std::string(1, sig->is_little_endian ? '1' : '0') +
+                    std::string(1, sig->is_signed ? '-' : '+') +
+                    " (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
+                    " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "]" +
+                    " \"" + sig->unit + "\" " + recv + "\n";
+      if (!sig->comment.empty()) {
+        std::string escaped_comment = sig->comment;
+        for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
+          escaped_comment.replace(pos, 1, "\\\"");
+        comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped_comment + "\";\n";
       }
       if (!sig->val_desc.empty()) {
-        QStringList text;
+        std::string text;
         for (auto &[val, desc] : sig->val_desc) {
-          text << QString("%1 \"%2\"").arg(val).arg(desc);
+          if (!text.empty()) text += " ";
+          char val_buf[64];
+          snprintf(val_buf, sizeof(val_buf), "%g", val);
+          text += std::string(val_buf) + " \"" + desc + "\"";
         }
-        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
+        val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
       }
     }
     dbc_string += "\n";
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index bd267898f9..decb566abd 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -1,34 +1,35 @@
 #pragma once
 
 #include <map>
+#include <string>
 #include <QTextStream>
 
 #include "tools/cabana/dbc/dbc.h"
 
 class DBCFile {
 public:
-  DBCFile(const QString &dbc_file_name);
-  DBCFile(const QString &name, const QString &content);
+  DBCFile(const std::string &dbc_file_name);
+  DBCFile(const std::string &name, const std::string &content);
   ~DBCFile() {}
 
   bool save();
-  bool saveAs(const QString &new_filename);
-  bool writeContents(const QString &fn);
-  QString generateDBC();
+  bool saveAs(const std::string &new_filename);
+  bool writeContents(const std::string &fn);
+  std::string generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
   cabana::Msg *msg(uint32_t address);
-  cabana::Msg *msg(const QString &name);
+  cabana::Msg *msg(const std::string &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString &name);
+  cabana::Signal *signal(uint32_t address, const std::string &name);
 
-  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
+  inline std::string name() const { return name_.empty() ? "untitled" : name_; }
+  inline bool isEmpty() const { return msgs.empty() && name_.empty(); }
 
-  QString filename;
+  std::string filename;
 
 private:
   void parse(const QString &content);
@@ -38,7 +39,7 @@ private:
   void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
   void parseVAL(const QString &line);
 
-  QString header;
+  std::string header;
   std::map<uint32_t, cabana::Msg> msgs;
-  QString name_;
+  std::string name_;
 };
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 8e98d95322..2236a93da1 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -1,10 +1,9 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
-#include <QSet>
 #include <algorithm>
-#include <numeric>
+#include <set>
 
-bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, QString *error) {
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
@@ -21,7 +20,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
   return true;
 }
 
-bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error) {
   try {
     auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
@@ -64,7 +63,7 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   }
 }
 
-void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
       emit signalUpdated(s);
@@ -73,7 +72,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons
   }
 }
 
-void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
+void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
       emit signalRemoved(s);
@@ -83,7 +82,7 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, node, comment);
@@ -98,11 +97,13 @@ void DBCManager::removeMsg(const MessageId &id) {
   emit maskUpdated();
 }
 
-QString DBCManager::newMsgName(const MessageId &id) {
-  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
+std::string DBCManager::newMsgName(const MessageId &id) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "NEW_MSG_%X", id.address);
+  return buf;
 }
 
-QString DBCManager::newSignalName(const MessageId &id) {
+std::string DBCManager::newSignalName(const MessageId &id) {
   auto m = msg(id);
   return m ? m->newSignalName() : "";
 }
@@ -118,14 +119,14 @@ cabana::Msg *DBCManager::msg(const MessageId &id) {
   return dbc_file ? dbc_file->msg(id) : nullptr;
 }
 
-cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
+cabana::Msg *DBCManager::msg(uint8_t source, const std::string &name) {
   auto dbc_file = findDBCFile(source);
   return dbc_file ? dbc_file->msg(name) : nullptr;
 }
 
-QStringList DBCManager::signalNames() {
+std::vector<std::string> DBCManager::signalNames() {
   // Used for autocompletion
-  QSet<QString> names;
+  std::set<std::string> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
@@ -133,8 +134,8 @@ QStringList DBCManager::signalNames() {
       }
     }
   }
-  QStringList ret = names.values();
-  ret.sort();
+  std::vector<std::string> ret(names.begin(), names.end());
+  std::sort(ret.begin(), ret.end());
   return ret;
 }
 
@@ -165,11 +166,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
-QString toString(const SourceSet &ss) {
-  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
-    if (!str.isEmpty()) str += ", ";
-    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
-  });
+std::string toString(const SourceSet &ss) {
+  std::string result;
+  for (int source : ss) {
+    if (!result.empty()) result += ", ";
+    result += (source == -1) ? "all" : std::to_string(source);
+  }
+  return result;
 }
 
 DBCManager *dbc() {
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index 5f183752d2..4a122073ea 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -4,6 +4,8 @@
 #include <memory>
 #include <map>
 #include <set>
+#include <string>
+#include <vector>
 
 #include "tools/cabana/dbc/dbcfile.h"
 
@@ -18,27 +20,27 @@ class DBCManager : public QObject {
 public:
   DBCManager(QObject *parent) : QObject(parent) {}
   ~DBCManager() {}
-  bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr);
-  bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &dbc_file_name, QString *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error = nullptr);
   void close(const SourceSet &sources);
   void close(DBCFile *dbc_file);
   void closeAll();
 
   void addSignal(const MessageId &id, const cabana::Signal &sig);
-  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const MessageId &id, const QString &sig_name);
+  void updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const MessageId &id, const std::string &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
   void removeMsg(const MessageId &id);
 
-  QString newMsgName(const MessageId &id);
-  QString newSignalName(const MessageId &id);
+  std::string newMsgName(const MessageId &id);
+  std::string newSignalName(const MessageId &id);
 
   const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
   cabana::Msg *msg(const MessageId &id);
-  cabana::Msg* msg(uint8_t source, const QString &name);
+  cabana::Msg* msg(uint8_t source, const std::string &name);
 
-  QStringList signalNames();
+  std::vector<std::string> signalNames();
   inline int dbcCount() { return allDBCFiles().size(); }
   int nonEmptyDBCCount();
 
@@ -62,8 +64,8 @@ private:
 
 DBCManager *dbc();
 
-QString toString(const SourceSet &ss);
-inline QString msgName(const MessageId &id) {
+std::string toString(const SourceSet &ss);
+inline std::string msgName(const MessageId &id) {
   auto msg = dbc()->msg(id);
   return msg ? msg->name : UNTITLED;
 }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 2e213988bc..148b059e5b 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -3,6 +3,7 @@
 #include <QFormLayout>
 #include <QMenu>
 #include <QRadioButton>
+#include <QPushButton>
 #include <QToolBar>
 
 #include "tools/cabana/commands.h"
@@ -117,19 +118,24 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   }
 }
 
-void DetailWidget::setMessage(const MessageId &message_id) {
-  if (std::exchange(msg_id, message_id) == message_id) return;
-
-  tabbar->blockSignals(true);
+int DetailWidget::findOrAddTab(const MessageId& message_id) {
   int index = tabbar->count() - 1;
   for (/**/; index >= 0; --index) {
     if (tabbar->tabData(index).value<MessageId>() == message_id) break;
   }
   if (index == -1) {
-    index = tabbar->addTab(message_id.toString());
+    index = tabbar->addTab(QString::fromStdString(message_id.toString()));
     tabbar->setTabData(index, QVariant::fromValue(message_id));
-    tabbar->setTabToolTip(index, msgName(message_id));
+    tabbar->setTabToolTip(index, QString::fromStdString(msgName(message_id)));
   }
+  return index;
+}
+
+void DetailWidget::setMessage(const MessageId &message_id) {
+  if (std::exchange(msg_id, message_id) == message_id) return;
+
+  tabbar->blockSignals(true);
+  int index = findOrAddTab(message_id);
   tabbar->setCurrentIndex(index);
   tabbar->blockSignals(false);
 
@@ -141,6 +147,29 @@ void DetailWidget::setMessage(const MessageId &message_id) {
   setUpdatesEnabled(true);
 }
 
+std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
+  QStringList msgs;
+  for (int i = 0; i < tabbar->count(); ++i) {
+    MessageId id = tabbar->tabData(i).value<MessageId>();
+    msgs.append(QString::fromStdString(id.toString()));
+  }
+  return std::make_pair(QString::fromStdString(msg_id.toString()), msgs);
+}
+
+void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
+  tabbar->blockSignals(true);
+  for (const auto& str_id : msg_ids) {
+    MessageId id = MessageId::fromString(str_id.toStdString());
+    if (dbc()->msg(id) != nullptr)
+      findOrAddTab(id);
+  }
+  tabbar->blockSignals(false);
+
+  auto active_id = MessageId::fromString(active_msg_id.toStdString());
+  if (dbc()->msg(active_id) != nullptr)
+    setMessage(active_id);
+}
+
 void DetailWidget::refresh() {
   QStringList warnings;
   auto msg = dbc()->msg(msg_id);
@@ -151,10 +180,10 @@ void DetailWidget::refresh() {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
     for (auto s : binary_view->getOverlappingSignals()) {
-      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
+      warnings.push_back(tr("%1 has overlapping bits.").arg(QString::fromStdString(s->name)));
     }
   }
-  QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
+  QString msg_name = msg ? QString("%1 (%2)").arg(QString::fromStdString(msg->name), QString::fromStdString(msg->transmitter)) : QString::fromStdString(msgName(msg_id));
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
   action_remove_msg->setEnabled(msg != nullptr);
@@ -179,10 +208,10 @@ void DetailWidget::updateState(const std::set<MessageId> *msgs) {
 void DetailWidget::editMsg() {
   auto msg = dbc()->msg(msg_id);
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
+  EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
-                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString()));
   }
 }
 
@@ -194,7 +223,7 @@ void DetailWidget::removeMsg() {
 
 EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
     : original_name(title), msg_id(msg_id), QDialog(parent) {
-  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
+  setWindowTitle(tr("Edit message: %1").arg(QString::fromStdString(msg_id.toString())));
   QFormLayout *form_layout = new QFormLayout(this);
 
   form_layout->addRow("", error_label = new QLabel);
@@ -212,8 +241,8 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
 
   if (auto msg = dbc()->msg(msg_id)) {
-    node->setText(msg->transmitter);
-    comment_edit->setText(msg->comment);
+    node->setText(QString::fromStdString(msg->transmitter));
+    comment_edit->setText(QString::fromStdString(msg->comment));
   }
   validateName(name_edit->text());
   setFixedWidth(parent->width() * 0.9);
@@ -223,10 +252,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 }
 
 void EditMessageDialog::validateName(const QString &text) {
-  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
+  bool valid = text.compare(QString::fromStdString(UNTITLED), Qt::CaseInsensitive) != 0;
   error_label->setVisible(false);
   if (!text.isEmpty() && valid && text != original_name) {
-    valid = dbc()->msg(msg_id.source, text) == nullptr;
+    valid = dbc()->msg(msg_id.source, text.toStdString()) == nullptr;
     if (!valid) {
       error_label->setText(tr("Name already exists"));
       error_label->setVisible(true);
@@ -243,13 +272,13 @@ CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(welcome_widget = createWelcomeWidget());
 }
 
-void CenterWidget::setMessage(const MessageId &msg_id) {
+DetailWidget* CenterWidget::ensureDetailWidget() {
   if (!detail_widget) {
     delete welcome_widget;
     welcome_widget = nullptr;
     layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
   }
-  detail_widget->setMessage(msg_id);
+  return detail_widget;
 }
 
 void CenterWidget::clear() {
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 47304fbdc5..0fe1535c7a 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -6,11 +6,11 @@
 #include <QTextEdit>
 #include <set>
 
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
 #include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signalview.h"
+#include "tools/cabana/utils/elidedlabel.h"
 
 class EditMessageDialog : public QDialog {
 public:
@@ -34,9 +34,12 @@ public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const MessageId &message_id);
   void refresh();
+  std::pair<QString, QStringList> serializeMessageIds() const;
+  void restoreTabs(const QString active_msg_id, const QStringList &msg_ids);
 
 private:
   void createToolBar();
+  int findOrAddTab(const MessageId& message_id);
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
@@ -60,7 +63,9 @@ class CenterWidget : public QWidget {
   Q_OBJECT
 public:
   CenterWidget(QWidget *parent);
-  void setMessage(const MessageId &msg_id);
+  void setMessage(const MessageId &message_id) { ensureDetailWidget()->setMessage(message_id); }
+  DetailWidget* getDetailWidget() { return detail_widget; }
+  DetailWidget* ensureDetailWidget();
   void clear();
 
 private:
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 7e73da55f0..fb79ff9cea 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -14,7 +14,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const int col = index.column();
   if (role == Qt::DisplayRole) {
     if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
-    if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
+    if (!isHexMode()) return QString::fromStdString(sigs[col - 1]->formatValue(m.sig_values[col - 1], false));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -49,8 +49,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       if (section == 0) return "Time";
       if (isHexMode()) return "Data";
 
-      QString name = sigs[section - 1]->name;
-      QString unit = sigs[section - 1]->unit;
+      QString name = QString::fromStdString(sigs[section - 1]->name);
+      QString unit = QString::fromStdString(sigs[section - 1]->unit);
       return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit);
     } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) {
       // Alpha-blend the signal color with the background to ensure contrast
@@ -153,7 +153,7 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
     painter->fillRect(rect, bg_role.value<QBrush>());
   }
   QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString();
-  painter->setPen(palette().color(settings.theme == DARK_THEME ? QPalette::BrightText : QPalette::Text));
+  painter->setPen(palette().color(utils::isDarkTheme() ? QPalette::BrightText : QPalette::Text));
   painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text.replace(QChar('_'), ' '));
 }
 
@@ -216,7 +216,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
 void LogsWidget::modelReset() {
   signals_cb->clear();
   for (auto s : model->sigs) {
-    signals_cb->addItem(s->name);
+    signals_cb->addItem(QString::fromStdString(s->name));
   }
   export_btn->setEnabled(false);
   value_edit->clear();
@@ -238,8 +238,8 @@ void LogsWidget::filterChanged() {
 }
 
 void LogsWidget::exportToCSV() {
-  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id));
-  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)),
+  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id)));
+  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(QString::fromStdString(msgName(model->msg_id))),
                                             dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
     model->isHexMode() ? utils::exportToCSV(fn, model->msg_id)
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 8361befb53..39fb979c79 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -24,6 +24,8 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
+#include "tools/replay/py_downloader.h"
+#include "tools/replay/util.h"
 
 MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
@@ -122,7 +124,7 @@ void MainWindow::createActions() {
   auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo"));
   undo_act->setShortcuts(QKeySequence::Undo);
   edit_menu->addAction(undo_act);
-  auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Rndo"));
+  auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Redo"));
   redo_act->setShortcuts(QKeySequence::Redo);
   edit_menu->addAction(redo_act);
   edit_menu->addSeparator();
@@ -232,9 +234,11 @@ void MainWindow::DBCFileChanged() {
 
   QStringList title;
   for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+    title.push_back(tr("(%1) %2").arg(QString::fromStdString(toString(dbc()->sources(f))), QString::fromStdString(f->name())));
   }
   setWindowFilePath(title.join(" | "));
+
+  QTimer::singleShot(0, this, &::MainWindow::restoreSessionState);
 }
 
 void MainWindow::selectAndOpenStream() {
@@ -255,7 +259,7 @@ void MainWindow::closeStream() {
 }
 
 void MainWindow::exportToCSV() {
-  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName());
+  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName()));
   QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
     utils::exportToCSV(fn);
@@ -264,7 +268,7 @@ void MainWindow::exportToCSV() {
 
 void MainWindow::newFile(SourceSet s) {
   closeFile(s);
-  dbc()->open(s, "", "");
+  dbc()->open(s, std::string(""), std::string(""));
 }
 
 void MainWindow::openFile(SourceSet s) {
@@ -280,7 +284,7 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
     closeFile(s);
 
     QString error;
-    if (dbc()->open(s, fn, &error)) {
+    if (dbc()->open(s, fn.toStdString(), &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -300,7 +304,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
 
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
-  bool ret = dbc()->open(s, "", dbc_str, &error);
+  bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error);
   if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
@@ -311,17 +315,25 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
 }
 
 void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
+  if (can) {
+    QObject::connect(can, &QObject::destroyed, this, [=]() { startStream(stream, dbc_file); });
+    can->deleteLater();
+  } else {
+    startStream(stream, dbc_file);
+  }
+}
+
+void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
 
-  delete can;
   can = stream;
   can->setParent(this);  // take ownership
   can->start();
 
   loadFile(dbc_file);
-  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(QString::fromStdString(can->routeName())), 2000);
 
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
@@ -329,7 +341,7 @@ void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
   tools_menu->setEnabled(has_stream);
   createDockWidgets();
 
-  video_dock->setWindowTitle(can->routeName());
+  video_dock->setWindowTitle(QString::fromStdString(can->routeName()));
   if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
     // display video at minimum size.
     video_splitter->setSizes({1, 1});
@@ -356,9 +368,9 @@ void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
 }
 
 void MainWindow::eventsMerged() {
-  if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) {
+  if (!can->liveStreaming() && std::exchange(car_fingerprint, QString::fromStdString(can->carFingerprint())) != car_fingerprint) {
     video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2")
-                                    .arg(can->routeName())
+                                    .arg(QString::fromStdString(can->routeName()))
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
     if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
@@ -404,7 +416,7 @@ void MainWindow::closeFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  if (!dbc_file->filename.isEmpty()) {
+  if (!dbc_file->filename.empty()) {
     dbc_file->save();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
@@ -414,10 +426,10 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
-  QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file)));
+  QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file))));
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
-    dbc_file->saveAs(fn);
+    dbc_file->saveAs(fn.toStdString());
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
@@ -434,7 +446,7 @@ void MainWindow::saveToClipboard() {
 
 void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  QGuiApplication::clipboard()->setText(dbc_file->generateDBC());
+  QGuiApplication::clipboard()->setText(QString::fromStdString(dbc_file->generateDBC()));
   QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
 }
 
@@ -455,14 +467,14 @@ void MainWindow::updateLoadSaveMenus() {
     auto dbc_file = dbc()->findDBCFile(source);
     if (dbc_file) {
       bus_menu->addSeparator();
-      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
+      bus_menu->addAction(QString::fromStdString(dbc_file->name()) + " (" + QString::fromStdString(toString(dbc()->sources(dbc_file))) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
       bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); });
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
     }
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? QString::fromStdString(dbc_file->name()) : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
   }
@@ -563,6 +575,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     settings.message_header_state = messages_widget->saveHeaderState();
   }
 
+  saveSessionState();
   QWidget::closeEvent(event);
 }
 
@@ -607,6 +620,39 @@ void MainWindow::toggleFullScreen() {
   }
 }
 
+void MainWindow::saveSessionState() {
+  settings.recent_dbc_file = "";
+  settings.active_msg_id = "";
+  settings.selected_msg_ids.clear();
+  settings.active_charts.clear();
+
+  for (auto &f : dbc()->allDBCFiles())
+    if (!f->isEmpty()) { settings.recent_dbc_file = QString::fromStdString(f->filename); break; }
+
+  if (auto *detail = center_widget->getDetailWidget()) {
+    auto [active_id, ids] = detail->serializeMessageIds();
+    settings.active_msg_id = active_id;
+    settings.selected_msg_ids = ids;
+  }
+  if (charts_widget)
+    settings.active_charts = charts_widget->serializeChartIds();
+}
+
+void MainWindow::restoreSessionState() {
+  if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return;
+
+  QString dbc_file;
+  for (auto& f : dbc()->allDBCFiles())
+    if (!f->isEmpty()) { dbc_file = QString::fromStdString(f->filename); break; }
+  if (dbc_file != settings.recent_dbc_file) return;
+
+  if (!settings.selected_msg_ids.isEmpty())
+    center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids);
+
+  if (charts_widget != nullptr && !settings.active_charts.empty())
+    charts_widget->restoreChartsFromIds(settings.active_charts);
+}
+
 // HelpOverlay
 HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
   setAttribute(Qt::WA_NoSystemBackground, true);
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 9bc94c090f..92c2714ae7 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -44,6 +44,7 @@ signals:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  void startStream(AbstractStream *stream, QString dbc_file);
   bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
@@ -72,6 +73,8 @@ protected:
   void updateLoadSaveMenus();
   void createDockWidgets();
   void eventsMerged();
+  void saveSessionState();
+  void restoreSessionState();
 
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index ed9aeaf311..ec8c82dd98 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -205,7 +205,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
-    if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
+    if (msg && !msg->comment.empty()) tooltip += "<br /><span style=\"color:gray;\">" + QString::fromStdString(msg->comment) + "</span>";
     return tooltip;
   }
   return {};
@@ -277,7 +277,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         if (!match) {
           const auto m = dbc()->msg(item.id);
           match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
-                                   [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
+                                   [&txt](const auto &s) { return QString::fromStdString(s->name).contains(txt, Qt::CaseInsensitive); });
         }
         break;
       }
@@ -323,8 +323,8 @@ bool MessageListModel::filterAndSort() {
     if (show_inactive_messages || can->isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
-                  .name = msg ? msg->name : UNTITLED,
-                  .node = msg ? msg->transmitter : QString()};
+                  .name = msg ? QString::fromStdString(msg->name) : QString::fromStdString(UNTITLED),
+                  .node = msg ? QString::fromStdString(msg->transmitter) : QString()};
       if (match(item))
         items.emplace_back(item);
     }
diff --git a/selfdrive/pandad/panda_comms.cc b/tools/cabana/panda.cc
similarity index 51%
rename from selfdrive/pandad/panda_comms.cc
rename to tools/cabana/panda.cc
index 8a20f397d3..0612d67746 100644
--- a/selfdrive/pandad/panda_comms.cc
+++ b/tools/cabana/panda.cc
@@ -1,10 +1,14 @@
-#include "selfdrive/pandad/panda.h"
+#include "tools/cabana/panda.h"
 
+#include <unistd.h>
 #include <cassert>
 #include <stdexcept>
+#include <vector>
 #include <memory>
 
+#include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
+#include "common/util.h"
 
 static libusb_context *init_usb_ctx() {
   libusb_context *context = nullptr;
@@ -22,80 +26,35 @@ static libusb_context *init_usb_ctx() {
   return context;
 }
 
-PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
-  // init libusb
-  ssize_t num_devices;
-  libusb_device **dev_list = NULL;
-  int err = 0;
-  ctx = init_usb_ctx();
-  if (!ctx) { goto fail; }
-
-  // connect by serial
-  num_devices = libusb_get_device_list(ctx, &dev_list);
-  if (num_devices < 0) { goto fail; }
-  for (size_t i = 0; i < num_devices; ++i) {
-    libusb_device_descriptor desc;
-    libusb_get_device_descriptor(dev_list[i], &desc);
-    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
-      int ret = libusb_open(dev_list[i], &dev_handle);
-      if (dev_handle == NULL || ret < 0) { goto fail; }
-
-      unsigned char desc_serial[26] = { 0 };
-      ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
-      if (ret < 0) { goto fail; }
-
-      hw_serial = std::string((char *)desc_serial, ret);
-      if (serial.empty() || serial == hw_serial) {
-        break;
-      }
-      libusb_close(dev_handle);
-      dev_handle = NULL;
-    }
-  }
-  if (dev_handle == NULL) goto fail;
-  libusb_free_device_list(dev_list, 1);
-  dev_list = nullptr;
-
-  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
-    libusb_detach_kernel_driver(dev_handle, 0);
+Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
+  if (!init_usb_connection(serial)) {
+    throw std::runtime_error("Error connecting to panda");
   }
 
-  err = libusb_set_configuration(dev_handle, 1);
-  if (err != 0) { goto fail; }
-
-  err = libusb_claim_interface(dev_handle, 0);
-  if (err != 0) { goto fail; }
-
-  return;
-
-fail:
-  if (dev_list != NULL) {
-    libusb_free_device_list(dev_list, 1);
-  }
-  cleanup();
-  throw std::runtime_error("Error connecting to panda");
+  LOGW("connected to %s over USB", serial.c_str());
+  hw_type = get_hw_type();
+  can_reset_communications();
 }
 
-PandaUsbHandle::~PandaUsbHandle() {
-  std::lock_guard lk(hw_lock);
-  cleanup();
-  connected = false;
+Panda::~Panda() {
+  cleanup_usb();
 }
 
-void PandaUsbHandle::cleanup() {
-  if (dev_handle) {
-    libusb_release_interface(dev_handle, 0);
-    libusb_close(dev_handle);
-  }
-
-  if (ctx) {
-    libusb_exit(ctx);
-  }
+bool Panda::connected() {
+  return connected_flag;
 }
 
-std::vector<std::string> PandaUsbHandle::list() {
+bool Panda::comms_healthy() {
+  return comms_healthy_flag;
+}
+
+std::string Panda::hw_serial() {
+  return hw_serial_str;
+}
+
+std::vector<std::string> Panda::list(bool usb_only) {
   static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
-  // init libusb
+
   ssize_t num_devices;
   libusb_device **dev_list = NULL;
   std::vector<std::string> serials;
@@ -106,6 +65,7 @@ std::vector<std::string> PandaUsbHandle::list() {
     LOGE("libusb can't get device list");
     goto finish;
   }
+
   for (size_t i = 0; i < num_devices; ++i) {
     libusb_device *device = dev_list[i];
     libusb_device_descriptor desc;
@@ -131,97 +91,256 @@ finish:
   return serials;
 }
 
-void PandaUsbHandle::handle_usb_issue(int err, const char func[]) {
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
+  control_write(0xdc, (uint16_t)safety_model, safety_param);
+}
+
+
+cereal::PandaState::PandaType Panda::get_hw_type() {
+  unsigned char hw_query[1] = {0};
+
+  control_read(0xc1, 0, 0, hw_query, 1);
+  return (cereal::PandaState::PandaType)(hw_query[0]);
+}
+
+
+
+
+void Panda::send_heartbeat(bool engaged) {
+  control_write(0xf3, engaged, 0);
+}
+
+void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
+  control_write(0xde, bus, (speed * 10));
+}
+
+
+void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
+  control_write(0xf9, bus, (speed * 10));
+}
+
+
+
+bool Panda::can_receive(std::vector<can_frame>& out_vec) {
+  // Check if enough space left in buffer to store RECV_SIZE data
+  assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
+
+  int recv = bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
+  if (!comms_healthy()) {
+    return false;
+  }
+
+  bool ret = true;
+  if (recv > 0) {
+    receive_buffer_size += recv;
+    ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
+  }
+  return ret;
+}
+
+void Panda::can_reset_communications() {
+  control_write(0xc0, 0, 0);
+}
+
+bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) {
+  int pos = 0;
+
+  while (pos <= size - sizeof(can_header)) {
+    can_header header;
+    memcpy(&header, &data[pos], sizeof(can_header));
+
+    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    if (pos + sizeof(can_header) + data_len > size) {
+      // we don't have all the data for this message yet
+      break;
+    }
+
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      can_reset_communications();
+      return false;
+    }
+
+    can_frame &canData = out_vec.emplace_back();
+    canData.address = header.addr;
+    canData.src = header.bus + bus_offset;
+    if (header.rejected) {
+      canData.src += CAN_REJECTED_BUS_OFFSET;
+    }
+    if (header.returned) {
+      canData.src += CAN_RETURNED_BUS_OFFSET;
+    }
+
+    canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
+
+    pos += sizeof(can_header) + data_len;
+  }
+
+  // move the overflowing data to the beginning of the buffer for the next round
+  memmove(data, &data[pos], size - pos);
+  size -= pos;
+
+  return true;
+}
+
+uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) {
+  uint8_t checksum = 0U;
+  for (uint32_t i = 0U; i < len; i++) {
+    checksum ^= data[i];
+  }
+  return checksum;
+}
+
+// USB implementation methods
+bool Panda::init_usb_connection(const std::string& serial) {
+  ssize_t num_devices;
+  libusb_device **dev_list = NULL;
+  int err = 0;
+
+  ctx = init_usb_ctx();
+  if (!ctx) { goto fail; }
+
+  // connect by serial
+  num_devices = libusb_get_device_list(ctx, &dev_list);
+  if (num_devices < 0) { goto fail; }
+
+  for (size_t i = 0; i < num_devices; ++i) {
+    libusb_device_descriptor desc;
+    libusb_get_device_descriptor(dev_list[i], &desc);
+    if (desc.idVendor == 0x3801 && desc.idProduct == 0xddcc) {
+      int ret = libusb_open(dev_list[i], &dev_handle);
+      if (dev_handle == NULL || ret < 0) { goto fail; }
+
+      unsigned char desc_serial[26] = { 0 };
+      ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
+      if (ret < 0) { goto fail; }
+
+      hw_serial_str = std::string((char *)desc_serial, ret);
+      if (serial.empty() || serial == hw_serial_str) {
+        break;
+      }
+      libusb_close(dev_handle);
+      dev_handle = NULL;
+    }
+  }
+  if (dev_handle == NULL) goto fail;
+  libusb_free_device_list(dev_list, 1);
+
+  if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
+    libusb_detach_kernel_driver(dev_handle, 0);
+  }
+
+  err = libusb_set_configuration(dev_handle, 1);
+  if (err != 0) { goto fail; }
+
+  err = libusb_claim_interface(dev_handle, 0);
+  if (err != 0) { goto fail; }
+
+  return true;
+
+fail:
+  if (dev_list != NULL) {
+    libusb_free_device_list(dev_list, 1);
+  }
+  cleanup_usb();
+  return false;
+}
+
+void Panda::cleanup_usb() {
+  if (dev_handle) {
+    libusb_release_interface(dev_handle, 0);
+    libusb_close(dev_handle);
+    dev_handle = nullptr;
+  }
+
+  if (ctx) {
+    libusb_exit(ctx);
+    ctx = nullptr;
+  }
+  connected_flag = false;
+}
+
+void Panda::handle_usb_issue(int err, const char func[]) {
   LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
   if (err == LIBUSB_ERROR_NO_DEVICE) {
     LOGE("lost connection");
-    connected = false;
+    connected_flag = false;
   }
-  // TODO: check other errors, is simply retrying okay?
 }
 
-int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
+int Panda::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
   int err;
   const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
 
-  if (!connected) {
+  if (!connected_flag) {
     return LIBUSB_ERROR_NO_DEVICE;
   }
 
-  std::lock_guard lk(hw_lock);
   do {
     err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
     if (err < 0) handle_usb_issue(err, __func__);
-  } while (err < 0 && connected);
+  } while (err < 0 && connected_flag);
 
   return err;
 }
 
-int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
+int Panda::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
   int err;
   const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
 
-  if (!connected) {
+  if (!connected_flag) {
     return LIBUSB_ERROR_NO_DEVICE;
   }
 
-  std::lock_guard lk(hw_lock);
   do {
     err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
     if (err < 0) handle_usb_issue(err, __func__);
-  } while (err < 0 && connected);
+  } while (err < 0 && connected_flag);
 
   return err;
 }
 
-int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+int Panda::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
   int err;
   int transferred = 0;
 
-  if (!connected) {
+  if (!connected_flag) {
     return 0;
   }
 
-  std::lock_guard lk(hw_lock);
   do {
-    // Try sending can messages. If the receive buffer on the panda is full it will NAK
-    // and libusb will try again. After 5ms, it will time out. We will drop the messages.
     err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
-
     if (err == LIBUSB_ERROR_TIMEOUT) {
       LOGW("Transmit buffer full");
       break;
     } else if (err != 0 || length != transferred) {
       handle_usb_issue(err, __func__);
     }
-  } while (err != 0 && connected);
+  } while (err != 0 && connected_flag);
 
   return transferred;
 }
 
-int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
+int Panda::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
   int err;
   int transferred = 0;
 
-  if (!connected) {
+  if (!connected_flag) {
     return 0;
   }
 
-  std::lock_guard lk(hw_lock);
-
   do {
     err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
-
     if (err == LIBUSB_ERROR_TIMEOUT) {
       break; // timeout is okay to exit, recv still happened
     } else if (err == LIBUSB_ERROR_OVERFLOW) {
-      comms_healthy = false;
+      comms_healthy_flag = false;
       LOGE_100("overflow got 0x%x", transferred);
     } else if (err != 0) {
       handle_usb_issue(err, __func__);
     }
-
-  } while (err != 0 && connected);
+  } while (err != 0 && connected_flag);
 
   return transferred;
 }
diff --git a/tools/cabana/panda.h b/tools/cabana/panda.h
new file mode 100644
index 0000000000..d318c33f4d
--- /dev/null
+++ b/tools/cabana/panda.h
@@ -0,0 +1,95 @@
+#pragma once
+
+#include <cstdint>
+#include <ctime>
+#include <functional>
+#include <list>
+#include <memory>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include <atomic>
+#include <mutex>
+#include <libusb-1.0/libusb.h>
+
+#include "cereal/gen/cpp/car.capnp.h"
+#include "cereal/gen/cpp/log.capnp.h"
+#include "panda/board/health.h"
+#include "panda/board/can.h"
+
+#define USB_TX_SOFT_LIMIT   (0x100U)
+#define USBPACKET_MAX_SIZE  (0x40)
+#define RECV_SIZE (0x4000U)
+#define TIMEOUT 0
+
+#define CAN_REJECTED_BUS_OFFSET 0xC0U
+#define CAN_RETURNED_BUS_OFFSET 0x80U
+
+#define PANDA_BUS_OFFSET 4
+
+struct __attribute__((packed)) can_header {
+  uint8_t reserved : 1;
+  uint8_t bus : 3;
+  uint8_t data_len_code : 4;
+  uint8_t rejected : 1;
+  uint8_t returned : 1;
+  uint8_t extended : 1;
+  uint32_t addr : 29;
+  uint8_t checksum : 8;
+};
+
+struct can_frame {
+  long address;
+  std::string dat;
+  long src;
+};
+
+
+class Panda {
+public:
+  Panda(std::string serial="", uint32_t bus_offset=0);
+  ~Panda();
+
+  cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
+  const uint32_t bus_offset;
+
+  bool connected();
+  bool comms_healthy();
+  std::string hw_serial();
+
+  // Static functions
+  static std::vector<std::string> list(bool usb_only=false);
+
+  // Panda functionality
+  cereal::PandaState::PandaType get_hw_type();
+  void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
+  void send_heartbeat(bool engaged);
+  void set_can_speed_kbps(uint16_t bus, uint16_t speed);
+  void set_data_speed_kbps(uint16_t bus, uint16_t speed);
+  bool can_receive(std::vector<can_frame>& out_vec);
+  void can_reset_communications();
+
+private:
+  // USB connection members
+  libusb_context *ctx = nullptr;
+  libusb_device_handle *dev_handle = nullptr;
+  std::string hw_serial_str;
+  std::atomic<bool> connected_flag = true;
+  std::atomic<bool> comms_healthy_flag = true;
+
+  // CAN buffer members
+  uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
+  uint32_t receive_buffer_size = 0;
+
+  // Internal methods
+  bool init_usb_connection(const std::string& serial);
+  void cleanup_usb();
+  void handle_usb_issue(int err, const char func[]);
+  int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
+  int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
+  int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
+  bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
+  uint8_t calculate_checksum(uint8_t *data, uint32_t len);
+};
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index cccc9b6d9a..e7b1129a30 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -41,6 +41,10 @@ void settings_op(SettingOperation op) {
   op(s, "log_path", settings.log_path);
   op(s, "drag_direction", (int &)settings.drag_direction);
   op(s, "suppress_defined_signals", settings.suppress_defined_signals);
+  op(s, "recent_dbc_file", settings.recent_dbc_file);
+  op(s, "active_msg_id", settings.active_msg_id);
+  op(s, "selected_msg_ids", settings.selected_msg_ids);
+  op(s, "active_charts", settings.active_charts);
 }
 
 Settings::Settings() {
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index e75c519ac7..7ab50d1494 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -46,6 +46,12 @@ public:
   QByteArray message_header_state;
   DragDirection drag_direction = MsbFirst;
 
+  // session data
+  QString recent_dbc_file;
+  QString active_msg_id;
+  QStringList selected_msg_ids;
+  QStringList active_charts;
+
 signals:
   void changed();
 };
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 9fe70c3ee8..15baabe512 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/signalview.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QCompleter>
 #include <QDialogButtonBox>
@@ -11,7 +12,6 @@
 #include <QPainterPath>
 #include <QPushButton>
 #include <QScrollBar>
-#include <QtConcurrent>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
@@ -34,12 +34,12 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 }
 
 void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
-  Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig};
-  root_item->children.insert(pos, parent_item);
+  Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = QString::fromStdString(sig->name)};
+  root_item->children.insert(root_item->children.begin() + pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
-    auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)};
+    auto item = new Item{.type = (Item::Type)(i + Item::Name), .parent = parent_item, .sig = sig, .title = titles[i]};
     parent_item->children.push_back(item);
     if (item->type == Item::ExtraInfo) {
       parent_item = item;
@@ -63,7 +63,7 @@ void SignalModel::refresh() {
   root.reset(new SignalModel::Item);
   if (auto msg = dbc()->msg(msg_id)) {
     for (auto s : msg->getSignals()) {
-      if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) {
+      if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) {
         insertItem(root.get(), root->children.size(), s);
       }
     }
@@ -124,25 +124,25 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     const Item *item = getItem(index);
     if (role == Qt::DisplayRole || role == Qt::EditRole) {
       if (index.column() == 0) {
-        return item->type == Item::Sig ? item->sig->name : item->title;
+        return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title;
       } else {
         switch (item->type) {
           case Item::Sig: return item->sig_val;
-          case Item::Name: return item->sig->name;
+          case Item::Name: return QString::fromStdString(item->sig->name);
           case Item::Size: return item->sig->size;
-          case Item::Node: return item->sig->receiver_name;
+          case Item::Node: return QString::fromStdString(item->sig->receiver_name);
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
-          case Item::Offset: return doubleToString(item->sig->offset);
-          case Item::Factor: return doubleToString(item->sig->factor);
-          case Item::Unit: return item->sig->unit;
-          case Item::Comment: return item->sig->comment;
-          case Item::Min: return doubleToString(item->sig->min);
-          case Item::Max: return doubleToString(item->sig->max);
+          case Item::Offset: return QString::fromStdString(doubleToString(item->sig->offset));
+          case Item::Factor: return QString::fromStdString(doubleToString(item->sig->factor));
+          case Item::Unit: return QString::fromStdString(item->sig->unit);
+          case Item::Comment: return QString::fromStdString(item->sig->comment);
+          case Item::Min: return QString::fromStdString(doubleToString(item->sig->min));
+          case Item::Max: return QString::fromStdString(doubleToString(item->sig->max));
           case Item::Desc: {
             QStringList val_desc;
             for (auto &[val, desc] : item->sig->val_desc) {
-              val_desc << QString("%1 \"%2\"").arg(val).arg(desc);
+              val_desc << QString("%1 \"%2\"").arg(val).arg(QString::fromStdString(desc));
             }
             return val_desc.join(" ");
           }
@@ -165,17 +165,17 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   Item *item = getItem(index);
   cabana::Signal s = *item->sig;
   switch (item->type) {
-    case Item::Name: s.name = value.toString(); break;
+    case Item::Name: s.name = value.toString().toStdString(); break;
     case Item::Size: s.size = value.toInt(); break;
-    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed().toStdString(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
     case Item::Signed: s.is_signed = value.toBool(); break;
     case Item::Offset: s.offset = value.toDouble(); break;
     case Item::Factor: s.factor = value.toDouble(); break;
-    case Item::Unit: s.unit = value.toString(); break;
-    case Item::Comment: s.comment = value.toString(); break;
+    case Item::Unit: s.unit = value.toString().toStdString(); break;
+    case Item::Comment: s.comment = value.toString().toStdString(); break;
     case Item::Min: s.min = value.toDouble(); break;
     case Item::Max: s.max = value.toDouble(); break;
     case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
@@ -189,7 +189,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
-    QString text = tr("There is already a signal with the same name '%1'").arg(s.name);
+    QString text = tr("There is already a signal with the same name '%1'").arg(QString::fromStdString(s.name));
     QMessageBox::warning(nullptr, tr("Failed to save signal"), text);
     return false;
   }
@@ -214,7 +214,7 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
       beginInsertRows({}, i, i);
       insertItem(root.get(), i, sig);
       endInsertRows();
-    } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) {
+    } else if (QString::fromStdString(sig->name).contains(filter_str, Qt::CaseInsensitive)) {
       refresh();
     }
   }
@@ -229,7 +229,9 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
       int to = dbc()->msg(msg_id)->indexOf(sig);
       if (to != row) {
         beginMoveRows({}, row, row, {}, to > row ? to + 1 : to);
-        root->children.move(row, to);
+        auto item = root->children[row];
+        root->children.erase(root->children.begin() + row);
+        root->children.insert(root->children.begin() + to, item);
         endMoveRows();
       }
     }
@@ -239,7 +241,8 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
 void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     beginRemoveRows({}, row, row);
-    delete root->children.takeAt(row);
+    delete root->children[row];
+    root->children.erase(root->children.begin() + row);
     endRemoveRows();
   }
 }
@@ -265,7 +268,7 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo
       text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
       spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2;
     }
-    width = std::min<int>(option.widget->size().width() / 3.0, option.fontMetrics.width(text) + spacing);
+    width = std::min<int>(option.widget->size().width() / 3.0, option.fontMetrics.horizontalAdvance(text) + spacing);
   }
   return {width, option.fontMetrics.height() + option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
 }
@@ -308,7 +311,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       // multiplexer indicator
       if (item->sig->type != cabana::Signal::Type::Normal) {
         QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
-        QRect indicator_rect{rect.x(), rect.y(), option.fontMetrics.width(indicator), rect.height()};
+        QRect indicator_rect{rect.x(), rect.y(), option.fontMetrics.horizontalAdvance(indicator), rect.height()};
         painter->setBrush(Qt::gray);
         painter->setPen(Qt::NoPen);
         painter->drawRoundedRect(indicator_rect, 3, 3);
@@ -342,13 +345,13 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignTop, max);
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
-        value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
+        value_adjust = std::max(fm.horizontalAdvance(min), fm.horizontalAdvance(max)) + 5;
       } else if (!item->sparkline.isEmpty() && item->sig->type == cabana::Signal::Type::Multiplexed) {
         // display freq of multiplexed signal
         painter->setFont(label_font);
         QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
         painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq);
-        value_adjust = QFontMetrics(label_font).width(freq) + 10;
+        value_adjust = QFontMetrics(label_font).horizontalAdvance(freq) + 10;
       }
       // signal value
       painter->setFont(option.font);
@@ -373,7 +376,10 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
+      auto names = dbc()->signalNames();
+      QStringList qnames;
+      for (const auto &n : names) qnames.push_back(QString::fromStdString(n));
+      QCompleter *completer = new QCompleter(qnames, e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
@@ -395,7 +401,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     return c;
   } else if (item->type == SignalModel::Item::Desc) {
     ValueDescriptionDlg dlg(item->sig->val_desc, parent);
-    dlg.setWindowTitle(item->sig->name);
+    dlg.setWindowTitle(QString::fromStdString(item->sig->name));
     if (dlg.exec()) {
       ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc));
     }
@@ -621,26 +627,27 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
-      item->sig_val = item->sig->formatValue(value);
-      max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
+      item->sig_val = QString::fromStdString(item->sig->formatValue(value));
+      max_value_width = std::max(max_value_width, fontMetrics().horizontalAdvance(item->sig_val));
     }
   }
 
   auto [first_visible, last_visible] = visibleSignalRange();
   if (first_visible.isValid() && last_visible.isValid()) {
-    const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
+    const static int min_max_width = QFontMetrics(delegate->minmax_font).horizontalAdvance("-000.00") + 5;
     int available_width = value_column_width - delegate->button_size.width();
     int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
     QSize size(available_width - value_width,
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
 
-    QFutureSynchronizer<void> synchronizer;
+    auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts));
+    std::vector<std::future<void>> futures;
     for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
-      synchronizer.addFuture(QtConcurrent::run(
-          &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
+      futures.push_back(std::async(std::launch::async,
+          &Sparkline::update, &item->sparkline, item->sig, first, last, settings.sparkline_range, size));
     }
-    synchronizer.waitForFinished();
+    for (auto &f : futures) f.get();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
@@ -676,7 +683,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q
   int row = 0;
   for (auto &[val, desc] : descriptions) {
     table->setItem(row, 0, new QTableWidgetItem(QString::number(val)));
-    table->setItem(row, 1, new QTableWidgetItem(desc));
+    table->setItem(row, 1, new QTableWidgetItem(QString::fromStdString(desc)));
     ++row;
   }
 
@@ -705,7 +712,7 @@ void ValueDescriptionDlg::save() {
     QString val = table->item(i, 0)->text().trimmed();
     QString desc = table->item(i, 1)->text().trimmed();
     if (!val.isEmpty() && !desc.isEmpty()) {
-      val_desc.push_back({val.toDouble(), desc});
+      val_desc.push_back({val.toDouble(), desc.toStdString()});
     }
   }
   QDialog::accept();
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 4e746ea105..42db830df7 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -20,12 +20,15 @@ class SignalModel : public QAbstractItemModel {
 public:
   struct Item {
     enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
-    ~Item() { qDeleteAll(children); }
-    inline int row() { return parent->children.indexOf(this); }
+    ~Item() { for (auto c : children) delete c; }
+    inline int row() {
+      auto it = std::find(parent->children.begin(), parent->children.end(), this);
+      return it != parent->children.end() ? std::distance(parent->children.begin(), it) : -1;
+    }
 
     Type type = Type::Root;
     Item *parent = nullptr;
-    QList<Item *> children;
+    std::vector<Item *> children;
 
     const cabana::Signal *sig = nullptr;
     QString title;
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index f35b19d34f..7d66a420dc 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -65,8 +65,8 @@ public:
   virtual void start() = 0;
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
-  virtual QString routeName() const = 0;
-  virtual QString carFingerprint() const { return ""; }
+  virtual std::string routeName() const = 0;
+  virtual std::string carFingerprint() const { return ""; }
   virtual QDateTime beginDateTime() const { return {}; }
   virtual uint64_t beginMonoTime() const { return 0; }
   virtual double minSeconds() const { return 0; }
@@ -149,7 +149,7 @@ class DummyStream : public AbstractStream {
   Q_OBJECT
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
-  QString routeName() const override { return tr("No Stream"); }
+  std::string routeName() const override { return "No Stream"; }
   void start() override {}
 };
 
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 6de63dfbbc..20eaa70cd6 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -3,8 +3,12 @@
 #include <memory>
 #include <string>
 
+#include "cereal/services.h"
+
 #include <QButtonGroup>
+#include <QFileInfo>
 #include <QFormLayout>
+#include <QMessageBox>
 #include <QRadioButton>
 #include <QRegularExpression>
 #include <QRegularExpressionValidator>
@@ -15,12 +19,37 @@
 DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
 }
 
+DeviceStream::~DeviceStream() {
+  if (!bridge_process)
+    return;
+
+  bridge_process->terminate();
+  if (!bridge_process->waitForFinished(3000)) {
+    bridge_process->kill();
+    bridge_process->waitForFinished();
+  }
+}
+
+void DeviceStream::start() {
+  if (!zmq_address.isEmpty()) {
+    bridge_process = new QProcess(this);
+    QString bridge_path = QCoreApplication::applicationDirPath() + "/../../cereal/messaging/bridge";
+    bridge_process->start(QFileInfo(bridge_path).absoluteFilePath(), QStringList { zmq_address, "/\"can/\"" });
+
+    if (!bridge_process->waitForStarted()) {
+      QMessageBox::warning(nullptr, tr("Error"), tr("Failed to start bridge: %1").arg(bridge_process->errorString()));
+      return;
+    }
+  }
+
+  LiveStream::start();
+}
+
 void DeviceStream::streamThread() {
   zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
 
   std::unique_ptr<Context> context(Context::create());
-  std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
-  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", "127.0.0.1", false, true, services.at("can").queue_size));
   assert(sock != NULL);
   // run as fast as messages come in
   while (!QThread::currentThread()->isInterruptionRequested()) {
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
index 3bdf224998..4bcdb5351d 100644
--- a/tools/cabana/streams/devicestream.h
+++ b/tools/cabana/streams/devicestream.h
@@ -2,16 +2,21 @@
 
 #include "tools/cabana/streams/livestream.h"
 
+#include <QProcess>
+
 class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  inline QString routeName() const override {
-    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  ~DeviceStream();
+  inline std::string routeName() const override {
+    return "Live Streaming From " + (zmq_address.isEmpty() ? std::string("127.0.0.1") : zmq_address.toStdString());
   }
 
 protected:
+  void start() override;
   void streamThread() override;
+  QProcess *bridge_process = nullptr;
   const QString zmq_address;
 };
 
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index e66d72e59d..3692f71a11 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -16,15 +16,15 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
 
 bool PandaStream::connect() {
   try {
-    qDebug() << "Connecting to panda " << config.serial;
-    panda.reset(new Panda(config.serial.toStdString()));
+    qDebug() << "Connecting to panda " << config.serial.c_str();
+    panda.reset(new Panda(config.serial));
     config.bus_config.resize(3);
     qDebug() << "Connected";
   } catch (const std::exception& e) {
     return false;
   }
 
-  panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
+  panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
   for (int bus = 0; bus < config.bus_config.size(); bus++) {
     panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);
 
@@ -72,7 +72,7 @@ void PandaStream::streamThread() {
 
     handleEvent(capnp::messageToFlatArray(msg));
 
-    panda->send_heartbeat(false, false);
+    panda->send_heartbeat(false);
   }
 }
 
@@ -81,7 +81,7 @@ void PandaStream::streamThread() {
 OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
-    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
+    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName()))));
     form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
     QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
     return;
@@ -129,7 +129,7 @@ void OpenPandaWidget::buildConfigForm() {
   }
 
   if (has_panda) {
-    config.serial = serial;
+    config.serial = serial.toStdString();
     config.bus_config.resize(3);
     for (int i = 0; i < config.bus_config.size(); i++) {
       QHBoxLayout *bus_layout = new QHBoxLayout;
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 826b1aa986..f8847f65e5 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -7,7 +7,7 @@
 #include <QFormLayout>
 
 #include "tools/cabana/streams/livestream.h"
-#include "selfdrive/pandad/panda.h"
+#include "tools/cabana/panda.h"
 
 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
@@ -19,7 +19,7 @@ struct BusConfig {
 };
 
 struct PandaStreamConfig {
-  QString serial = "";
+  std::string serial = "";
   std::vector<BusConfig> bus_config;
 };
 
@@ -28,8 +28,8 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  inline QString routeName() const override {
-    return QString("Panda: %1").arg(config.serial);
+  inline std::string routeName() const override {
+    return "Panda: " + config.serial;
   }
 
 protected:
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index b8cf1be299..f42bf2601c 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -46,9 +46,9 @@ void ReplayStream::mergeSegments() {
   }
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) {
-  replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir.toStdString(), auto_source));
+bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir, auto_source));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
 
@@ -72,17 +72,17 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
-                     "This is likely a private route.").arg(route);
+                     "This is likely a private route.").arg(QString::fromStdString(route));
       }
       QMessageBox::warning(nullptr, tr("Access Denied"), message);
     } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
       QMessageBox::warning(nullptr, tr("Network Error"),
-                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route)));
     } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
       QMessageBox::warning(nullptr, tr("Route Not Found"),
-                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route)));
     } else {
-      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route)));
     }
   }
   return success;
@@ -168,7 +168,7 @@ AbstractStream *OpenReplayWidget::open() {
     if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
-    if (replay_stream->loadRoute(route, data_dir, flags)) {
+    if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
       return replay_stream.release();
     }
   }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index d429ed1f95..40f8ec8cfb 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -18,12 +18,12 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override { replay->start(); }
-  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
+  bool loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
-  inline QString routeName() const override { return QString::fromStdString(replay->route().name()); }
-  inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  inline std::string routeName() const override { return replay->route().name(); }
+  inline std::string carFingerprint() const override { return replay->carFingerprint(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
   inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); }
diff --git a/tools/cabana/streams/routes.cc b/tools/cabana/streams/routes.cc
index 5915c98065..1e69a45cea 100644
--- a/tools/cabana/streams/routes.cc
+++ b/tools/cabana/streams/routes.cc
@@ -1,27 +1,33 @@
 #include "tools/cabana/streams/routes.h"
 
+#include <QApplication>
 #include <QDateTime>
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QJsonArray>
 #include <QJsonDocument>
+#include <QJsonObject>
 #include <QListWidget>
 #include <QMessageBox>
 #include <QPainter>
+#include <QPointer>
+#include <thread>
 
-class OneShotHttpRequest : public HttpRequest {
-public:
-  OneShotHttpRequest(QObject *parent) : HttpRequest(parent, false) {}
-  void send(const QString &url) {
-    if (reply) {
-      reply->disconnect();
-      reply->abort();
-      reply->deleteLater();
-      reply = nullptr;
-    }
-    sendRequest(url);
+#include "tools/replay/py_downloader.h"
+
+namespace {
+
+// Parse a PyDownloader JSON response into (success, error_code).
+std::pair<bool, int> checkApiResponse(const std::string &result) {
+  if (result.empty()) return {false, 500};
+  auto doc = QJsonDocument::fromJson(QByteArray::fromStdString(result));
+  if (doc.isObject() && doc.object().contains("error")) {
+    return {false, doc.object()["error"].toString() == "unauthorized" ? 401 : 500};
   }
-};
+  return {true, 0};
+}
+
+}  // namespace
 
 // The RouteListWidget class extends QListWidget to display a custom message when empty
 class RouteListWidget : public QListWidget {
@@ -41,7 +47,7 @@ public:
   QString empty_text_ = tr("No items");
 };
 
-RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(new OneShotHttpRequest(this)) {
+RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Remote routes"));
 
   QFormLayout *layout = new QFormLayout(this);
@@ -52,41 +58,39 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(
   layout->addRow(button_box);
 
   device_list_->addItem(tr("Loading..."));
-  // Populate period selector with predefined durations
   period_selector_->addItem(tr("Last week"), 7);
   period_selector_->addItem(tr("Last 2 weeks"), 14);
   period_selector_->addItem(tr("Last month"), 30);
   period_selector_->addItem(tr("Last 6 months"), 180);
   period_selector_->addItem(tr("Preserved"), -1);
 
-  // Connect signals and slots
-  QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
   connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
   connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
-  QObject::connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  connect(button_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
 
-  // Send request to fetch devices
-  HttpRequest *http = new HttpRequest(this, false);
-  QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
-  http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
+  // Fetch devices
+  QPointer<RoutesDialog> self = this;
+  std::thread([self]() {
+    std::string result = PyDownloader::getDevices();
+    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
+      if (self) self->parseDeviceList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
 }
 
-void RoutesDialog::parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err) {
+void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) {
   if (success) {
     device_list_->clear();
-    auto devices = QJsonDocument::fromJson(json.toUtf8()).array();
-    for (const QJsonValue &device : devices) {
+    for (const QJsonValue &device : QJsonDocument::fromJson(json.toUtf8()).array()) {
       QString dongle_id = device["dongle_id"].toString();
       device_list_->addItem(dongle_id, dongle_id);
     }
   } else {
-    bool unauthorized = (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError);
-    QMessageBox::warning(this, tr("Error"), unauthorized ? tr("Unauthorized, Authenticate with tools/lib/auth.py") : tr("Network error"));
+    QMessageBox::warning(this, tr("Error"), error_code == 401 ? tr("Unauthorized. Authenticate with tools/lib/auth.py") : tr("Network error"));
     reject();
   }
-  sender()->deleteLater();
 }
 
 void RoutesDialog::fetchRoutes() {
@@ -95,21 +99,30 @@ void RoutesDialog::fetchRoutes() {
 
   route_list_->clear();
   route_list_->setEmptyText(tr("Loading..."));
-  // Construct URL with selected device and date range
-  QString url = QString("%1/v1/devices/%2").arg(CommaApi::BASE_URL, device_list_->currentText());
+
+  std::string did = device_list_->currentText().toStdString();
   int period = period_selector_->currentData().toInt();
-  if (period == -1) {
-    url += "/routes/preserved";
-  } else {
+
+  bool preserved = (period == -1);
+  int64_t start_ms = 0, end_ms = 0;
+  if (!preserved) {
     QDateTime now = QDateTime::currentDateTime();
-    url += QString("/routes_segments?start=%1&end=%2")
-               .arg(now.addDays(-period).toMSecsSinceEpoch())
-               .arg(now.toMSecsSinceEpoch());
+    start_ms = now.addDays(-period).toMSecsSinceEpoch();
+    end_ms = now.toMSecsSinceEpoch();
   }
-  route_requester_->send(url);
+
+  int request_id = ++fetch_id_;
+  QPointer<RoutesDialog> self = this;
+  std::thread([self, did, start_ms, end_ms, preserved, request_id]() {
+    std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved);
+    if (!self || self->fetch_id_ != request_id) return;
+    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
+      if (self && self->fetch_id_ == request_id) self->parseRouteList(r, response.first, response.second);
+    }, Qt::QueuedConnection);
+  }).detach();
 }
 
-void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
+void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) {
   if (success) {
     for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
       QDateTime from, to;
diff --git a/tools/cabana/streams/routes.h b/tools/cabana/streams/routes.h
index ee50712212..99fa67ef8c 100644
--- a/tools/cabana/streams/routes.h
+++ b/tools/cabana/streams/routes.h
@@ -1,12 +1,10 @@
 #pragma once
 
+#include <atomic>
 #include <QComboBox>
 #include <QDialog>
 
-#include "selfdrive/ui/qt/api.h"
-
 class RouteListWidget;
-class OneShotHttpRequest;
 
 class RoutesDialog : public QDialog {
   Q_OBJECT
@@ -15,12 +13,12 @@ public:
   QString route();
 
 protected:
-  void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
-  void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
+  void parseDeviceList(const QString &json, bool success, int error_code);
+  void parseRouteList(const QString &json, bool success, int error_code);
   void fetchRoutes();
 
   QComboBox *device_list_;
   QComboBox *period_selector_;
   RouteListWidget *route_list_;
-  OneShotHttpRequest *route_requester_;
+  std::atomic<int> fetch_id_{0};
 };
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index e4801df9c0..768465d5a3 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -1,6 +1,14 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
 #include <QDebug>
+#include <QDir>
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QMessageBox>
@@ -9,59 +17,82 @@
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
-    throw std::runtime_error("SocketCAN plugin not available");
+    throw std::runtime_error("SocketCAN not available");
   }
 
-  qDebug() << "Connecting to SocketCAN device" << config.device;
+  qDebug() << "Connecting to SocketCAN device" << config.device.c_str();
   if (!connect()) {
     throw std::runtime_error("Failed to connect to SocketCAN device");
   }
 }
 
+SocketCanStream::~SocketCanStream() {
+  stop();
+  if (sock_fd >= 0) {
+    ::close(sock_fd);
+    sock_fd = -1;
+  }
+}
+
 bool SocketCanStream::available() {
-  return QCanBus::instance()->plugins().contains("socketcan");
+  int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (fd < 0) return false;
+  ::close(fd);
+  return true;
 }
 
 bool SocketCanStream::connect() {
-  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
-  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
-  QString errorString;
-  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
-  device->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
-
-  if (!device) {
-    qDebug() << "Failed to create SocketCAN device" << errorString;
+  sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (sock_fd < 0) {
+    qDebug() << "Failed to create CAN socket";
     return false;
   }
 
-  if (!device->connectDevice()) {
-    qDebug() << "Failed to connect to device";
+  // Enable CAN-FD
+  int fd_enable = 1;
+  setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
+
+  struct ifreq ifr = {};
+  strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
+    qDebug() << "Failed to get interface index for" << config.device.c_str();
+    ::close(sock_fd);
+    sock_fd = -1;
     return false;
   }
 
+  struct sockaddr_can addr = {};
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    qDebug() << "Failed to bind CAN socket";
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  // Set read timeout so the thread can check for interruption
+  struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};  // 100ms
+  setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
   return true;
 }
 
 void SocketCanStream::streamThread() {
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
+  struct canfd_frame frame;
 
-    auto frames = device->readAllFrames();
-    if (frames.size() == 0) continue;
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
+    if (nbytes <= 0) continue;
+
+    uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;  // works for both CAN and CAN-FD
 
     MessageBuilder msg;
     auto evt = msg.initEvent();
-    auto canData = evt.initCan(frames.size());
-
-    for (uint i = 0; i < frames.size(); i++) {
-      if (!frames[i].isValid()) continue;
-
-      canData[i].setAddress(frames[i].frameId());
-      canData[i].setSrc(0);
-
-      auto payload = frames[i].payload();
-      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
-    }
+    auto canData = evt.initCan(1);
+    canData[0].setAddress(frame.can_id & CAN_EFF_MASK);
+    canData[0].setSrc(0);
+    canData[0].setDat(kj::arrayPtr(frame.data, len));
 
     handleEvent(capnp::messageToFlatArray(msg));
   }
@@ -87,7 +118,7 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
   main_layout->addStretch(1);
 
   QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
-  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
 
   // Populate devices
   refreshDevices();
@@ -95,12 +126,19 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
 
 void OpenSocketCanWidget::refreshDevices() {
   device_edit->clear();
-  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
-    device_edit->addItem(device.name());
+  // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
+  QDir net_dir("/sys/class/net");
+  for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) {
+    QFile type_file(net_dir.filePath(iface) + "/type");
+    if (type_file.open(QIODevice::ReadOnly)) {
+      int type = type_file.readAll().trimmed().toInt();
+      if (type == 280) {
+        device_edit->addItem(iface);
+      }
+    }
   }
 }
 
-
 AbstractStream *OpenSocketCanWidget::open() {
   try {
     return new SocketCanStream(qApp, config);
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 8083b687e9..3c5cd184f7 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -1,27 +1,22 @@
 #pragma once
 
-#include <memory>
-
-#include <QtSerialBus/QCanBus>
-#include <QtSerialBus/QCanBusDevice>
-#include <QtSerialBus/QCanBusDeviceInfo>
 #include <QComboBox>
 
 #include "tools/cabana/streams/livestream.h"
 
 struct SocketCanStreamConfig {
-  QString device = ""; // TODO: support multiple devices/buses at once
+  std::string device = ""; // TODO: support multiple devices/buses at once
 };
 
 class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
-  ~SocketCanStream() { stop(); }
+  ~SocketCanStream();
   static bool available();
 
-  inline QString routeName() const override {
-    return QString("Live Streaming From Socket CAN %1").arg(config.device);
+  inline std::string routeName() const override {
+    return "Live Streaming From Socket CAN " + config.device;
   }
 
 protected:
@@ -29,7 +24,7 @@ protected:
   bool connect();
 
   SocketCanStreamConfig config = {};
-  std::unique_ptr<QCanBusDevice> device;
+  int sock_fd = -1;
 };
 
 class OpenSocketCanWidget : public AbstractOpenStreamWidget {
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index d9fcae6f21..833cfbe4b5 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -8,7 +8,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
 TEST_CASE("DBCFile::generateDBC") {
-  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
+  std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
@@ -30,7 +30,7 @@ TEST_CASE("DBCFile::generateDBC") {
 
 TEST_CASE("DBCFile::generateDBC - comment order") {
   // Ensure that message comments are followed by signal comments and in the correct order
-  auto content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 BO_ 162 message_2: 8 EON
@@ -46,7 +46,7 @@ CM_ SG_ 162 signal_2 "signal comment";
 }
 
 TEST_CASE("DBCFile::generateDBC -- preserve original header") {
-  QString content = R"(VERSION "1.0"
+  std::string content = R"(VERSION "1.0"
 
 NS_ :
  CM_
@@ -66,7 +66,7 @@ CM_ SG_ 160 signal_1 "signal comment";
 }
 
 TEST_CASE("DBCFile::generateDBC - escaped quotes") {
-  QString content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 CM_ BO_ 160 "message comment with \"escaped quotes\"";
@@ -77,7 +77,7 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
 }
 
 TEST_CASE("parse_dbc") {
-  QString content = R"(
+  std::string content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
   SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
@@ -119,9 +119,9 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(sig_1->comment == "signal comment");
   REQUIRE(sig_1->receiver_name == "XXX");
   REQUIRE(sig_1->val_desc.size() == 3);
-  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
-  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
-  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, std::string>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, std::string>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, std::string>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
   REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
@@ -147,7 +147,7 @@ TEST_CASE("parse_opendbc") {
   QStringList errors;
   for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     try {
-      auto dbc = DBCFile(dir.filePath(fn));
+      auto dbc = DBCFile(dir.filePath(fn).toStdString());
     } catch (std::exception &e) {
       errors.push_back(e.what());
     }
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index ec56fcaac0..b131893942 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -1,10 +1,11 @@
 #include "tools/cabana/tools/findsignal.h"
 
+#include <thread>
+
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QHeaderView>
 #include <QMenu>
-#include <QtConcurrent>
 #include <QTimer>
 #include <QVBoxLayout>
 
@@ -20,7 +21,7 @@ QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
   if (role == Qt::DisplayRole) {
     const auto &s = filtered_signals[index.row()];
     switch (index.column()) {
-      case 0: return s.id.toString();
+      case 0: return QString::fromStdString(s.id.toString());
       case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
       case 2: return s.values.join(" ");
     }
@@ -32,36 +33,49 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   beginResetModel();
 
   std::mutex lock;
-  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  const auto prev_sigs = !histories.empty() ? histories.back() : initial_signals;
   filtered_signals.clear();
   filtered_signals.reserve(prev_sigs.size());
-  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
-    const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
-    auto last = events.cend();
-    if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
-    }
 
-    auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
-    if (it != last) {
-      auto values = s.values;
-      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
-      std::lock_guard lk(lock);
-      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
-    }
-  });
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (prev_sigs.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < (size_t)prev_sigs.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, (size_t)prev_sigs.size());
+    threads.emplace_back([&, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const auto &s = prev_sigs[i];
+        const auto &events = can->events(s.id);
+        auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
+        auto last = events.cend();
+        if (last_time < std::numeric_limits<uint64_t>::max()) {
+          last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
+        }
+
+        auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+        if (it != last) {
+          auto values = s.values;
+          values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+          std::lock_guard lk(lock);
+          filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+        }
+      }
+    });
+  }
+  for (auto &th : threads) th.join();
+
   histories.push_back(filtered_signals);
 
   endResetModel();
 }
 
 void FindSignalModel::undo() {
-  if (!histories.isEmpty()) {
+  if (!histories.empty()) {
     beginResetModel();
     histories.pop_back();
     filtered_signals.clear();
-    if (!histories.isEmpty()) filtered_signals = histories.back();
+    if (!histories.empty()) filtered_signals = histories.back();
     endResetModel();
   }
 }
@@ -172,7 +186,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
 }
 
 void FindSignalDlg::search() {
-  if (model->histories.isEmpty()) {
+  if (model->histories.empty()) {
     setInitialSignals();
   }
   auto v1 = value1->text().toDouble();
@@ -246,12 +260,12 @@ void FindSignalDlg::setInitialSignals() {
 }
 
 void FindSignalDlg::modelReset() {
-  properties_group->setEnabled(model->histories.isEmpty());
-  message_group->setEnabled(model->histories.isEmpty());
-  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
-  reset_btn->setEnabled(!model->histories.isEmpty());
+  properties_group->setEnabled(model->histories.empty());
+  message_group->setEnabled(model->histories.empty());
+  search_btn->setText(model->histories.empty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.empty());
   undo_btn->setEnabled(model->histories.size() > 1);
-  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.empty());
   stats_label->setVisible(true);
   stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
 }
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
index 5ef7461fee..239a08c9c4 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/tools/cabana/tools/findsignal.h
@@ -2,6 +2,8 @@
 
 #include <algorithm>
 #include <limits>
+#include <string>
+#include <vector>
 
 #include <QAbstractTableModel>
 #include <QCheckBox>
@@ -26,14 +28,14 @@ public:
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min((int)filtered_signals.size(), 300); }
   void search(std::function<bool(double)> cmp);
   void reset();
   void undo();
 
-  QList<SearchSignal> filtered_signals;
-  QList<SearchSignal> initial_signals;
-  QList<QList<SearchSignal>> histories;
+  std::vector<SearchSignal> filtered_signals;
+  std::vector<SearchSignal> initial_signals;
+  std::vector<std::vector<SearchSignal>> histories;
   uint64_t last_time = std::numeric_limits<uint64_t>::max();
 };
 
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
index c3c659791a..8062b61199 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/tools/findsimilarbits.h"
 
 #include <algorithm>
+#include <unordered_map>
 
 #include <QGridLayout>
 #include <QHeaderView>
@@ -31,7 +32,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
   msg_cb = new QComboBox(this);
   // TODO: update when src_bus_combo changes
   for (auto &[address, msg] : dbc()->getMessages(-1)) {
-    msg_cb->addItem(msg.name, address);
+    msg_cb->addItem(QString::fromStdString(msg.name), address);
   }
   msg_cb->model()->sort(0);
   msg_cb->setCurrentIndex(0);
@@ -114,10 +115,10 @@ void FindSimilarBitsDlg::find() {
   search_btn->setEnabled(true);
 }
 
-QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
-                                                                          int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
-  QHash<uint32_t, QVector<uint32_t>> mismatches;
-  QHash<uint32_t, uint32_t> msg_count;
+std::vector<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
+                                                                               int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
+  std::unordered_map<uint32_t, std::vector<uint32_t>> mismatches;
+  std::unordered_map<uint32_t, uint32_t> msg_count;
   const auto &events = can->allEvents();
   int bit_to_find = -1;
   for (const CanEvent *e : events) {
@@ -143,14 +144,14 @@ QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_
     }
   }
 
-  QList<mismatched_struct> result;
+  std::vector<mismatched_struct> result;
   result.reserve(mismatches.size());
   for (auto it = mismatches.begin(); it != mismatches.end(); ++it) {
-    if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
-      auto &mismatched = it.value();
-      for (int i = 0; i < mismatched.size(); ++i) {
+    if (auto cnt = msg_count[it->first]; cnt > (uint32_t)min_msgs_cnt) {
+      auto &mismatched = it->second;
+      for (int i = 0; i < (int)mismatched.size(); ++i) {
         if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
-          result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
+          result.push_back({it->first, (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
         }
       }
     }
diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h
index 77bfac19ca..3451360654 100644
--- a/tools/cabana/tools/findsimilarbits.h
+++ b/tools/cabana/tools/findsimilarbits.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <vector>
+
 #include <QComboBox>
 #include <QDialog>
 #include <QLineEdit>
@@ -22,7 +24,7 @@ private:
     uint32_t address, byte_idx, bit_idx, mismatches, total;
     float perc;
   };
-  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
+  std::vector<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
                                     bool equal, int min_msgs_cnt);
   void find();
 
diff --git a/tools/cabana/tools/routeinfo.cc b/tools/cabana/tools/routeinfo.cc
new file mode 100644
index 0000000000..77a0e065cd
--- /dev/null
+++ b/tools/cabana/tools/routeinfo.cc
@@ -0,0 +1,40 @@
+#include "tools/cabana/tools/routeinfo.h"
+#include <QHeaderView>
+#include <QScrollBar>
+#include <QTableWidget>
+#include <QVBoxLayout>
+#include "tools/cabana/streams/replaystream.h"
+
+RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) {
+  auto *replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  setWindowTitle(tr("Route: %1").arg(QString::fromStdString(replay->route().name())));
+
+  auto *table = new QTableWidget(replay->route().segments().size(), 7, this);
+  table->setToolTip(tr("Click on a row to seek to the corresponding segment."));
+  table->setEditTriggers(QAbstractItemView::NoEditTriggers);
+  table->setSelectionBehavior(QAbstractItemView::SelectRows);
+  table->setSelectionMode(QAbstractItemView::SingleSelection);
+  table->setHorizontalHeaderLabels({"", "rlog", "fcam", "ecam", "dcam", "qlog", "qcam"});
+  table->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+  table->verticalHeader()->setVisible(false);
+  table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+  int row = 0;
+  for (const auto &[seg_num, seg] : replay->route().segments()) {
+    table->setItem(row, 0, new QTableWidgetItem(QString::number(seg_num)));
+    table->setItem(row, 1, new QTableWidgetItem(seg.rlog.empty() ? "--" : "Yes"));
+    table->setItem(row, 2, new QTableWidgetItem(seg.road_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 3, new QTableWidgetItem(seg.wide_road_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 4, new QTableWidgetItem(seg.driver_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 5, new QTableWidgetItem(seg.qlog.empty() ? "--" : "Yes"));
+    table->setItem(row, 6, new QTableWidgetItem(seg.qcamera.empty() ? "--" : "Yes"));
+    ++row;
+  }
+  table->setMinimumWidth(table->horizontalHeader()->length() + table->verticalScrollBar()->sizeHint().width());
+  table->setMinimumHeight(table->rowHeight(0) * std::min(table->rowCount(), 13) + table->horizontalHeader()->height() + table->frameWidth() * 2);
+
+  connect(table, &QTableWidget::itemClicked, [](QTableWidgetItem *item) { can->seekTo(item->row() * 60.0); });
+
+  QVBoxLayout *layout = new QVBoxLayout(this);
+  layout->addWidget(table);
+}
diff --git a/tools/cabana/tools/routeinfo.h b/tools/cabana/tools/routeinfo.h
new file mode 100644
index 0000000000..36f32b4bf4
--- /dev/null
+++ b/tools/cabana/tools/routeinfo.h
@@ -0,0 +1,8 @@
+#pragma once
+#include <QDialog>
+
+class RouteInfoDlg : public QDialog {
+  Q_OBJECT
+public:
+  RouteInfoDlg(QWidget *parent = nullptr);
+};
diff --git a/tools/cabana/utils/elidedlabel.cc b/tools/cabana/utils/elidedlabel.cc
new file mode 100644
index 0000000000..629a108b16
--- /dev/null
+++ b/tools/cabana/utils/elidedlabel.cc
@@ -0,0 +1,29 @@
+#include "tools/cabana/utils/elidedlabel.h"
+#include <QPainter>
+#include <QStyleOption>
+
+ElidedLabel::ElidedLabel(QWidget *parent) : ElidedLabel({}, parent) {}
+
+ElidedLabel::ElidedLabel(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
+  setMinimumWidth(1);
+}
+
+void ElidedLabel::resizeEvent(QResizeEvent* event) {
+  QLabel::resizeEvent(event);
+  lastText_ = elidedText_ = "";
+}
+
+void ElidedLabel::paintEvent(QPaintEvent *event) {
+  const QString curText = text();
+  if (curText != lastText_) {
+    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
+    lastText_ = curText;
+  }
+
+  QPainter painter(this);
+  drawFrame(&painter);
+  QStyleOption opt;
+  opt.initFrom(this);
+  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
+}
diff --git a/tools/cabana/utils/elidedlabel.h b/tools/cabana/utils/elidedlabel.h
new file mode 100644
index 0000000000..577eea12a0
--- /dev/null
+++ b/tools/cabana/utils/elidedlabel.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <QLabel>
+#include <QMouseEvent>
+
+class ElidedLabel : public QLabel {
+  Q_OBJECT
+
+public:
+  explicit ElidedLabel(QWidget *parent = 0);
+  explicit ElidedLabel(const QString &text, QWidget *parent = 0);
+
+signals:
+  void clicked();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void resizeEvent(QResizeEvent* event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (rect().contains(event->pos())) {
+      emit clicked();
+    }
+  }
+  QString lastText_, elidedText_;
+};
diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc
index 79ca97ba8f..a7f910193f 100644
--- a/tools/cabana/utils/export.cc
+++ b/tools/cabana/utils/export.cc
@@ -26,7 +26,7 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
     QTextStream stream(&file);
     stream << "time,addr,bus";
     for (auto s : msg->sigs)
-      stream << "," << s->name;
+      stream << "," << s->name.c_str();
     stream << "\n";
 
     for (auto e : can->events(msg_id)) {
diff --git a/tools/cabana/utils/util.cc b/tools/cabana/utils/util.cc
index 4556f90850..50ab764423 100644
--- a/tools/cabana/utils/util.cc
+++ b/tools/cabana/utils/util.cc
@@ -10,11 +10,15 @@
 
 #include <QColor>
 #include <QDateTime>
+#include <QDir>
 #include <QFontDatabase>
 #include <QLocale>
 #include <QPixmapCache>
-
-#include "selfdrive/ui/qt/util.h"
+#include <QSurfaceFormat>
+#include <QFileInfo>
+#include <QPainterPath>
+#include <unordered_map>
+#include "common/util.h"
 
 // SegmentTree
 
@@ -161,13 +165,13 @@ UnixSignalHandler::~UnixSignalHandler() {
 }
 
 void UnixSignalHandler::signalHandler(int s) {
-  ::write(sig_fd[0], &s, sizeof(s));
+  (void)!::write(sig_fd[0], &s, sizeof(s));
 }
 
 void UnixSignalHandler::handleSigTerm() {
   sn->setEnabled(false);
   int tmp;
-  ::read(sig_fd[1], &tmp, sizeof(tmp));
+  (void)!::read(sig_fd[1], &tmp, sizeof(tmp));
 
   printf("\nexiting...\n");
   qApp->closeAllWindows();
@@ -191,8 +195,15 @@ DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) {
 }
 
 namespace utils {
+
+bool isDarkTheme() {
+  QColor windowColor = QApplication::palette().color(QPalette::Window);
+  return windowColor.lightness() < 128;
+}
+
 QPixmap icon(const QString &id) {
-  bool dark_theme = settings.theme == DARK_THEME;
+  bool dark_theme = isDarkTheme();
+
   QPixmap pm;
   QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
   if (!QPixmapCache::find(key, &pm)) {
@@ -266,6 +277,96 @@ QString signalToolTip(const cabana::Signal *sig) {
     Start Bit: %2 Size: %3<br />
     MSB: %4 LSB: %5<br />
     Little Endian: %6 Signed: %7</span>
-  )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
+  )").arg(QString::fromStdString(sig->name)).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
      .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
+
+void setSurfaceFormat() {
+  QSurfaceFormat fmt;
+#ifdef __APPLE__
+  fmt.setVersion(3, 2);
+  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
+  fmt.setRenderableType(QSurfaceFormat::OpenGL);
+#else
+  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+#endif
+  fmt.setSamples(16);
+  fmt.setStencilBufferSize(1);
+  QSurfaceFormat::setDefaultFormat(fmt);
+}
+
+void sigTermHandler(int s) {
+  std::signal(s, SIG_DFL);
+  qApp->quit();
+}
+
+void initApp(int argc, char *argv[], bool disable_hidpi) {
+  // setup signal handlers to exit gracefully
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
+
+  QString app_dir;
+#ifdef __APPLE__
+  // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
+  QApplication tmp(argc, argv);
+  app_dir = QCoreApplication::applicationDirPath();
+  if (disable_hidpi) {
+    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
+  }
+#else
+  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
+#endif
+
+  qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
+  // ensure the current dir matches the exectuable's directory
+  QDir::setCurrent(app_dir);
+
+  setSurfaceFormat();
+}
+
+static std::unordered_map<std::string, std::string> load_bootstrap_icons() {
+  std::unordered_map<std::string, std::string> icons;
+
+  QFile f(":/bootstrap-icons.svg");
+  if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    std::string content = f.readAll().toStdString();
+    const std::string sym_open = "<symbol ";
+    const std::string sym_close = "</symbol>";
+    const std::string id_attr = "id=\"";
+
+    size_t pos = 0;
+    while ((pos = content.find(sym_open, pos)) != std::string::npos) {
+      size_t end = content.find(sym_close, pos);
+      if (end == std::string::npos) break;
+      end += sym_close.size();
+
+      // extract id
+      size_t id_start = content.find(id_attr, pos);
+      if (id_start != std::string::npos && id_start < end) {
+        id_start += id_attr.size();
+        size_t id_end = content.find('"', id_start);
+        if (id_end != std::string::npos && id_end < end) {
+          std::string id = content.substr(id_start, id_end - id_start);
+          std::string svg_str = content.substr(pos, end - pos);
+          // replace <symbol with <svg, </symbol> with </svg>
+          svg_str.replace(0, 7, "<svg");               // "<symbol" (7) -> "<svg" (4)
+          svg_str.replace(svg_str.size() - 9, 9, "</svg>");  // "</symbol>" (9) -> "</svg>" (6)
+          icons[id] = std::move(svg_str);
+        }
+      }
+      pos = end;
+    }
+  }
+  return icons;
+}
+
+QPixmap bootstrapPixmap(const QString &id) {
+  static auto icons = load_bootstrap_icons();
+
+  QPixmap pixmap;
+  auto it = icons.find(id.toStdString());
+  if (it != icons.end()) {
+    pixmap.loadFromData((const uchar *)it->second.data(), it->second.size(), "svg");
+  }
+  return pixmap;
+}
diff --git a/tools/cabana/utils/util.h b/tools/cabana/utils/util.h
index 1aad3103db..f839ffe7fe 100644
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -98,7 +98,9 @@ public:
 };
 
 namespace utils {
+
 QPixmap icon(const QString &id);
+bool isDarkTheme();
 void setTheme(int theme);
 QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
 inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
@@ -164,3 +166,5 @@ private:
 int num_decimals(double num);
 QString signalToolTip(const cabana::Signal *sig);
 inline QString toHexString(int value) { return QString("0x%1").arg(QString::number(value, 16).toUpper(), 2, '0'); }
+void initApp(int argc, char *argv[], bool disable_hidpi = true);
+QPixmap bootstrapPixmap(const QString &id);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index e792f80a41..f203ec663e 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/videowidget.h"
 
 #include <algorithm>
+#include <thread>
 
 #include <QAction>
 #include <QActionGroup>
@@ -9,18 +10,20 @@
 #include <QPainter>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
-#include <QtConcurrent>
+
+#include "tools/cabana/tools/routeinfo.h"
 
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
+// Indexed by TimelineType: None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark
 static const QColor timeline_colors[] = {
-  [(int)TimelineType::None] = QColor(111, 143, 175),
-  [(int)TimelineType::Engaged] = QColor(0, 163, 108),
-  [(int)TimelineType::UserFlag] = Qt::magenta,
-  [(int)TimelineType::AlertInfo] = Qt::green,
-  [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
-  [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
+  QColor(111, 143, 175),
+  QColor(0, 163, 108),
+  Qt::green,
+  QColor(255, 195, 0),
+  QColor(199, 0, 57),
+  Qt::magenta,
 };
 
 static Replay *getReplay() {
@@ -62,7 +65,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
     Pause/Resume: <span style="background-color:lightGray;color:gray">&nbsp;space&nbsp;</span>
   )").arg(timeline_colors[(int)TimelineType::None].name(),
           timeline_colors[(int)TimelineType::Engaged].name(),
-          timeline_colors[(int)TimelineType::UserFlag].name(),
+          timeline_colors[(int)TimelineType::UserBookmark].name(),
           timeline_colors[(int)TimelineType::AlertInfo].name(),
           timeline_colors[(int)TimelineType::AlertWarning].name(),
           timeline_colors[(int)TimelineType::AlertCritical].name()));
@@ -100,9 +103,12 @@ void VideoWidget::createPlaybackController() {
 
   if (!can->liveStreaming()) {
     toolbar->addAction(utils::icon("repeat"), tr("Loop playback"), this, &VideoWidget::loopPlaybackClicked);
+    createSpeedDropdown(toolbar);
+    toolbar->addSeparator();
+    toolbar->addAction(utils::icon("info-circle"), tr("View route details"), this, &VideoWidget::showRouteInfo);
+  } else {
+    createSpeedDropdown(toolbar);
   }
-
-  createSpeedDropdown(toolbar);
 }
 
 void VideoWidget::createSpeedDropdown(QToolBar *toolbar) {
@@ -129,7 +135,7 @@ void VideoWidget::createSpeedDropdown(QToolBar *toolbar) {
   QFont font = speed_btn->font();
   font.setBold(true);
   speed_btn->setFont(font);
-  speed_btn->setMinimumWidth(speed_btn->fontMetrics().width("0.05x  ") + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
+  speed_btn->setMinimumWidth(speed_btn->fontMetrics().horizontalAdvance("0.05x  ") + style()->pixelMetric(QStyle::PM_MenuButtonIndicator));
 }
 
 QWidget *VideoWidget::createCameraWidget() {
@@ -230,6 +236,12 @@ void VideoWidget::showThumbnail(double seconds) {
   slider->update();
 }
 
+void VideoWidget::showRouteInfo() {
+  RouteInfoDlg *route_info = new RouteInfoDlg(this);
+  route_info->setAttribute(Qt::WA_DeleteOnClose);
+  route_info->show();
+}
+
 bool VideoWidget::eventFilter(QObject *obj, QEvent *event) {
   if (event->type() == QEvent::MouseMove) {
     auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
@@ -250,14 +262,23 @@ void Slider::paintEvent(QPaintEvent *ev) {
 
   QStyleOptionSlider opt;
   initStyleOption(&opt);
-  QRect r = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this);
-  p.fillRect(r, timeline_colors[(int)TimelineType::None]);
+  QRect handle_rect = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderHandle, this);
+  QRect groove_rect = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this);
+
+  // Adjust groove height to match handle height
+  int handle_height = handle_rect.height();
+  groove_rect.setHeight(handle_height * 0.5);
+  groove_rect.moveCenter(QPoint(groove_rect.center().x(), rect().center().y()));
+
+  p.fillRect(groove_rect, timeline_colors[(int)TimelineType::None]);
 
   double min = minimum() / factor;
   double max = maximum() / factor;
 
   auto fillRange = [&](double begin, double end, const QColor &color) {
     if (begin > max || end < min) return;
+
+    QRect r = groove_rect;
     r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
     r.setRight(((std::min(max, end) - min) / (max - min)) * width());
     p.fillRect(r, color);
@@ -313,19 +334,31 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str
 
 void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
-      auto image_data = thumb_data.getThumbnail();
-      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
-        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
-        std::lock_guard lock(mutex);
-        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
-        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+  const auto &events = qlog->events;
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (events.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, events.size());
+    threads.emplace_back([this, &mutex, &events, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const Event &e = events[i];
+        if (e.which == cereal::Event::Which::THUMBNAIL) {
+          capnp::FlatArrayMessageReader reader(e.data);
+          auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+          auto image_data = thumb_data.getThumbnail();
+          if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+            QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+            std::lock_guard lock(mutex);
+            thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+            big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+          }
+        }
       }
-    }
-  });
+    });
+  }
+  for (auto &th : threads) th.join();
   update();
 }
 
@@ -363,9 +396,9 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
 
 void StreamCameraView::drawScrubThumbnail(QPainter &p) {
   p.fillRect(rect(), Qt::black);
-  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = big_thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != big_thumbnails.end()) {
-    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    QPixmap scaled_thumb = it->second.scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
     QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
     p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
     drawTime(p, thumb_rect, thumbnail_dispaly_time);
@@ -373,9 +406,9 @@ void StreamCameraView::drawScrubThumbnail(QPainter &p) {
 }
 
 void StreamCameraView::drawThumbnail(QPainter &p) {
-  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != thumbnails.end()) {
-    const QPixmap &thumb = it.value();
+    const QPixmap &thumb = it->second;
     auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
     int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 1d87a5cfa0..e52e92ebd1 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <map>
 #include <memory>
 #include <set>
 #include <string>
@@ -11,7 +12,7 @@
 #include <QToolBar>
 #include <QTabBar>
 
-#include "selfdrive/ui/qt/widgets/cameraview.h"
+#include "tools/cabana/cameraview.h"
 #include "tools/cabana/utils/util.h"
 #include "tools/replay/logreader.h"
 #include "tools/cabana/streams/replaystream.h"
@@ -47,8 +48,8 @@ private:
   void drawTime(QPainter &p, const QRect &rect, double seconds);
 
   QPropertyAnimation *fade_animation;
-  QMap<uint64_t, QPixmap> big_thumbnails;
-  QMap<uint64_t, QPixmap> thumbnails;
+  std::map<uint64_t, QPixmap> big_thumbnails;
+  std::map<uint64_t, QPixmap> thumbnails;
   double thumbnail_dispaly_time = -1;
   friend class VideoWidget;
 };
@@ -71,6 +72,7 @@ protected:
   void createSpeedDropdown(QToolBar *toolbar);
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
+  void showRouteInfo();
 
   StreamCameraView *cam_widget;
   QAction *time_display_action = nullptr;
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
index 7dbafb4be5..2f7498a07c 100644
--- a/tools/camerastream/README.md
+++ b/tools/camerastream/README.md
@@ -39,7 +39,7 @@ Decode the stream with `compressed_vipc.py`:
 
 To actually display the stream, run `watch3` in separate terminal:
 
-```cd ~/openpilot/selfdrive/ui/ && ./watch3```
+```cd ~/openpilot/selfdrive/ui/ && ./watch3.py```
 
 ## compressed_vipc.py usage
 ```
@@ -62,5 +62,5 @@ options:
 ## Example:
 ```
 cd ~/openpilot/tools/camerastream && ./compressed_vipc.py comma-ffffffff --cams 0
-cd ~/openpilot/selfdrive/ui/ && ./watch3
+cd ~/openpilot/selfdrive/ui/ && ./watch3.py
 ```
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 8c773f9dfe..4dc74272ea 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -62,7 +62,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
           print("waiting for iframe")
         continue
       time_q.append(time.monotonic())
-      network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6
+      network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6  # noqa: TID251
       frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000
       process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000
 
@@ -107,7 +107,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
 
 
 class CompressedVipc:
-  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+  def __init__(self, addr, vision_streams, server_name, nvidia=False, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
     messaging.reset_context()
@@ -117,7 +117,7 @@ class CompressedVipc:
     os.environ.pop("ZMQ")
     messaging.reset_context()
 
-    self.vipc_server = VisionIpcServer("camerad")
+    self.vipc_server = VisionIpcServer(server_name)
     for vst in vision_streams:
       ed = sm[ENCODE_SOCKETS[vst]]
       self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
@@ -144,6 +144,7 @@ if __name__ == "__main__":
   parser.add_argument("addr", help="Address of comma three")
   parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--server", default="camerad", help="choose vipc server name")
   parser.add_argument("--silent", action="store_true", help="Suppress debug output")
   args = parser.parse_args()
 
@@ -154,7 +155,7 @@ if __name__ == "__main__":
   ]
 
   vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
-  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc = CompressedVipc(args.addr, vsts, args.server, args.nvidia, debug=(not args.silent))
 
   # register exit handler
   signal.signal(signal.SIGINT, lambda sig, frame: cvipc.kill())
diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
index 5080293e29..abae8d9f17 100755
--- a/tools/car_porting/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -2,7 +2,7 @@
 
 import argparse
 from collections import defaultdict
-from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions
+from opendbc.car.debug.format_fingerprints import format_brand_fw_versions
 
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.fw_versions import MODEL_TO_BRAND, match_fw_to_car
diff --git a/tools/car_porting/examples/find_segments_with_message.ipynb b/tools/car_porting/examples/find_segments_with_message.ipynb
index 4e688cc65b..af17bde52b 100644
--- a/tools/car_porting/examples/find_segments_with_message.ipynb
+++ b/tools/car_porting/examples/find_segments_with_message.ipynb
@@ -76,7 +76,7 @@
     "  if platform not in database:\n",
     "    print(f\"No segments available for {platform}\")\n",
     "    continue\n",
-    "  \n",
+    "\n",
     "  all_segments = database[platform]\n",
     "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
     "  TEST_SEGMENTS.extend(random.sample(all_segments, NUM_SEGMENTS))\n",
@@ -147,7 +147,7 @@
     }
    ],
    "source": [
-    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
     "from tqdm.notebook import tqdm, tnrange\n",
     "\n",
     "# Example search for CAN ignition messages\n",
@@ -169,7 +169,7 @@
     "progress_bar = tnrange(len(TEST_SEGMENTS), desc=\"segments searched\")\n",
     "\n",
     "for segment in TEST_SEGMENTS:\n",
-    "  lr = LogReader(segment)\n",
+    "  lr = LogReader(segment, sources=[comma_car_segments_source])\n",
     "  CP = lr.first(\"carParams\")\n",
     "  if CP is None:\n",
     "    progress_bar.update()\n",
diff --git a/tools/car_porting/examples/ford_vin_fingerprint.ipynb b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
index 7b0dd656da..6b806d22d2 100644
--- a/tools/car_porting/examples/ford_vin_fingerprint.ipynb
+++ b/tools/car_porting/examples/ford_vin_fingerprint.ipynb
@@ -20,7 +20,7 @@
    "source": [
     "\"\"\"In this example, we use the public comma car segments database to check if vin fingerprinting is feasible for ford.\"\"\"\n",
     "\n",
-    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
     "from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database\n",
     "from opendbc.car.ford.values import CAR\n",
     "\n",
@@ -100,7 +100,7 @@
     "  if platform not in database:\n",
     "    print(f\"Skipping platform: {platform}, no data available\")\n",
     "    continue\n",
-    "  \n",
+    "\n",
     "  all_segments = database[platform]\n",
     "\n",
     "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
@@ -110,7 +110,7 @@
     "  segments = random.sample(all_segments, NUM_SEGMENTS)\n",
     "\n",
     "  for segment in segments:\n",
-    "    lr = LogReader(segment)\n",
+    "    lr = LogReader(segment, sources=[comma_car_segments_source])\n",
     "    CP = lr.first(\"carParams\")\n",
     "    if \"FORD\" not in CP.carFingerprint:\n",
     "      print(segment, CP.carFingerprint)\n",
diff --git a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
index 5fdbdda684..f0bca8decc 100644
--- a/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
+++ b/tools/car_porting/examples/hkg_canfd_gear_message.ipynb
@@ -72,7 +72,7 @@
     "  #if platform not in database:\n",
     "  #  print(f\"Skipping platform: {platform}, no data available\")\n",
     "  #  continue\n",
-    "  \n",
+    "\n",
     "  all_segments = database[platform]\n",
     "\n",
     "  NUM_SEGMENTS = min(len(all_segments), MAX_SEGS_PER_PLATFORM)\n",
@@ -198,12 +198,12 @@
     "from opendbc.car.hyundai.hyundaicanfd import CanBus\n",
     "\n",
     "from openpilot.selfdrive.pandad import can_capnp_to_list\n",
-    "from openpilot.tools.lib.logreader import LogReader\n",
+    "from openpilot.tools.lib.logreader import LogReader, comma_car_segments_source\n",
     "\n",
     "message_names = [\"GEAR_SHIFTER\", \"ACCELERATOR\", \"GEAR\", \"GEAR_ALT\", \"GEAR_ALT_2\"]\n",
     "\n",
     "for segment in TEST_SEGMENTS:\n",
-    "  lr = LogReader(segment)\n",
+    "  lr = LogReader(segment, sources=[comma_car_segments_source])\n",
     "  CP = lr.first(\"carParams\")\n",
     "  if CP is None:\n",
     "    continue\n",
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/car_porting/measure_steering_accuracy.py
similarity index 94%
rename from tools/tuning/measure_steering_accuracy.py
rename to tools/car_porting/measure_steering_accuracy.py
index a2f437819f..ae3344c2eb 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/car_porting/measure_steering_accuracy.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# type: ignore
 
 import os
 import time
@@ -49,7 +48,7 @@ class SteeringAccuracyTool:
     active = sm['controlsState'].active
     steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y
@@ -77,7 +76,7 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
             if len(model_points):
               self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited_by_controls:
+            if steer_limited_by_safety:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
               self.speed_group_stats[group][angle_abs]["saturated"] += 1
@@ -118,12 +117,8 @@ if __name__ == "__main__":
   parser.add_argument('--route', help="route name")
   parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq")
   parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all")
-  parser.add_argument('--cache', default=False, action='store_true', help="use cached data, default to False")
   args = parser.parse_args()
 
-  if args.cache:
-    os.environ['FILEREADER_CACHE'] = '1'
-
   tool = SteeringAccuracyTool(args)
 
   if args.route is not None:
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 33c98a0213..a5587f239b 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -1,249 +1,358 @@
 #!/usr/bin/env python3
-
-import atexit
-import logging
 import os
-import platform
-import shutil
+import sys
 import time
-from argparse import ArgumentParser, ArgumentTypeError
-from collections.abc import Sequence
+import logging
+import subprocess
+import threading
+import queue
+import multiprocessing
+import itertools
+import numpy as np
+import tqdm
+from argparse import ArgumentParser
 from pathlib import Path
-from random import randint
-from subprocess import Popen, PIPE
-from typing import Literal
+from concurrent.futures import ThreadPoolExecutor, as_completed
 
-from cereal.messaging import SubMaster
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.framereader import FrameReader, ffprobe
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.common.utils import Timer
+from msgq.visionipc import VisionIpcServer, VisionStreamType
 
-DEFAULT_OUTPUT = 'output.mp4'
-DEMO_START = 90
-DEMO_END = 105
-DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19'
 FRAMERATE = 20
-PIXEL_DEPTH = '24'
-RESOLUTION = '2160x1080'
-SECONDS_TO_WARM = 2
-PROC_WAIT_SECONDS = 30
+DEMO_ROUTE, DEMO_START, DEMO_END = '5beb9b58bd12b691/0000010a--a51155e496', 90, 105
 
-REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
-UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
-
-logger = logging.getLogger('clip.py')
+logger = logging.getLogger('clip')
 
 
-def check_for_failure(proc: Popen):
-  exit_code = proc.poll()
-  if exit_code is not None and exit_code != 0:
-    cmd = str(proc.args)
-    if isinstance(proc.args, str):
-      cmd = proc.args
-    elif isinstance(proc.args, Sequence):
-      cmd = str(proc.args[0])
-    msg = f'{cmd} failed, exit code {exit_code}'
-    logger.error(msg)
-    stdout, stderr = proc.communicate()
-    if stdout:
-      logger.error(stdout.decode())
-    if stderr:
-      logger.error(stderr.decode())
-    raise ChildProcessError(msg)
-
-
-def escape_ffmpeg_text(value: str):
-  special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'}
-  value = value.replace('\\', '\\\\\\\\\\\\\\\\')
-  for char, escaped in special_chars.items():
-    value = value.replace(char, escaped)
-  return value
-
-
-def get_meta_text(route: Route):
-  metadata = route.get_metadata()
-  origin_parts = metadata['git_remote'].split('/')
-  origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown'
-  return ', '.join([
-    f"openpilot v{metadata['version']}",
-    f"route: {metadata['fullname']}",
-    f"car: {metadata['platform']}",
-    f"origin: {origin}",
-    f"branch: {metadata['git_branch']}",
-    f"commit: {metadata['git_commit'][:7]}",
-    f"modified: {str(metadata['git_dirty']).lower()}",
-  ])
-
-
-def parse_args(parser: ArgumentParser):
+def parse_args():
+  parser = ArgumentParser(description="Direct clip renderer")
+  parser.add_argument("route", nargs="?", help="Route ID (dongle/route or dongle/route/start/end)")
+  parser.add_argument("-s", "--start", type=int, help="Start time in seconds")
+  parser.add_argument("-e", "--end", type=int, help="End time in seconds")
+  parser.add_argument("-o", "--output", default="output.mp4", help="Output file path")
+  parser.add_argument("-d", "--data-dir", help="Local directory with route data")
+  parser.add_argument("-t", "--title", help="Title overlay text")
+  parser.add_argument("-f", "--file-size", type=float, default=9.0, help="Target file size in MB")
+  parser.add_argument("-x", "--speed", type=int, default=1, help="Speed multiplier")
+  parser.add_argument("--demo", action="store_true", help="Use demo route with default timing")
+  parser.add_argument("--big", action="store_true", help="Use big UI (2160x1080)")
+  parser.add_argument("--qcam", action="store_true", help="Use qcamera instead of fcamera")
+  parser.add_argument("--windowed", action="store_true", help="Show window")
+  parser.add_argument("--no-metadata", action="store_true", help="Disable metadata overlay")
+  parser.add_argument("--no-time-overlay", action="store_true", help="Disable time overlay")
   args = parser.parse_args()
+
   if args.demo:
-    args.route = DEMO_ROUTE
-    if args.start is None or args.end is None:
-      args.start = DEMO_START
-      args.end = DEMO_END
-  elif args.route.count('/') == 1:
-    if args.start is None or args.end is None:
-      parser.error('must provide both start and end if timing is not in the route ID')
-  elif args.route.count('/') == 3:
-    if args.start is not None or args.end is not None:
-      parser.error('don\'t provide timing when including it in the route ID')
+    args.route, args.start, args.end = args.route or DEMO_ROUTE, args.start or DEMO_START, args.end or DEMO_END
+  elif not args.route:
+    parser.error("route is required (or use --demo)")
+
+  if args.route and args.route.count('/') == 3:
     parts = args.route.split('/')
-    args.route = '/'.join(parts[:2])
-    args.start = int(parts[2])
-    args.end = int(parts[3])
+    args.route, args.start, args.end = '/'.join(parts[:2]), args.start or int(parts[2]), args.end or int(parts[3])
+
+  if args.start is None or args.end is None:
+    parser.error("--start and --end are required")
   if args.end <= args.start:
-    parser.error(f'end ({args.end}) must be greater than start ({args.start})')
-  if args.start < SECONDS_TO_WARM:
-    parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
-
-  try:
-    args.route = Route(args.route, data_dir=args.data_dir)
-  except Exception as e:
-    parser.error(f'failed to get route: {e}')
-
-  # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
-  length = round(args.route.max_seg_number * 60)
-  if args.start >= length:
-    parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
-  if args.end > length:
-    parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
-
+    parser.error(f"end ({args.end}) must be greater than start ({args.start})")
   return args
 
 
-def start_proc(args: list[str], env: dict[str, str]):
-  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
+def setup_env(output_path: str, big: bool = False, speed: int = 1, target_mb: float = 0, duration: int = 0):
+  os.environ.update({"RECORD": "1", "OFFSCREEN": "1", "RECORD_OUTPUT": str(Path(output_path).with_suffix(".mp4"))})
+  if speed > 1:
+    os.environ["RECORD_SPEED"] = str(speed)
+  if target_mb > 0 and duration > 0:
+    os.environ["RECORD_BITRATE"] = f"{int(target_mb * 8 * 1024 / (duration / speed))}k"
+  if big:
+    os.environ["BIG"] = "1"
 
 
-def validate_env(parser: ArgumentParser):
-  if platform.system() not in ['Linux']:
-    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
-  for proc in ['Xvfb', 'ffmpeg']:
-    if shutil.which(proc) is None:
-      parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n')
-  for proc in [REPLAY, UI]:
-    if shutil.which(proc) is None:
-      parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n')
+def _download_segment(path: str) -> bytes:
+  with FileReader(path) as f:
+    return bytes(f.read())
 
 
-def validate_output_file(output_file: str):
-  if not output_file.endswith('.mp4'):
-    raise ArgumentTypeError('output must be an mp4')
-  return output_file
+def _parse_and_chunk_segment(args: tuple) -> list[dict]:
+  raw_data, fps = args
+  from openpilot.tools.lib.logreader import _LogFileReader
+  messages = migrate_all(list(_LogFileReader("", dat=raw_data, sort_by_time=True)))
+  if not messages:
+    return []
+
+  dt_ns, chunks, current, next_time = 1e9 / fps, [], {}, messages[0].logMonoTime + 1e9 / fps
+  for msg in messages:
+    if msg.logMonoTime >= next_time:
+      chunks.append(current)
+      current, next_time = {}, next_time + dt_ns * ((msg.logMonoTime - next_time) // dt_ns + 1)
+    current[msg.which()] = msg
+  return chunks + [current] if current else chunks
 
 
-def validate_route(route: str):
-  if route.count('/') not in (1, 3):
-    raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}')
-  return route
+def load_logs_parallel(log_paths: list[str], fps: int = 20) -> list[dict]:
+  num_workers = min(16, len(log_paths), (multiprocessing.cpu_count() or 1))
+  logger.info(f"Downloading {len(log_paths)} segments with {num_workers} workers...")
+
+  with ThreadPoolExecutor(max_workers=num_workers) as pool:
+    futures = {pool.submit(_download_segment, path): idx for idx, path in enumerate(log_paths)}
+    raw_data = {futures[f]: f.result() for f in as_completed(futures)}
+
+  logger.info("Parsing and chunking segments...")
+  with multiprocessing.Pool(num_workers) as pool:
+    return list(itertools.chain.from_iterable(pool.map(_parse_and_chunk_segment, [(raw_data[i], fps) for i in range(len(log_paths))])))
 
 
-def validate_title(title: str):
-  if len(title) > 80:
-    raise ArgumentTypeError('title must be no longer than 80 chars')
-  return title
+def patch_submaster(message_chunks, ui_state):
+  # Reset started_frame so alerts render correctly (recv_frame must be >= started_frame)
+  ui_state.started_frame = 0
+  ui_state.started_time = time.monotonic()
+
+  def mock_update(timeout=None):
+    sm, t = ui_state.sm, time.monotonic()
+    sm.updated = dict.fromkeys(sm.services, False)
+    if sm.frame < len(message_chunks):
+      for svc, msg in message_chunks[sm.frame].items():
+        if svc in sm.data:
+          sm.seen[svc] = sm.updated[svc] = sm.alive[svc] = sm.valid[svc] = True
+          sm.data[svc] = getattr(msg.as_builder(), svc)
+          sm.logMonoTime[svc], sm.recv_time[svc], sm.recv_frame[svc] = msg.logMonoTime, t, sm.frame
+    sm.frame += 1
+  ui_state.sm.update = mock_update
 
 
-def wait_for_frames(procs: list[Popen]):
-  sm = SubMaster(['uiDebug'])
-  no_frames_drawn = True
-  while no_frames_drawn:
-    sm.update()
-    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
-    for proc in procs:
-      check_for_failure(proc)
+def get_frame_dimensions(camera_path: str) -> tuple[int, int]:
+  """Get frame dimensions from a video file using ffprobe."""
+  probe = ffprobe(camera_path)
+  stream = probe["streams"][0]
+  return stream["width"], stream["height"]
 
 
-def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: Route, out: str, start: int, end: int, target_mb: int, title: str | None):
-  logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB')
+def iter_segment_frames(camera_paths, start_time, end_time, fps=20, use_qcam=False, frame_size: tuple[int, int] | None = None):
+  frames_per_seg = fps * 60
+  start_frame, end_frame = int(start_time * fps), int(end_time * fps)
+  current_seg: int = -1
+  seg_frames: FrameReader | np.ndarray | None = None
 
-  begin_at = max(start - SECONDS_TO_WARM, 0)
-  duration = end - start
-  bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000))
+  for global_idx in range(start_frame, end_frame):
+    seg_idx, local_idx = global_idx // frames_per_seg, global_idx % frames_per_seg
 
-  # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
-  display = f':{randint(99, 999)}'
+    if seg_idx != current_seg:
+      current_seg = seg_idx
+      path = camera_paths[seg_idx] if seg_idx < len(camera_paths) else None
+      if not path:
+        raise RuntimeError(f"No camera file for segment {seg_idx}")
 
-  meta_text = get_meta_text(route)
-  overlays = [
-    f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile=Inter.tff:fontcolor=white:fontsize=18:box=1:boxcolor=black@0.33:boxborderw=7:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'"
-  ]
+      if use_qcam:
+        w, h = frame_size or get_frame_dimensions(path)
+        with FileReader(path) as f:
+          result = subprocess.run(["ffmpeg", "-v", "quiet", "-i", "-", "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+                                  input=f.read(), capture_output=True)
+        if result.returncode != 0:
+          raise RuntimeError(f"ffmpeg failed: {result.stderr.decode()}")
+        seg_frames = np.frombuffer(result.stdout, dtype=np.uint8).reshape(-1, w * h * 3 // 2)
+      else:
+        seg_frames = FrameReader(path, pix_fmt="nv12")
+
+    assert seg_frames is not None
+    frame = seg_frames[local_idx] if use_qcam else seg_frames.get(local_idx)
+    yield global_idx, frame
+
+
+class FrameQueue:
+  def __init__(self, camera_paths, start_time, end_time, fps=20, prefetch_count=60, use_qcam=False):
+    # Probe first valid camera file for dimensions
+    first_path = next((p for p in camera_paths if p), None)
+    if not first_path:
+      raise RuntimeError("No valid camera paths")
+    self.frame_w, self.frame_h = get_frame_dimensions(first_path)
+
+    self._queue, self._stop, self._error = queue.Queue(maxsize=prefetch_count), threading.Event(), None
+    self._thread = threading.Thread(target=self._worker,
+                                    args=(camera_paths, start_time, end_time, fps, use_qcam, (self.frame_w, self.frame_h)), daemon=True)
+    self._thread.start()
+
+  def _worker(self, camera_paths, start_time, end_time, fps, use_qcam, frame_size):
+    try:
+      for idx, data in iter_segment_frames(camera_paths, start_time, end_time, fps, use_qcam, frame_size):
+        if self._stop.is_set():
+          break
+        self._queue.put((idx, data.tobytes()))
+    except Exception as e:
+      logger.exception("Decode error")
+      self._error = e
+    finally:
+      self._queue.put(None)
+
+  def get(self, timeout=60.0):
+    if self._error:
+      raise self._error
+    result = self._queue.get(timeout=timeout)
+    if result is None:
+      raise StopIteration("No more frames")
+    return result
+
+  def stop(self):
+    self._stop.set()
+    while not self._queue.empty():
+      try:
+        self._queue.get_nowait()
+      except queue.Empty:
+        break
+    self._thread.join(timeout=2.0)
+
+
+def load_route_metadata(route):
+  from openpilot.common.params import Params, UnknownKeyName
+  path = next((item for item in route.log_paths() if item), None)
+  if not path:
+    raise Exception('error getting route metadata: cannot find any uploaded logs')
+  lr = LogReader(path)
+  init_data, car_params = lr.first('initData'), lr.first('carParams')
+
+  params = Params()
+  for entry in init_data.params.entries:
+    try:
+      params.put(entry.key, params.cpp2python(entry.key, entry.value))
+    except UnknownKeyName:
+      pass
+
+  origin = init_data.gitRemote.split('/')[3] if len(init_data.gitRemote.split('/')) > 3 else 'unknown'
+  return {
+    'version': init_data.version, 'route': route.name.canonical_name,
+    'car': car_params.carFingerprint if car_params else 'unknown', 'origin': origin,
+    'branch': init_data.gitBranch, 'commit': init_data.gitCommit[:7], 'modified': str(init_data.dirty).lower(),
+  }
+
+
+def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
+  import pyray as rl
+  from openpilot.system.ui.lib.text_measure import measure_text_cached
+  box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE
+  text_size = measure_text_cached(font, text, size)
+  text_width, text_height = int(text_size.x), int(text_size.y)
+  if center:
+    x = (gui_app.width - text_width) // 2
+  rl.draw_rectangle(x - 8, y - 4, text_width + 16, text_height + 8, box_color)
+  rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color)
+
+
+def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
+  from openpilot.system.ui.lib.text_measure import measure_text_cached
+  from openpilot.system.ui.lib.wrap_text import wrap_text
+  metadata_size = 16 if big else 12
+  title_size = 32 if big else 24
+  time_size = 24 if big else 16
+
+  # Time overlay
+  time_width = 0
+  if show_time:
+    t = start_time + frame_idx / FRAMERATE
+    time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}"
+    time_width = int(measure_text_cached(font, time_text, time_size).x)
+    draw_text_box(time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font)
+
+  # Metadata overlay (first 5 seconds)
+  if show_metadata and metadata and frame_idx < FRAMERATE * 5:
+    m = metadata
+    text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}",
+                      f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"])
+    # Wrap text if too wide (leave margin on each side)
+    margin = 2 * (time_width + 10 if show_time else 20)  # leave enough margin for time overlay
+    max_width = gui_app.width - margin
+    lines = wrap_text(font, text, metadata_size, max_width)
+
+    # Draw wrapped metadata text
+    y_offset = 6
+    for line in lines:
+      draw_text_box(line, 0, y_offset, metadata_size, gui_app, font, center=True)
+      line_height = int(measure_text_cached(font, line, metadata_size).y) + 4
+      y_offset += line_height
+
+  # Title overlay
   if title:
-    overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile=Inter.tff:fontcolor=white:fontsize=32:box=1:boxcolor=black@0.33:boxborderw=10:x=(w-text_w)/2:y=53")
+    draw_text_box(title, 0, 60, title_size, gui_app, font, center=True)
 
-  ffmpeg_cmd = [
-    'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0',
-    '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23',
-    '-filter:v', ','.join(overlays), '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), out
-  ]
 
-  replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix]
-  if data_dir:
-    replay_cmd.extend(['--data_dir', data_dir])
-  if quality == 'low':
-    replay_cmd.append('--qcam')
-  replay_cmd.append(route.name.canonical_name)
+def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False,
+         title: str | None = None, show_metadata: bool = True, show_time: bool = True, use_qcam: bool = False):
+  timer, duration = Timer(), end - start
 
-  ui_cmd = [UI, '-platform', 'xcb']
-  xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
+  import pyray as rl
+  if big:
+    from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+  else:
+    from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  from openpilot.system.ui.lib.application import gui_app, FontWeight
+  timer.lap("import")
 
-  with OpenpilotPrefix(prefix, shared_download_cache=True):
-    env = os.environ.copy()
-    env['DISPLAY'] = display
+  logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)")
+  seg_start, seg_end = start // 60, (end - 1) // 60 + 1
+  all_chunks = load_logs_parallel(route.log_paths()[seg_start:seg_end], fps=FRAMERATE)
+  timer.lap("logs")
 
-    xvfb_proc = start_proc(xvfb_cmd, env)
-    atexit.register(lambda: xvfb_proc.terminate())
-    ui_proc = start_proc(ui_cmd, env)
-    atexit.register(lambda: ui_proc.terminate())
-    replay_proc = start_proc(replay_cmd, env)
-    atexit.register(lambda: replay_proc.terminate())
-    procs = [replay_proc, ui_proc, xvfb_proc]
+  frame_start = (start - seg_start * 60) * FRAMERATE
+  message_chunks = all_chunks[frame_start:frame_start + duration * FRAMERATE]
+  if not message_chunks:
+    logger.error("No messages to render")
+    sys.exit(1)
 
-    logger.info('waiting for replay to begin (loading segments, may take a while)...')
-    wait_for_frames(procs)
+  metadata = load_route_metadata(route) if show_metadata else None
+  if headless:
+    rl.set_config_flags(rl.ConfigFlags.FLAG_WINDOW_HIDDEN)
 
-    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
-    time.sleep(SECONDS_TO_WARM)
-    for proc in procs:
-      check_for_failure(proc)
+  with OpenpilotPrefix(shared_download_cache=True):
+    camera_paths = route.qcamera_paths() if use_qcam else route.camera_paths()
+    frame_queue = FrameQueue(camera_paths, start, end, fps=FRAMERATE, use_qcam=use_qcam)
 
-    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
-    procs.append(ffmpeg_proc)
-    atexit.register(lambda: ffmpeg_proc.terminate())
+    vipc = VisionIpcServer("camerad")
+    vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 4, frame_queue.frame_w, frame_queue.frame_h)
+    vipc.start_listener()
 
-    logger.info(f'recording in progress ({duration}s)...')
-    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
-    for proc in procs:
-      check_for_failure(proc)
-    logger.info(f'recording complete: {Path(out).resolve()}')
+    patch_submaster(message_chunks, ui_state)
+    gui_app.init_window("clip", fps=FRAMERATE)
+
+    road_view = AugmentedRoadView()
+    road_view.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    font = gui_app.font(FontWeight.NORMAL)
+    timer.lap("setup")
+
+    frame_idx = 0
+    with tqdm.tqdm(total=len(message_chunks), desc="Rendering", unit="frame") as pbar:
+      for should_render in gui_app.render():
+        if frame_idx >= len(message_chunks):
+          break
+        _, frame_bytes = frame_queue.get()
+        vipc.send(VisionStreamType.VISION_STREAM_ROAD, frame_bytes, frame_idx, int(frame_idx * 5e7), int(frame_idx * 5e7))
+        ui_state.update()
+        if should_render:
+          road_view.render()
+          render_overlays(gui_app, font, big, metadata, title, start, frame_idx, show_metadata, show_time)
+        frame_idx += 1
+        pbar.update(1)
+    timer.lap("render")
+
+    frame_queue.stop()
+    gui_app.close()
+    timer.lap("ffmpeg")
+
+  logger.info(f"Clip saved to: {Path(output).resolve()}")
+  logger.info(f"Generated {timer.fmt(duration)}")
 
 
 def main():
-  p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai')
-  validate_env(p)
-  route_group = p.add_mutually_exclusive_group(required=True)
-  route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})')
-  route_group.add_argument('--demo', help='use the demo route', action='store_true')
-  p.add_argument('-d', '--data-dir', help='local directory where route data is stored')
-  p.add_argument('-e', '--end', help='stop clipping at <end> seconds', type=int)
-  p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.)
-  p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
-  p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
-  p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
-  p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
-  p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title)
-  args = parse_args(p)
-  try:
-    clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size, args.title)
-  except KeyboardInterrupt as e:
-    logger.exception('interrupted by user', exc_info=e)
-  except Exception as e:
-    logger.exception('encountered error', exc_info=e)
-  finally:
-    atexit._run_exitfuncs()
+  logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s")
+  args = parse_args()
+
+  setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start)
+  clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed,
+       args.big, args.title, not args.no_metadata, not args.no_time_overlay, args.qcam)
 
 
-if __name__ == '__main__':
-  logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s')
+if __name__ == "__main__":
   main()
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
deleted file mode 100755
index 8d4a8b6d90..0000000000
--- a/tools/install_python_dependencies.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# Increase the pip timeout to handle TimeoutError
-export PIP_DEFAULT_TIMEOUT=200
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$DIR"/../
-cd "$ROOT"
-
-if ! command -v "uv" > /dev/null 2>&1; then
-  echo "installing uv..."
-  curl -LsSf https://astral.sh/uv/install.sh | sh
-  UV_BIN="$HOME/.local/bin"
-  PATH="$UV_BIN:$PATH"
-fi
-
-echo "updating uv..."
-# ok to fail, can also fail due to installing with brew
-uv self update || true
-
-echo "installing python packages..."
-uv sync --frozen --all-extras
-source .venv/bin/activate
-
-echo "PYTHONPATH=${PWD}" > "$ROOT"/.env
-if [[ "$(uname)" == 'Darwin' ]]; then
-  echo "# msgq doesn't work on mac" >> "$ROOT"/.env
-  echo "export ZMQ=1" >> "$ROOT"/.env
-  echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> "$ROOT"/.env
-fi
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
deleted file mode 100755
index 3d6fd2e7a9..0000000000
--- a/tools/install_ubuntu_dependencies.sh
+++ /dev/null
@@ -1,127 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-# Check if stdin is open
-if [ -t 0 ]; then
-  INTERACTIVE=1
-fi
-
-# Install common packages
-function install_ubuntu_common_requirements() {
-  $SUDO apt-get update
-  $SUDO apt-get install -y --no-install-recommends \
-    ca-certificates \
-    clang \
-    build-essential \
-    gcc-arm-none-eabi \
-    liblzma-dev \
-    capnproto \
-    libcapnp-dev \
-    curl \
-    libcurl4-openssl-dev \
-    git \
-    git-lfs \
-    ffmpeg \
-    fonts-inter \
-    libavformat-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavutil-dev \
-    libavfilter-dev \
-    libbz2-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libglew-dev \
-    libgles2-mesa-dev \
-    libglfw3-dev \
-    libglib2.0-0 \
-    libjpeg-dev \
-    libqt5charts5-dev \
-    libncurses5-dev \
-    libssl-dev \
-    libusb-1.0-0-dev \
-    libzmq3-dev \
-    libzstd-dev \
-    libsqlite3-dev \
-    libsystemd-dev \
-    locales \
-    opencl-headers \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    portaudio19-dev \
-    qttools5-dev-tools \
-    libqt5svg5-dev \
-    libqt5serialbus5-dev  \
-    libqt5x11extras5-dev \
-    libqt5opengl5-dev \
-    xvfb
-}
-
-# Install Ubuntu 24.04 LTS packages
-function install_ubuntu_lts_latest_requirements() {
-  install_ubuntu_common_requirements
-
-  $SUDO apt-get install -y --no-install-recommends \
-    g++-12 \
-    qtbase5-dev \
-    qtchooser \
-    qt5-qmake \
-    qtbase5-dev-tools \
-    python3-dev \
-    python3-venv
-}
-
-# Detect OS using /etc/os-release file
-if [ -f "/etc/os-release" ]; then
-  source /etc/os-release
-  case "$VERSION_CODENAME" in
-    "jammy" | "kinetic" | "noble")
-      install_ubuntu_lts_latest_requirements
-      ;;
-    *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
-      read -p "Would you like to attempt installation anyway? " -n 1 -r
-      echo ""
-      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-        exit 1
-      fi
-      install_ubuntu_lts_latest_requirements
-  esac
-
-  if [[ -d "/etc/udev/rules.d/" ]]; then
-    # Setup jungle udev rules
-    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
-
-EOF
-
-    # Setup panda udev rules
-    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-EOF
-
-    $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
-  fi
-
-else
-  echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
-  exit 1
-fi
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index b775f18f70..789dad5623 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -10,7 +10,7 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
-MAX_LAT_ACCEL = 2.5
+MAX_LAT_ACCEL = 3.0
 
 
 def joystickd_thread():
@@ -48,6 +48,7 @@ def joystickd_thread():
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
       actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
+      CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
diff --git a/tools/lib/api.py b/tools/lib/api.py
index c2e1b1a8cd..f84fe75869 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -1,7 +1,10 @@
 import os
 import requests
+from requests.adapters import HTTPAdapter, Retry
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
+# TODO: this should be merged into common.api
+
 class CommaApi:
   def __init__(self, token=None):
     self.session = requests.Session()
@@ -9,6 +12,9 @@ class CommaApi:
     if token:
       self.session.headers['Authorization'] = 'JWT ' + token
 
+    retries = Retry(total=5, backoff_factor=1, status_forcelist=[500, 502, 503, 504])
+    self.session.mount('https://', HTTPAdapter(max_retries=retries))
+
   def request(self, method, endpoint, **kwargs):
     with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
       resp_json = resp.json()
diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py
index fe9c350a9b..cd19356d66 100644
--- a/tools/lib/comma_car_segments.py
+++ b/tools/lib/comma_car_segments.py
@@ -14,7 +14,8 @@ def get_comma_car_segments_database():
 
   ret = {}
   for platform in database:
-    ret[MIGRATION.get(platform, platform)] = database[platform]
+    # TODO: remove this when commaCarSegments is updated to remove selector
+    ret[MIGRATION.get(platform, platform)] = [s.rstrip('/s') for s in database[platform]]
 
   return ret
 
@@ -86,5 +87,5 @@ def get_repo_url(path):
     return get_repo_raw_url(path)
 
 
-def get_url(route, segment, file="rlog.bz2"):
+def get_url(route, segment, file="rlog.zst"):
   return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")
diff --git a/tools/lib/file_downloader.py b/tools/lib/file_downloader.py
new file mode 100755
index 0000000000..5b31a5894c
--- /dev/null
+++ b/tools/lib/file_downloader.py
@@ -0,0 +1,157 @@
+#!/usr/bin/env python3
+"""
+CLI tool for downloading files and querying the comma API.
+Called by C++ replay/cabana via subprocess.
+
+Subcommands:
+  route-files <route>    - Get route file URLs as JSON
+  download <url>         - Download URL to local cache, print local path
+  devices                - List user's devices as JSON
+  device-routes <did>    - List routes for a device as JSON
+"""
+import argparse
+import hashlib
+import json
+import os
+import sys
+import tempfile
+import shutil
+
+from openpilot.system.hardware.hw import Paths
+from openpilot.tools.lib.api import CommaApi, UnauthorizedError, APIError
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.url_file import URLFile
+
+
+def api_call(func):
+  """Run an API call, outputting JSON result or error to stdout."""
+  try:
+    result = func(CommaApi(get_token()))
+    json.dump(result, sys.stdout)
+  except UnauthorizedError:
+    json.dump({"error": "unauthorized"}, sys.stdout)
+  except APIError as e:
+    error = "not_found" if getattr(e, 'status_code', 0) == 404 else str(e)
+    json.dump({"error": error}, sys.stdout)
+  except Exception as e:
+    json.dump({"error": str(e)}, sys.stdout)
+  sys.stdout.write("\n")
+  sys.stdout.flush()
+
+
+def cache_file_path(url):
+  url_without_query = url.split("?")[0]
+  return os.path.join(Paths.download_cache_root(), hashlib.sha256(url_without_query.encode()).hexdigest())
+
+
+def cmd_route_files(args):
+  api_call(lambda api: api.get(f"v1/route/{args.route}/files"))
+
+
+def cmd_download(args):
+  url = args.url
+  use_cache = not args.no_cache
+
+  if use_cache:
+    local_path = cache_file_path(url)
+    if os.path.exists(local_path):
+      sys.stdout.write(local_path + "\n")
+      sys.stdout.flush()
+      return
+
+  try:
+    # Stream the file in a single HTTP request instead of making
+    # a separate Range request per chunk (which was very slow).
+    pool = URLFile.pool_manager()
+    r = pool.request("GET", url, preload_content=False)
+    if r.status not in (200, 206):
+      sys.stderr.write(f"ERROR:HTTP {r.status}\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    total = int(r.headers.get('content-length', 0))
+    if total <= 0:
+      sys.stderr.write("ERROR:File not found or empty\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    os.makedirs(Paths.download_cache_root(), exist_ok=True)
+    tmp_fd, tmp_path = tempfile.mkstemp(dir=Paths.download_cache_root())
+    try:
+      downloaded = 0
+      chunk_size = 1024 * 1024
+      with os.fdopen(tmp_fd, 'wb') as f:
+        for data in r.stream(chunk_size):
+          f.write(data)
+          downloaded += len(data)
+          sys.stderr.write(f"PROGRESS:{downloaded}:{total}\n")
+          sys.stderr.flush()
+
+      if use_cache:
+        shutil.move(tmp_path, local_path)
+        sys.stdout.write(local_path + "\n")
+      else:
+        sys.stdout.write(tmp_path + "\n")
+    except Exception:
+      try:
+        os.unlink(tmp_path)
+      except OSError:
+        pass
+      raise
+    finally:
+      r.release_conn()
+
+  except Exception as e:
+    sys.stderr.write(f"ERROR:{e}\n")
+    sys.stderr.flush()
+    sys.exit(1)
+
+  sys.stdout.flush()
+
+
+def cmd_devices(args):
+  api_call(lambda api: api.get("v1/me/devices/"))
+
+
+def cmd_device_routes(args):
+  def fetch(api):
+    if args.preserved:
+      return api.get(f"v1/devices/{args.dongle_id}/routes/preserved")
+    params = {}
+    if args.start is not None:
+      params['start'] = args.start
+    if args.end is not None:
+      params['end'] = args.end
+    return api.get(f"v1/devices/{args.dongle_id}/routes_segments", params=params)
+  api_call(fetch)
+
+
+def main():
+  parser = argparse.ArgumentParser(description="File downloader CLI for openpilot tools")
+  subparsers = parser.add_subparsers(dest="command", required=True)
+
+  p_rf = subparsers.add_parser("route-files")
+  p_rf.add_argument("route")
+  p_rf.set_defaults(func=cmd_route_files)
+
+  p_dl = subparsers.add_parser("download")
+  p_dl.add_argument("url")
+  p_dl.add_argument("--no-cache", action="store_true")
+  p_dl.set_defaults(func=cmd_download)
+
+  p_dev = subparsers.add_parser("devices")
+  p_dev.set_defaults(func=cmd_devices)
+
+  p_dr = subparsers.add_parser("device-routes")
+  p_dr.add_argument("dongle_id")
+  p_dr.add_argument("--start", type=int, default=None)
+  p_dr.add_argument("--end", type=int, default=None)
+  p_dr.add_argument("--preserved", action="store_true")
+  p_dr.set_defaults(func=cmd_device_routes)
+
+  args = parser.parse_args()
+  args.func(args)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/lib/file_sources.py b/tools/lib/file_sources.py
new file mode 100755
index 0000000000..cb7bf15114
--- /dev/null
+++ b/tools/lib/file_sources.py
@@ -0,0 +1,57 @@
+from collections.abc import Callable
+
+from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
+from openpilot.tools.lib.openpilotci import get_url
+from openpilot.tools.lib.filereader import DATA_ENDPOINT, file_exists, internal_source_available
+from openpilot.tools.lib.route import Route, SegmentRange, FileName
+
+# When passed a tuple of file names, each source will return the first that exists (rlog.zst, rlog.bz2)
+FileNames = tuple[str, ...]
+Source = Callable[[SegmentRange, list[int], FileNames], dict[int, str]]
+
+InternalUnavailableException = Exception("Internal source not available")
+
+
+def comma_api_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  route = Route(sr.route_name)
+
+  # comma api will have already checked if the file exists
+  if fns == FileName.RLOG:
+    return {seg: route.log_paths()[seg] for seg in seg_idxs if route.log_paths()[seg] is not None}
+  else:
+    return {seg: route.qlog_paths()[seg] for seg in seg_idxs if route.qlog_paths()[seg] is not None}
+
+
+def internal_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames, endpoint_url: str = DATA_ENDPOINT) -> dict[int, str]:
+  if not internal_source_available(endpoint_url):
+    raise InternalUnavailableException
+
+  def get_internal_url(sr: SegmentRange, seg, file):
+    return f"{endpoint_url.rstrip('/')}/{sr.dongle_id}/{sr.log_id}/{seg}/{file}"
+
+  return eval_source({seg: [get_internal_url(sr, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def openpilotci_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: [get_url(sr.route_name, seg, fn) for fn in fns] for seg in seg_idxs})
+
+
+def comma_car_segments_source(sr: SegmentRange, seg_idxs: list[int], fns: FileNames) -> dict[int, str]:
+  return eval_source({seg: get_comma_segments_url(sr.route_name, seg) for seg in seg_idxs})
+
+
+def eval_source(files: dict[int, list[str] | str]) -> dict[int, str]:
+  # Returns valid file URLs given a list of possible file URLs for each segment (e.g. rlog.bz2, rlog.zst)
+  valid_files: dict[int, str] = {}
+
+  for seg_idx, urls in files.items():
+    if isinstance(urls, str):
+      urls = [urls]
+
+    # Add first valid file URL
+    for url in urls:
+      if file_exists(url):
+        valid_files[seg_idx] = url
+        break
+
+  return valid_files
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 0bb4abd2fa..f5418be81a 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,6 +1,9 @@
 import os
+import io
 import posixpath
 import socket
+from functools import cache
+from openpilot.common.utils import retry
 from urllib.parse import urlparse
 
 from openpilot.tools.lib.url_file import URLFile
@@ -8,14 +11,16 @@ from openpilot.tools.lib.url_file import URLFile
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
 
-def internal_source_available(url=DATA_ENDPOINT):
+@cache
+@retry(delay=0.0)
+def internal_source_available(url: str) -> bool:
   if os.path.isdir(url):
     return True
 
   try:
     hostname = urlparse(url).hostname
     port = urlparse(url).port or 80
-    with socket.socket(socket.AF_INET,socket.SOCK_STREAM) as s:
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
       s.settimeout(0.5)
       s.connect((hostname, port))
     return True
@@ -30,15 +35,24 @@ def resolve_name(fn):
   return fn
 
 
+@cache
 def file_exists(fn):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
     return URLFile(fn).get_length_online() != -1
   return os.path.exists(fn)
 
+class DiskFile(io.BufferedReader):
+  def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
+    parts = []
+    for r in ranges:
+      self.seek(r[0])
+      parts.append(self.read(r[1] - r[0]))
+    return parts
 
-def FileReader(fn, debug=False):
+def FileReader(fn):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
-    return URLFile(fn, debug=debug)
-  return open(fn, "rb")
+    return URLFile(fn)
+  else:
+    return DiskFile(open(fn, "rb"))
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index 06e2345abf..c923651563 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -1,559 +1,173 @@
-import json
 import os
-import pickle
-import struct
 import subprocess
-import threading
-from enum import IntEnum
-from functools import wraps
+import json
+import logging
+from collections.abc import Iterator
+from collections import OrderedDict
 
 import numpy as np
-from lru import LRU
-
-import _io
-from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR
+from openpilot.tools.lib.filereader import FileReader, resolve_name
 from openpilot.tools.lib.exceptions import DataUnreadableError
 from openpilot.tools.lib.vidindex import hevc_index
-from openpilot.common.file_helpers import atomic_write_in_dir
 
-from openpilot.tools.lib.filereader import FileReader, resolve_name
+logger = logging.getLogger("tools")
 
 HEVC_SLICE_B = 0
 HEVC_SLICE_P = 1
 HEVC_SLICE_I = 2
 
+class LRUCache:
+  def __init__(self, capacity: int):
+    self._cache: OrderedDict = OrderedDict()
+    self.capacity = capacity
 
-class GOPReader:
-  def get_gop(self, num):
-    # returns (start_frame_num, num_frames, frames_to_skip, gop_data)
-    raise NotImplementedError
+  def __getitem__(self, key):
+    self._cache.move_to_end(key)
+    return self._cache[key]
 
+  def __setitem__(self, key, value):
+    self._cache[key] = value
+    if len(self._cache) > self.capacity:
+        self._cache.popitem(last=False)
 
-class DoNothingContextManager:
-  def __enter__(self):
-    return self
+  def __contains__(self, key):
+    return key in self._cache
 
-  def __exit__(self, *x):
-    pass
-
-
-class FrameType(IntEnum):
-  raw = 1
-  h265_stream = 2
-
-
-def fingerprint_video(fn):
+def assert_hvec(fn: str) -> None:
   with FileReader(fn) as f:
     header = f.read(4)
   if len(header) == 0:
     raise DataUnreadableError(f"{fn} is empty")
-  elif header == b"\x00\xc0\x12\x00":
-    return FrameType.raw
   elif header == b"\x00\x00\x00\x01":
-    if 'hevc' in fn:
-      return FrameType.h265_stream
-    else:
+    if 'hevc' not in fn:
       raise NotImplementedError(fn)
-  else:
-    raise NotImplementedError(fn)
 
+def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc', hwaccel="auto", loglevel="info") -> np.ndarray:
+  threads = os.getenv("FFMPEG_THREADS", "0")
+  args = ["ffmpeg", "-v", loglevel,
+          "-threads", threads,
+          "-hwaccel", hwaccel,
+          "-c:v", "hevc",
+          "-vsync", "0",
+          "-f", vid_fmt,
+          "-flags2", "showall",
+          "-i", "pipe:0",
+          "-f", "rawvideo",
+          "-pix_fmt", pix_fmt,
+          "pipe:1"]
+  dat = subprocess.check_output(args, input=rawdat)
+
+  ret: np.ndarray
+  if pix_fmt == "rgb24":
+    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
+  elif pix_fmt in ["nv12", "yuv420p"]:
+    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
+  else:
+    raise NotImplementedError(f"Unsupported pixel format: {pix_fmt}")
+  return ret
 
 def ffprobe(fn, fmt=None):
   fn = resolve_name(fn)
   cmd = ["ffprobe", "-v", "quiet", "-print_format", "json", "-show_format", "-show_streams"]
   if fmt:
     cmd += ["-f", fmt]
-  cmd += ["-i", "-"]
+  cmd += ["-i", "pipe:0"]
 
   try:
     with FileReader(fn) as f:
       ffprobe_output = subprocess.check_output(cmd, input=f.read(4096))
   except subprocess.CalledProcessError as e:
     raise DataUnreadableError(fn) from e
-
   return json.loads(ffprobe_output)
 
+def get_index_data(fn: str, index_data: dict|None = None):
+  if index_data is None:
+    index_data = get_video_index(fn)
+    if index_data is None:
+      raise DataUnreadableError(f"Failed to index {fn!r}")
+  stream = index_data["probe"]["streams"][0]
+  return index_data["index"], index_data["global_prefix"], stream["width"], stream["height"]
 
-def cache_fn(func):
-  @wraps(func)
-  def cache_inner(fn, *args, **kwargs):
-    if kwargs.pop('no_cache', None):
-      cache_path = None
-    else:
-      cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR)
-      cache_path = cache_path_for_file_path(fn, cache_dir)
-
-    if cache_path and os.path.exists(cache_path):
-      with open(cache_path, "rb") as cache_file:
-        cache_value = pickle.load(cache_file)
-    else:
-      cache_value = func(fn, *args, **kwargs)
-      if cache_path:
-        with atomic_write_in_dir(cache_path, mode="wb", overwrite=True) as cache_file:
-          pickle.dump(cache_value, cache_file, -1)
-
-    return cache_value
-
-  return cache_inner
-
-
-@cache_fn
-def index_stream(fn, ft):
-  if ft != FrameType.h265_stream:
-    raise NotImplementedError("Only h265 supported")
-
+def get_video_index(fn):
+  assert_hvec(fn)
   frame_types, dat_len, prefix = hevc_index(fn)
   index = np.array(frame_types + [(0xFFFFFFFF, dat_len)], dtype=np.uint32)
   probe = ffprobe(fn, "hevc")
-
   return {
     'index': index,
     'global_prefix': prefix,
     'probe': probe
   }
 
-
-def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR):
-  return index_stream(fn, frame_type, cache_dir=cache_dir)
-
-def read_file_check_size(f, sz, cookie):
-  buff = bytearray(sz)
-  bytes_read = f.readinto(buff)
-  assert bytes_read == sz, (bytes_read, sz)
-  return buff
-
-
-def rgb24toyuv(rgb):
-  yuv_from_rgb = np.array([[ 0.299     ,  0.587     ,  0.114      ],
-                           [-0.14714119, -0.28886916,  0.43601035 ],
-                           [ 0.61497538, -0.51496512, -0.10001026 ]])
-  img = np.dot(rgb.reshape(-1, 3), yuv_from_rgb.T).reshape(rgb.shape)
-
-
-
-  ys = img[:, :, 0]
-  us = (img[::2, ::2, 1] + img[1::2, ::2, 1] + img[::2, 1::2, 1] + img[1::2, 1::2, 1]) / 4 + 128
-  vs = (img[::2, ::2, 2] + img[1::2, ::2, 2] + img[::2, 1::2, 2] + img[1::2, 1::2, 2]) / 4 + 128
-
-  return ys, us, vs
-
-
-def rgb24toyuv420(rgb):
-  ys, us, vs = rgb24toyuv(rgb)
-
-  y_len = rgb.shape[0] * rgb.shape[1]
-  uv_len = y_len // 4
-
-  yuv420 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype)
-  yuv420[:y_len] = ys.reshape(-1)
-  yuv420[y_len:y_len + uv_len] = us.reshape(-1)
-  yuv420[y_len + uv_len:y_len + 2 * uv_len] = vs.reshape(-1)
-
-  return yuv420.clip(0, 255).astype('uint8')
-
-
-def rgb24tonv12(rgb):
-  ys, us, vs = rgb24toyuv(rgb)
-
-  y_len = rgb.shape[0] * rgb.shape[1]
-  uv_len = y_len // 4
-
-  nv12 = np.empty(y_len + 2 * uv_len, dtype=rgb.dtype)
-  nv12[:y_len] = ys.reshape(-1)
-  nv12[y_len::2] = us.reshape(-1)
-  nv12[y_len+1::2] = vs.reshape(-1)
-
-  return nv12.clip(0, 255).astype('uint8')
-
-
-def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt):
-  threads = os.getenv("FFMPEG_THREADS", "0")
-  cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
-  args = ["ffmpeg", "-v", "quiet",
-          "-threads", threads,
-          "-hwaccel", "none" if not cuda else "cuda",
-          "-c:v", "hevc",
-          "-vsync", "0",
-          "-f", vid_fmt,
-          "-flags2", "showall",
-          "-i", "-",
-          "-threads", threads,
-          "-f", "rawvideo",
-          "-pix_fmt", pix_fmt,
-          "-"]
-  dat = subprocess.check_output(args, input=rawdat)
-
-  if pix_fmt == "rgb24":
-    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
-  elif pix_fmt == "nv12":
-    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
-  elif pix_fmt == "yuv420p":
-    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, (h*w*3//2))
-  elif pix_fmt == "yuv444p":
-    ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, 3, h, w)
-  else:
-    raise NotImplementedError
-
-  return ret
-
-
-class BaseFrameReader:
-  # properties: frame_type, frame_count, w, h
-
-  def __enter__(self):
-    return self
-
-  def __exit__(self, *args):
-    self.close()
-
-  def close(self):
-    pass
-
-  def get(self, num, count=1, pix_fmt="yuv420p"):
-    raise NotImplementedError
-
-
-def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None):
-  frame_type = fingerprint_video(fn)
-  if frame_type == FrameType.raw:
-    return RawFrameReader(fn)
-  elif frame_type in (FrameType.h265_stream,):
-    if not index_data:
-      index_data = get_video_index(fn, frame_type, cache_dir)
-    return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind)
-  else:
-    raise NotImplementedError(frame_type)
-
-
-class RawData:
-  def __init__(self, f):
-    self.f = _io.FileIO(f, 'rb')
-    self.lenn = struct.unpack("I", self.f.read(4))[0]
-    self.count = os.path.getsize(f) / (self.lenn+4)
-
-  def read(self, i):
-    self.f.seek((self.lenn+4)*i + 4)
-    return self.f.read(self.lenn)
-
-
-class RawFrameReader(BaseFrameReader):
-  def __init__(self, fn):
-    # raw camera
+class FfmpegDecoder:
+  def __init__(self, fn: str, index_data: dict|None = None,
+               pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"):
     self.fn = fn
-    self.frame_type = FrameType.raw
-    self.rawfile = RawData(self.fn)
-    self.frame_count = self.rawfile.count
-    self.w, self.h = 640, 480
+    self.index, self.prefix, self.w, self.h = get_index_data(fn, index_data)
+    self.frame_count = len(self.index) - 1          # sentinel row at the end
+    self.iframes = np.where(self.index[:, 0] == HEVC_SLICE_I)[0]
+    self.pix_fmt = pix_fmt
+    self.loglevel, self.hwaccel = loglevel, hwaccel
 
-  def load_and_debayer(self, img):
-    img = np.frombuffer(img, dtype='uint8').reshape(960, 1280)
-    cimg = np.dstack([img[0::2, 1::2], ((img[0::2, 0::2].astype("uint16") + img[1::2, 1::2].astype("uint16")) >> 1).astype("uint8"), img[1::2, 0::2]])
-    return cimg
+  def _gop_bounds(self, frame_idx: int):
+    f_b = frame_idx
+    while f_b > 0 and self.index[f_b, 0] != HEVC_SLICE_I:
+      f_b -= 1
+    f_e = frame_idx + 1
+    while f_e < self.frame_count and self.index[f_e, 0] != HEVC_SLICE_I:
+      f_e += 1
+    return f_b, f_e, self.index[f_b, 1], self.index[f_e, 1]
 
-  def get(self, num, count=1, pix_fmt="yuv420p"):
-    assert self.frame_count is not None
-    assert num+count <= self.frame_count
+  def _decode_gop(self, raw: bytes) -> Iterator[np.ndarray]:
+    yield from decompress_video_data(raw, self.w, self.h, pix_fmt=self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel)
 
-    if pix_fmt not in ("nv12", "yuv420p", "rgb24"):
-      raise ValueError(f"Unsupported pixel format {pix_fmt!r}")
+  def get_gop_start(self, frame_idx: int):
+    return self.iframes[np.searchsorted(self.iframes, frame_idx, side="right") - 1]
 
-    app = []
-    for i in range(num, num+count):
-      dat = self.rawfile.read(i)
-      rgb_dat = self.load_and_debayer(dat)
-      if pix_fmt == "rgb24":
-        app.append(rgb_dat)
-      elif pix_fmt == "nv12":
-        app.append(rgb24tonv12(rgb_dat))
-      elif pix_fmt == "yuv420p":
-        app.append(rgb24toyuv420(rgb_dat))
-      else:
-        raise NotImplementedError
+  def get_iterator(self, start_fidx: int = 0, end_fidx: int|None = None,
+                   frame_skip: int = 1) -> Iterator[tuple[int, np.ndarray]]:
+    end_fidx = end_fidx or self.frame_count
+    fidx = start_fidx
+    while fidx < end_fidx:
+      f_b, f_e, off_b, off_e = self._gop_bounds(fidx)
+      with FileReader(self.fn) as f:
+        f.seek(off_b)
+        raw = self.prefix + f.read(off_e - off_b)
+      # number of frames to discard inside this GOP before the wanted one
+      for i, frm in enumerate(decompress_video_data(raw, self.w, self.h, self.pix_fmt, hwaccel=self.hwaccel, loglevel=self.loglevel)):
+        fidx = f_b + i
+        if fidx >= end_fidx:
+          return
+        elif fidx >= start_fidx and (fidx - start_fidx) % frame_skip == 0:
+          yield fidx, frm
+      fidx += 1
 
-    return app
+def FrameIterator(fn: str, index_data: dict|None=None, pix_fmt: str = "rgb24",
+                  start_fidx:int=0, end_fidx=None, frame_skip:int=1, hwaccel="auto", loglevel="quiet") -> Iterator[np.ndarray]:
+  dec = FfmpegDecoder(fn, pix_fmt=pix_fmt, index_data=index_data, hwaccel=hwaccel, loglevel=loglevel)
+  for _, frame in dec.get_iterator(start_fidx=start_fidx, end_fidx=end_fidx, frame_skip=frame_skip):
+    yield frame
 
-
-class VideoStreamDecompressor:
-  def __init__(self, fn, vid_fmt, w, h, pix_fmt):
-    self.fn = fn
-    self.vid_fmt = vid_fmt
-    self.w = w
-    self.h = h
+class FrameReader:
+  def __init__(self, fn: str, index_data: dict|None = None, cache_size: int = 30,
+               pix_fmt: str = "rgb24", hwaccel="auto", loglevel="quiet"):
+    self.decoder = FfmpegDecoder(fn, index_data=index_data, pix_fmt=pix_fmt, hwaccel=hwaccel, loglevel=loglevel)
+    self.iframes = self.decoder.iframes
+    self._cache: LRUCache = LRUCache(cache_size)
+    self.w, self.h, self.frame_count, = self.decoder.w, self.decoder.h, self.decoder.frame_count
     self.pix_fmt = pix_fmt
 
-    if pix_fmt in ("nv12", "yuv420p"):
-      self.out_size = w*h*3//2  # yuv420p
-    elif pix_fmt in ("rgb24", "yuv444p"):
-      self.out_size = w*h*3
-    else:
-      raise NotImplementedError
+    self.it: Iterator[tuple[int, np.ndarray]] | None = None
+    self.fidx = -1
 
-    self.proc = None
-    self.t = threading.Thread(target=self.write_thread)
-    self.t.daemon = True
-
-  def write_thread(self):
-    try:
-      with FileReader(self.fn) as f:
-        while True:
-          r = f.read(1024*1024)
-          if len(r) == 0:
-            break
-          self.proc.stdin.write(r)
-    except BrokenPipeError:
-      pass
-    finally:
-      self.proc.stdin.close()
-
-  def read(self):
-    threads = os.getenv("FFMPEG_THREADS", "0")
-    cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
-    cmd = [
-      "ffmpeg",
-      "-threads", threads,
-      "-hwaccel", "none" if not cuda else "cuda",
-      "-c:v", "hevc",
-      # "-avioflags", "direct",
-      "-analyzeduration", "0",
-      "-probesize", "32",
-      "-flush_packets", "0",
-      # "-fflags", "nobuffer",
-      "-vsync", "0",
-      "-f", self.vid_fmt,
-      "-i", "pipe:0",
-      "-threads", threads,
-      "-f", "rawvideo",
-      "-pix_fmt", self.pix_fmt,
-      "pipe:1"
-    ]
-    self.proc = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL)
-    try:
-      self.t.start()
-
-      while True:
-        dat = self.proc.stdout.read(self.out_size)
-        if len(dat) == 0:
-          break
-        assert len(dat) == self.out_size
-        if self.pix_fmt == "rgb24":
-          ret = np.frombuffer(dat, dtype=np.uint8).reshape((self.h, self.w, 3))
-        elif self.pix_fmt == "yuv420p":
-          ret = np.frombuffer(dat, dtype=np.uint8)
-        elif self.pix_fmt == "nv12":
-          ret = np.frombuffer(dat, dtype=np.uint8)
-        elif self.pix_fmt == "yuv444p":
-          ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w))
-        else:
-          raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}")
-        yield ret
-
-      result_code = self.proc.wait()
-      assert result_code == 0, result_code
-    finally:
-      self.proc.kill()
-      self.t.join()
-
-class StreamGOPReader(GOPReader):
-  def __init__(self, fn, frame_type, index_data):
-    assert frame_type == FrameType.h265_stream
-
-    self.fn = fn
-
-    self.frame_type = frame_type
-    self.frame_count = None
-    self.w, self.h = None, None
-
-    self.prefix = None
-    self.index = None
-
-    self.index = index_data['index']
-    self.prefix = index_data['global_prefix']
-    probe = index_data['probe']
-
-    self.prefix_frame_data = None
-    self.num_prefix_frames = 0
-    self.vid_fmt = "hevc"
-
-    i = 0
-    while i < self.index.shape[0] and self.index[i, 0] != HEVC_SLICE_I:
-      i += 1
-    self.first_iframe = i
-
-    assert self.first_iframe == 0
-
-    self.frame_count = len(self.index) - 1
-
-    self.w = probe['streams'][0]['width']
-    self.h = probe['streams'][0]['height']
-
-  def _lookup_gop(self, num):
-    frame_b = num
-    while frame_b > 0 and self.index[frame_b, 0] != HEVC_SLICE_I:
-      frame_b -= 1
-
-    frame_e = num + 1
-    while frame_e < (len(self.index) - 1) and self.index[frame_e, 0] != HEVC_SLICE_I:
-      frame_e += 1
-
-    offset_b = self.index[frame_b, 1]
-    offset_e = self.index[frame_e, 1]
-
-    return (frame_b, frame_e, offset_b, offset_e)
-
-  def get_gop(self, num):
-    frame_b, frame_e, offset_b, offset_e = self._lookup_gop(num)
-    assert frame_b <= num < frame_e
-
-    num_frames = frame_e - frame_b
-
-    with FileReader(self.fn) as f:
-      f.seek(offset_b)
-      rawdat = f.read(offset_e - offset_b)
-
-      if num < self.first_iframe:
-        assert self.prefix_frame_data
-        rawdat = self.prefix_frame_data + rawdat
-
-      rawdat = self.prefix + rawdat
-
-    skip_frames = 0
-    if num < self.first_iframe:
-      skip_frames = self.num_prefix_frames
-
-    return frame_b, num_frames, skip_frames, rawdat
-
-
-class GOPFrameReader(BaseFrameReader):
-  #FrameReader with caching and readahead for formats that are group-of-picture based
-
-  def __init__(self, readahead=False, readbehind=False):
-    self.open_ = True
-
-    self.readahead = readahead
-    self.readbehind = readbehind
-    self.frame_cache = LRU(64)
-
-    if self.readahead:
-      self.cache_lock = threading.RLock()
-      self.readahead_last = None
-      self.readahead_len = 30
-      self.readahead_c = threading.Condition()
-      self.readahead_thread = threading.Thread(target=self._readahead_thread)
-      self.readahead_thread.daemon = True
-      self.readahead_thread.start()
-    else:
-      self.cache_lock = DoNothingContextManager()
-
-  def close(self):
-    if not self.open_:
-      return
-    self.open_ = False
-
-    if self.readahead:
-      self.readahead_c.acquire()
-      self.readahead_c.notify()
-      self.readahead_c.release()
-      self.readahead_thread.join()
-
-  def _readahead_thread(self):
-    while True:
-      self.readahead_c.acquire()
-      try:
-        if not self.open_:
-          break
-        self.readahead_c.wait()
-      finally:
-        self.readahead_c.release()
-      if not self.open_:
-        break
-      assert self.readahead_last
-      num, pix_fmt = self.readahead_last
-
-      if self.readbehind:
-        for k in range(num - 1, max(0, num - self.readahead_len), -1):
-          self._get_one(k, pix_fmt)
-      else:
-        for k in range(num, min(self.frame_count, num + self.readahead_len)):
-          self._get_one(k, pix_fmt)
-
-  def _get_one(self, num, pix_fmt):
-    assert num < self.frame_count
-
-    if (num, pix_fmt) in self.frame_cache:
-      return self.frame_cache[(num, pix_fmt)]
-
-    with self.cache_lock:
-      if (num, pix_fmt) in self.frame_cache:
-        return self.frame_cache[(num, pix_fmt)]
-
-      frame_b, num_frames, skip_frames, rawdat = self.get_gop(num)
-
-      ret = decompress_video_data(rawdat, self.vid_fmt, self.w, self.h, pix_fmt)
-      ret = ret[skip_frames:]
-      # assert ret.shape[0] == num_frames
-
-      for i in range(ret.shape[0]):
-        self.frame_cache[(frame_b+i, pix_fmt)] = ret[i]
-
-      return self.frame_cache[(num, pix_fmt)]
-
-  def get(self, num, count=1, pix_fmt="yuv420p"):
-    assert self.frame_count is not None
-
-    if num + count > self.frame_count:
-      raise ValueError(f"{num + count} > {self.frame_count}")
-
-    if pix_fmt not in ("nv12", "yuv420p", "rgb24", "yuv444p"):
-      raise ValueError(f"Unsupported pixel format {pix_fmt!r}")
-
-    ret = [self._get_one(num + i, pix_fmt) for i in range(count)]
-
-    if self.readahead:
-      self.readahead_last = (num+count, pix_fmt)
-      self.readahead_c.acquire()
-      self.readahead_c.notify()
-      self.readahead_c.release()
-
-    return ret
-
-
-class StreamFrameReader(StreamGOPReader, GOPFrameReader):
-  def __init__(self, fn, frame_type, index_data, readahead=False, readbehind=False):
-    StreamGOPReader.__init__(self, fn, frame_type, index_data)
-    GOPFrameReader.__init__(self, readahead, readbehind)
-
-
-def GOPFrameIterator(gop_reader, pix_fmt):
-  dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
-  yield from dec.read()
-
-
-def FrameIterator(fn, pix_fmt, **kwargs):
-  fr = FrameReader(fn, **kwargs)
-  if isinstance(fr, GOPReader):
-    yield from GOPFrameIterator(fr, pix_fmt)
-  else:
-    for i in range(fr.frame_count):
-      yield fr.get(i, pix_fmt=pix_fmt)[0]
-
-
-class NumpyFrameReader:
-  def __init__(self, name, w, h, cache_size):
-    self.name = name
-    self.pos = -1
-    self.frames = None
-    self.w = w
-    self.h = h
-    self.cache_size = cache_size
-
-  def close(self):
-    pass
-
-  def get(self, num, count=1, pix_fmt="nv12"):
-    num -= 1
-    q = num // self.cache_size
-    if q != self.pos:
-      del self.frames
-      self.pos = q
-      self.frames = np.load(f'{self.name}_{self.pos}.npy')
-    return [self.frames[num % self.cache_size]]
+  def get(self, fidx:int):
+    if fidx in self._cache:  # If frame is cached, return it
+      return self._cache[fidx]
+    read_start = self.decoder.get_gop_start(fidx)
+    if not self.it or fidx < self.fidx or read_start != self.decoder.get_gop_start(self.fidx):  # If the frame is in a different GOP, reset the iterator
+      self.it = self.decoder.get_iterator(read_start)
+      self.fidx = -1
+    while self.fidx < fidx:
+      self.fidx, frame = next(self.it)
+      self._cache[self.fidx] = frame
+    return self._cache[fidx]
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index 4dc22b9524..46a0dcf3cb 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -87,8 +87,8 @@ class GithubUtils:
   def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False):
     pr_number = self.get_pr_number(pr_branch)
     data = f'{{"body": "{comment}"}}'
+    github_path = f'issues/{pr_number}/comments'
     if overwrite:
-      github_path = f'issues/{pr_number}/comments'
       r = self.api_call(github_path)
       comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
       if comments:
@@ -96,7 +96,6 @@ class GithubUtils:
         self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
         return
 
-    github_path=f'issues/{pr_number}/comments'
     self.api_call(github_path, data=data, method=HTTPMethod.POST)
 
   # upload files to github and comment them on the pr
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index 7c34e17cb1..8c976e7ecc 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -9,7 +9,7 @@ class RE:
 
   INDEX = r'-?[0-9]+'
   SLICE = fr'(?P<start>{INDEX})?:?(?P<end>{INDEX})?:?(?P<step>{INDEX})?'
-  SEGMENT_RANGE = fr'{ROUTE_NAME}(?:(--|/)(?P<slice>({SLICE})))?(?:/(?P<selector>([qras])))?'
+  SEGMENT_RANGE = fr'{ROUTE_NAME}(?:(--|/)(?P<slice>({SLICE})))?(?:/(?P<selector>([qra])))?'
 
   BOOTLOG_NAME = ROUTE_NAME
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 34d3e5ea9f..9696c8524d 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import bz2
-from functools import cache, partial
+from functools import partial
 import multiprocessing
 import capnp
 import enum
@@ -12,15 +12,14 @@ import urllib.parse
 import warnings
 import zstandard as zstd
 
-from collections.abc import Callable, Iterable, Iterator
+from collections.abc import Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
 
 from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
-from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
-from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import FileReader, file_exists, internal_source_available
-from openpilot.tools.lib.route import Route, SegmentRange
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.file_sources import comma_api_source, internal_source, openpilotci_source, comma_car_segments_source, Source
+from openpilot.tools.lib.route import SegmentRange, FileName
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
 LogMessage = type[capnp._DynamicStructReader]
@@ -39,6 +38,7 @@ def save_log(dest, log_msgs, compress=True):
   with open(dest, "wb") as f:
     f.write(dat)
 
+
 def decompress_stream(data: bytes):
   dctx = zstd.ZstdDecompressor()
   decompressed_data = b""
@@ -48,8 +48,46 @@ def decompress_stream(data: bytes):
 
   return decompressed_data
 
+
+class CachedEventReader:
+  __slots__ = ('_evt', '_enum')
+
+  def __init__(self, evt: capnp._DynamicStructReader, _enum: str | None = None):
+    """All capnp attribute accesses are expensive, and which() is often called multiple times"""
+    self._evt = evt
+    self._enum: str | None = _enum
+
+  # fast pickle support
+  def __reduce__(self):
+    return CachedEventReader._reducer, (self._evt.as_builder().to_bytes(), self._enum)
+
+  @staticmethod
+  def _reducer(data: bytes, _enum: str | None = None):
+    with capnp_log.Event.from_bytes(data) as evt:
+      return CachedEventReader(evt, _enum)
+
+  def __repr__(self):
+    return self._evt.__repr__()
+
+  def __str__(self):
+    return self._evt.__str__()
+
+  def __dir__(self):
+    return dir(self._evt)
+
+  def which(self) -> str:
+    if self._enum is None:
+      self._enum = self._evt.which()
+    return self._enum
+
+  def __getattr__(self, name: str):
+    if name.startswith("__") and name.endswith("__"):
+      return getattr(self, name)
+    return getattr(self._evt, name)
+
+
 class _LogFileReader:
-  def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
+  def __init__(self, fn, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
     self._only_union_types = only_union_types
 
@@ -74,7 +112,7 @@ class _LogFileReader:
     self._ents = []
     try:
       for e in ents:
-        self._ents.append(e)
+        self._ents.append(CachedEventReader(e))
     except capnp.KjException:
       warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
@@ -96,155 +134,93 @@ class _LogFileReader:
 class ReadMode(enum.StrEnum):
   RLOG = "r"  # only read rlogs
   QLOG = "q"  # only read qlogs
-  SANITIZED = "s"  # read from the commaCarSegments database
   AUTO = "a"  # default to rlogs, fallback to qlogs
   AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
 
 
-LogPath = str | None
-ValidFileCallable = Callable[[LogPath], bool]
-Source = Callable[[SegmentRange, ReadMode], list[LogPath]]
-
-InternalUnavailableException = Exception("Internal source not available")
-
-
 class LogsUnavailable(Exception):
   pass
 
 
-@cache
-def default_valid_file(fn: LogPath) -> bool:
-  return fn is not None and file_exists(fn)
-
-
-def auto_strategy(rlog_paths: list[LogPath], qlog_paths: list[LogPath], interactive: bool, valid_file: ValidFileCallable) -> list[LogPath]:
-  # auto select logs based on availability
-  missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
-  if missing_rlogs != 0:
-    if interactive:
-      if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
-        return rlog_paths
-    else:
-      cloudlog.warning(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, falling back to qlogs for those segments...")
-
-    return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
-            for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]
-  return rlog_paths
-
-
-def apply_strategy(mode: ReadMode, rlog_paths: list[LogPath], qlog_paths: list[LogPath], valid_file: ValidFileCallable = default_valid_file) -> list[LogPath]:
-  if mode == ReadMode.RLOG:
-    return rlog_paths
-  elif mode == ReadMode.QLOG:
-    return qlog_paths
-  elif mode == ReadMode.AUTO:
-    return auto_strategy(rlog_paths, qlog_paths, False, valid_file)
-  elif mode == ReadMode.AUTO_INTERACTIVE:
-    return auto_strategy(rlog_paths, qlog_paths, True, valid_file)
-  raise ValueError(f"invalid mode: {mode}")
-
-
-def comma_api_source(sr: SegmentRange, mode: ReadMode) -> list[LogPath]:
-  route = Route(sr.route_name)
-
-  rlog_paths = [route.log_paths()[seg] for seg in sr.seg_idxs]
-  qlog_paths = [route.qlog_paths()[seg] for seg in sr.seg_idxs]
-
-  # comma api will have already checked if the file exists
-  def valid_file(fn):
-    return fn is not None
-
-  return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)
-
-
-def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> list[LogPath]:
-  if not internal_source_available():
-    raise InternalUnavailableException
-
-  def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"
-
-  # TODO: list instead of using static URLs to support routes with multiple file extensions
-  rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
-  qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
-
-  return apply_strategy(mode, rlog_paths, qlog_paths)
-
-
-def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> list[LogPath]:
-  return internal_source(sr, mode, file_ext)
-
-
-def openpilotci_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> list[LogPath]:
-  rlog_paths = [get_url(sr.route_name, seg, f"rlog.{file_ext}") for seg in sr.seg_idxs]
-  qlog_paths = [get_url(sr.route_name, seg, f"qlog.{file_ext}") for seg in sr.seg_idxs]
-
-  return apply_strategy(mode, rlog_paths, qlog_paths)
-
-
-def openpilotci_source_zst(sr: SegmentRange, mode: ReadMode) -> list[LogPath]:
-  return openpilotci_source(sr, mode, "zst")
-
-
-def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
-  return [get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]
-
-
-def testing_closet_source(sr: SegmentRange, mode=ReadMode.RLOG) -> list[LogPath]:
-  if not internal_source_available('http://testing.comma.life'):
-    raise InternalUnavailableException
-  return [f"http://testing.comma.life/download/{sr.route_name.replace('|', '/')}/{seg}/rlog" for seg in sr.seg_idxs]
-
-
-def direct_source(file_or_url: str) -> list[LogPath]:
+def direct_source(file_or_url: str) -> list[str]:
   return [file_or_url]
 
 
-def get_invalid_files(files):
-  for f in files:
-    if f is None or not file_exists(f):
-      yield f
-
-
-def check_source(source: Source, *args) -> list[LogPath]:
-  files = source(*args)
-  assert len(files) > 0, "No files on source"
-  assert next(get_invalid_files(files), False) is False, "Some files are invalid"
-  return files
-
-
-def auto_source(sr: SegmentRange, mode=ReadMode.RLOG, sources: list[Source] = None) -> list[LogPath]:
-  if mode == ReadMode.SANITIZED:
-    return comma_car_segments_source(sr, mode)
-
-  if sources is None:
-    sources = [internal_source, internal_source_zst, openpilotci_source, openpilotci_source_zst,
-               comma_api_source, comma_car_segments_source, testing_closet_source]
+# TODO this should apply to camera files as well
+def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode) -> list[str]:
   exceptions = {}
 
-  # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
-  if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
+  sr = SegmentRange(identifier)
+  needed_seg_idxs = sr.seg_idxs
+
+  mode = default_mode if sr.selector is None else ReadMode(sr.selector)
+  if mode == ReadMode.QLOG:
+    try_fns = [FileName.QLOG]
+  else:
+    try_fns = [FileName.RLOG]
+
+  # If selector allows it, fallback to qlogs
+  if mode in (ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE):
+    try_fns.append(FileName.QLOG)
+
+  # Build a dict of valid files as we evaluate each source. May contain mix of rlogs, qlogs, and None.
+  # This function only returns when we've sourced all files, or throws an exception
+  valid_files: dict[int, str] = {}
+  for fn in try_fns:
     for source in sources:
       try:
-        return check_source(source, sr, ReadMode.RLOG)
-      except Exception:
-        pass
+        files = source(sr, needed_seg_idxs, fn)
 
-  # Automatically determine viable source
-  for source in sources:
-    try:
-      return check_source(source, sr, mode)
-    except Exception as e:
-      exceptions[source.__name__] = e
+        # Build a dict of valid files
+        valid_files |= files
 
-  raise LogsUnavailable("auto_source could not find any valid source, exceptions for sources:\n  - " +
-                        "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
+        # Don't check for segment files that have already been found
+        needed_seg_idxs = [idx for idx in needed_seg_idxs if idx not in valid_files]
+
+        # We've found all files, return them
+        if len(needed_seg_idxs) == 0:
+          return list(valid_files.values())
+        else:
+          raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}")
+
+      except Exception as e:
+        exceptions[source.__name__] = e
+
+    if fn == try_fns[0]:
+      missing_logs = len(needed_seg_idxs)
+      if mode == ReadMode.AUTO:
+        cloudlog.warning(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, falling back to qlogs for those segments...")
+      elif mode == ReadMode.AUTO_INTERACTIVE:
+        if input(f"{missing_logs}/{len(sr.seg_idxs)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/N) ").lower() != "y":
+          break
+
+  missing_logs = len(needed_seg_idxs)
+  raise LogsUnavailable(f"{missing_logs}/{len(sr.seg_idxs)} logs were not found, please ensure all logs " +
+                        "are uploaded. You can fall back to qlogs with '/a' selector at the end of the route name.\n\n" +
+                        "Exceptions for sources:\n  - " + "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
 
 def parse_indirect(identifier: str) -> str:
   if "useradmin.comma.ai" in identifier:
     query = parse_qs(urlparse(identifier).query)
-    return query["onebox"][0]
+    identifier = query["onebox"][0]
+  elif "connect.comma.ai" in identifier:
+    path = urlparse(identifier).path.strip("/").split("/")
+    path = ['/'.join(path[:2]), *path[2:]]  # recombine log id
+
+    identifier = path[0]
+    if len(path) > 2:
+      # convert url with seconds to segments
+      start, end = int(path[1]) // 60, int(path[2]) // 60 + 1
+      identifier = f"{identifier}/{start}:{end}"
+
+      # add selector if it exists
+      if len(path) > 3:
+        identifier += f"/{path[3]}"
+    else:
+      # add selector if it exists
+      identifier = "/".join(path)
+
   return identifier
 
 
@@ -255,7 +231,7 @@ def parse_direct(identifier: str):
 
 
 class LogReader:
-  def _parse_identifier(self, identifier: str) -> list[LogPath]:
+  def _parse_identifier(self, identifier: str) -> list[str]:
     # useradmin, etc.
     identifier = parse_indirect(identifier)
 
@@ -264,20 +240,16 @@ class LogReader:
     if direct_parsed is not None:
       return direct_source(identifier)
 
-    sr = SegmentRange(identifier)
-    mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
-
-    identifiers = self.source(sr, mode)
-
-    invalid_count = len(list(get_invalid_files(identifiers)))
-    assert invalid_count == 0, (f"{invalid_count}/{len(identifiers)} invalid log(s) found, please ensure all logs " +
-                                "are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name.")
+    identifiers = auto_source(identifier, self.sources, self.default_mode)
     return identifiers
 
   def __init__(self, identifier: str | list[str], default_mode: ReadMode = ReadMode.RLOG,
-               source: Source = auto_source, sort_by_time=False, only_union_types=False):
+               sources: list[Source] | None = None, sort_by_time=False, only_union_types=False):
+    if sources is None:
+      sources = [internal_source, comma_api_source, openpilotci_source, comma_car_segments_source]
+
     self.default_mode = default_mode
-    self.source = source
+    self.sources = sources
     self.identifier = identifier
     if isinstance(identifier, str):
       self.identifier = [identifier]
@@ -327,6 +299,7 @@ class LogReader:
   def time_series(self):
     return msgs_to_time_series(self)
 
+
 if __name__ == "__main__":
   import codecs
 
diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py
index 1c1e1f171b..6b484dfdad 100644
--- a/tools/lib/openpilotci.py
+++ b/tools/lib/openpilotci.py
@@ -1,12 +1,4 @@
-from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer
+BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 
-def get_url(*args, **kwargs):
-  return OpenpilotCIContainer.get_url(*args, **kwargs)
-
-def upload_file(*args, **kwargs):
-  return OpenpilotCIContainer.upload_file(*args, **kwargs)
-
-def upload_bytes(*args, **kwargs):
-  return OpenpilotCIContainer.upload_bytes(*args, **kwargs)
-
-BASE_URL = OpenpilotCIContainer.BASE_URL
+def get_url(route_name: str, segment_num, filename: str) -> str:
+  return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{filename}"
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 831a1e2ee5..98334a06c8 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -1,27 +1,30 @@
 import os
 import re
+import requests
 from functools import cache
 from urllib.parse import urlparse
 from collections import defaultdict
 from itertools import chain
 
 from openpilot.tools.lib.auth_config import get_token
-from openpilot.tools.lib.api import CommaApi
+from openpilot.tools.lib.api import APIError, CommaApi
 from openpilot.tools.lib.helpers import RE
 
-QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
-QCAMERA_FILENAMES = ['qcamera.ts']
-LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2', 'rlog.zst']
-CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
-DCAMERA_FILENAMES = ['dcamera.hevc']
-ECAMERA_FILENAMES = ['ecamera.hevc']
+
+class FileName:
+  RLOG = ("rlog.zst", "rlog.bz2")
+  QLOG = ("qlog.zst", "qlog.bz2")
+  QCAMERA = ('qcamera.ts',)
+  FCAMERA = ('fcamera.hevc',)
+  ECAMERA = ('ecamera.hevc',)
+  DCAMERA = ('dcamera.hevc',)
+  BOOTLOG = ('bootlog.zst', 'bootlog.bz2')
 
 
 class Route:
   def __init__(self, name, data_dir=None):
     self._name = RouteName(name)
     self.files = None
-    self.metadata = None
     if data_dir is not None:
       self._segments = self._get_segments_local(data_dir)
     else:
@@ -60,12 +63,6 @@ class Route:
     qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments}
     return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
-  def get_metadata(self):
-    if not self.metadata:
-      api = CommaApi(get_token())
-      self.metadata = api.get('v1/route/' + self.name.canonical_name)
-    return self.metadata
-
   # TODO: refactor this, it's super repetitive
   def _get_segments_remote(self):
     api = CommaApi(get_token())
@@ -79,22 +76,22 @@ class Route:
       if segments.get(segment_name):
         segments[segment_name] = Segment(
           segment_name,
-          url if fn in LOG_FILENAMES else segments[segment_name].log_path,
-          url if fn in QLOG_FILENAMES else segments[segment_name].qlog_path,
-          url if fn in CAMERA_FILENAMES else segments[segment_name].camera_path,
-          url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path,
-          url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path,
-          url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path,
+          url if fn in FileName.RLOG else segments[segment_name].log_path,
+          url if fn in FileName.QLOG else segments[segment_name].qlog_path,
+          url if fn in FileName.FCAMERA else segments[segment_name].camera_path,
+          url if fn in FileName.DCAMERA else segments[segment_name].dcamera_path,
+          url if fn in FileName.ECAMERA else segments[segment_name].ecamera_path,
+          url if fn in FileName.QCAMERA else segments[segment_name].qcamera_path,
         )
       else:
         segments[segment_name] = Segment(
           segment_name,
-          url if fn in LOG_FILENAMES else None,
-          url if fn in QLOG_FILENAMES else None,
-          url if fn in CAMERA_FILENAMES else None,
-          url if fn in DCAMERA_FILENAMES else None,
-          url if fn in ECAMERA_FILENAMES else None,
-          url if fn in QCAMERA_FILENAMES else None,
+          url if fn in FileName.RLOG else None,
+          url if fn in FileName.QLOG else None,
+          url if fn in FileName.FCAMERA else None,
+          url if fn in FileName.DCAMERA else None,
+          url if fn in FileName.ECAMERA else None,
+          url if fn in FileName.QCAMERA else None,
         )
 
     return sorted(segments.values(), key=lambda seg: seg.name.segment_num)
@@ -131,32 +128,32 @@ class Route:
     for segment, files in segment_files.items():
 
       try:
-        log_path = next(path for path, filename in files if filename in LOG_FILENAMES)
+        log_path = next(path for path, filename in files if filename in FileName.RLOG)
       except StopIteration:
         log_path = None
 
       try:
-        qlog_path = next(path for path, filename in files if filename in QLOG_FILENAMES)
+        qlog_path = next(path for path, filename in files if filename in FileName.QLOG)
       except StopIteration:
         qlog_path = None
 
       try:
-        camera_path = next(path for path, filename in files if filename in CAMERA_FILENAMES)
+        camera_path = next(path for path, filename in files if filename in FileName.FCAMERA)
       except StopIteration:
         camera_path = None
 
       try:
-        dcamera_path = next(path for path, filename in files if filename in DCAMERA_FILENAMES)
+        dcamera_path = next(path for path, filename in files if filename in FileName.DCAMERA)
       except StopIteration:
         dcamera_path = None
 
       try:
-        ecamera_path = next(path for path, filename in files if filename in ECAMERA_FILENAMES)
+        ecamera_path = next(path for path, filename in files if filename in FileName.ECAMERA)
       except StopIteration:
         ecamera_path = None
 
       try:
-        qcamera_path = next(path for path, filename in files if filename in QCAMERA_FILENAMES)
+        qcamera_path = next(path for path, filename in files if filename in FileName.QCAMERA)
       except StopIteration:
         qcamera_path = None
 
@@ -169,6 +166,7 @@ class Route:
 
 class Segment:
   def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
+    self._events = None
     self._name = SegmentName(name)
     self.log_path = log_path
     self.qlog_path = qlog_path
@@ -181,6 +179,29 @@ class Segment:
   def name(self):
     return self._name
 
+  @staticmethod
+  @cache
+  def _get_route_metadata(route_name: str):
+    api = CommaApi(get_token())
+    return api.get(f'v1/route/{route_name}')
+
+  @property
+  def url(self):
+    route_name = self._name.route_name.canonical_name
+    metadata = self._get_route_metadata(route_name)
+    return f'{metadata["url"]}/{self._name.segment_num}'
+
+  @property
+  def events(self):
+    if not self._events:
+      try:
+        resp = requests.get(f'{self.url}/events.json')
+        resp.raise_for_status()
+        self._events = resp.json()
+      except Exception as e:
+        raise APIError(f'error getting events for segment {self._name}') from e
+    return self._events
+
 
 class RouteName:
   def __init__(self, name_str: str):
@@ -198,9 +219,16 @@ class RouteName:
   @property
   def dongle_id(self) -> str: return self._dongle_id
 
+  @property
+  def log_id(self) -> str: return self._time_str
+
   @property
   def time_str(self) -> str: return self._time_str
 
+  @property
+  def azure_prefix(self):
+    return f'{self.dongle_id}/{self.log_id}'
+
   def __str__(self) -> str: return self._canonical_name
 
 
@@ -224,12 +252,23 @@ class SegmentName:
   @property
   def canonical_name(self) -> str: return self._canonical_name
 
+  # TODO should only use one name
+  @property
+  def data_name(self) -> str: return f"{self._route_name.canonical_name}/{self._num}"
+
+  @property
+  def azure_prefix(self):
+    return f'{self.dongle_id}/{self.log_id}/{self._num}'
+
   @property
   def dongle_id(self) -> str: return self._route_name.dongle_id
 
   @property
   def time_str(self) -> str: return self._route_name.time_str
 
+  @property
+  def log_id(self) -> str: return self._route_name.time_str
+
   @property
   def segment_num(self) -> int: return self._num
 
@@ -241,6 +280,30 @@ class SegmentName:
 
   def __str__(self) -> str: return self._canonical_name
 
+  @staticmethod
+  def from_file_name(file_name):
+    # ??????/xxxxxxxxxxxxxxxx|1111-11-11-11--11-11-11/1/rlog.bz2
+    dongle_id, route_name, segment_num = file_name.replace('|', '/').split('/')[-4:-1]
+    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
+
+  @staticmethod
+  def from_device_key(dongle_id, key):
+    # 2018-05-07--18-56-13--5/rlog.bz2
+    segment_name = key.split('/')[0]
+    return SegmentName(dongle_id + "|" + segment_name)
+
+  @staticmethod
+  def from_file_key(key):
+    # 38c52c217150700f/2018-05-07--18-56-13/5/rlog.bz2
+    az_prefix = '/'.join(key.split('/')[:3])
+    return SegmentName.from_azure_prefix(az_prefix)
+
+  @staticmethod
+  def from_azure_prefix(prefix):
+    # xxxxxxxx/1111-11-11-11--11-11-11/0
+    dongle_id, route_name, segment_num = prefix.split("/")
+    return SegmentName(dongle_id + "|" + route_name + "--" + segment_num)
+
 
 @cache
 def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 2bb63b4dce..cb14098e6d 100644
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -2,11 +2,13 @@ import http.server
 import os
 import shutil
 import socket
+import tempfile
 import pytest
 
 from openpilot.selfdrive.test.helpers import http_server_context
 from openpilot.system.hardware.hw import Paths
-from openpilot.tools.lib.url_file import URLFile
+from openpilot.tools.lib.url_file import URLFile, prune_cache
+import openpilot.tools.lib.url_file as url_file_module
 
 
 class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
@@ -54,13 +56,13 @@ class TestFileDownload:
     for k, v in retry_defaults.items():
       assert getattr(URLFile.pool_manager().connection_pool_kw["retries"], k) == v
 
-    # ensure caching off by default and cache dir doesn't get created
-    os.environ.pop("FILEREADER_CACHE", None)
+    # ensure caching on by default and cache dir gets created
+    os.environ.pop("DISABLE_FILEREADER_CACHE", None)
     if os.path.exists(Paths.download_cache_root()):
       shutil.rmtree(Paths.download_cache_root())
     URLFile(f"{host}/test.txt").get_length()
     URLFile(f"{host}/test.txt").read()
-    assert not os.path.exists(Paths.download_cache_root())
+    assert os.path.exists(Paths.download_cache_root())
 
   def compare_loads(self, url, start=0, length=None):
     """Compares range between cached and non cached version"""
@@ -88,7 +90,7 @@ class TestFileDownload:
 
   def test_small_file(self):
     # Make sure we don't force cache
-    os.environ["FILEREADER_CACHE"] = "0"
+    os.environ.pop("DISABLE_FILEREADER_CACHE", None)
     small_file_url = "https://raw.githubusercontent.com/commaai/openpilot/master/docs/SAFETY.md"
     #  If you want large file to be larger than a chunk
     #  large_file_url = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/fcamera.hevc"
@@ -117,7 +119,10 @@ class TestFileDownload:
 
   @pytest.mark.parametrize("cache_enabled", [True, False])
   def test_recover_from_missing_file(self, host, cache_enabled):
-    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    if cache_enabled:
+      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
+    else:
+      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
 
     file_url = f"{host}/test.png"
 
@@ -128,3 +133,35 @@ class TestFileDownload:
     CachingTestRequestHandler.FILE_EXISTS = True
     length = URLFile(file_url).get_length()
     assert length == 4
+
+
+class TestCache:
+  def test_prune_cache(self, monkeypatch):
+    with tempfile.TemporaryDirectory() as tmpdir:
+      monkeypatch.setattr(Paths, 'download_cache_root', staticmethod(lambda: tmpdir + "/"))
+
+      # setup test files and manifest
+      manifest_lines = []
+      for i in range(3):
+        fname = f"hash_{i}"
+        with open(tmpdir + "/" + fname, "wb") as f:
+          f.truncate(1000)
+        manifest_lines.append(f"{fname} {1000 + i}")
+      with open(tmpdir + "/manifest.txt", "w") as f:
+        f.write('\n'.join(manifest_lines))
+
+      # under limit, shouldn't prune
+      assert len(os.listdir(tmpdir)) == 4
+      prune_cache()
+      assert len(os.listdir(tmpdir)) == 4
+
+      # set a tiny cache limit to force eviction (1.5 chunks worth)
+      monkeypatch.setattr(url_file_module, 'CACHE_SIZE', url_file_module.CHUNK_SIZE + url_file_module.CHUNK_SIZE // 2)
+
+      # prune_cache should evict oldest files to get under limit
+      prune_cache()
+      remaining = os.listdir(tmpdir)
+      # should have evicted at least one file + manifest
+      assert len(remaining) < 4
+      # newest file should remain
+      assert manifest_lines[2].split()[0] in remaining
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 230b6a65ea..123f142383 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -7,10 +7,11 @@ import os
 import pytest
 import requests
 
-from parameterized import parameterized
+from openpilot.common.parameterized import parameterized
 
 from cereal import log as capnp_log
-from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
+from openpilot.tools.lib.logreader import LogsUnavailable, LogIterable, LogReader, parse_indirect, ReadMode
+from openpilot.tools.lib.file_sources import comma_api_source, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
 
@@ -36,12 +37,12 @@ def setup_source_scenario(mocker, is_internal=False):
   comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
 
   if is_internal:
-    internal_source_mock.return_value = [QLOG_FILE]
+    internal_source_mock.return_value = {3: QLOG_FILE}
   else:
     internal_source_mock.side_effect = InternalUnavailableException
 
-  openpilotci_source_mock.return_value = [None]
-  comma_api_source_mock.return_value = [QLOG_FILE]
+  openpilotci_source_mock.return_value = {}
+  comma_api_source_mock.return_value = {3: QLOG_FILE}
 
   yield
 
@@ -71,6 +72,7 @@ class TestLogReader:
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS),
     (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS),
   ])
+  @pytest.mark.skip("this got flaky. internet tests are stupid.")
   def test_indirect_parsing(self, identifier, expected):
     parsed = parse_indirect(identifier)
     sr = SegmentRange(parsed)
@@ -90,8 +92,11 @@ class TestLogReader:
 
   @pytest.mark.parametrize("cache_enabled", [True, False])
   def test_direct_parsing(self, mocker, cache_enabled):
-    file_exists_mock = mocker.patch("openpilot.tools.lib.logreader.file_exists")
-    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    file_exists_mock = mocker.patch("openpilot.tools.lib.filereader.file_exists")
+    if cache_enabled:
+      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
+    else:
+      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
     qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
 
     with requests.get(QLOG_FILE, stream=True) as r:
@@ -179,7 +184,10 @@ class TestLogReader:
   @parameterized.expand([(True,), (False,)])
   @pytest.mark.slow
   def test_run_across_segments(self, cache_enabled):
-    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    if cache_enabled:
+      os.environ.pop("DISABLE_FILEREADER_CACHE", None)
+    else:
+      os.environ["DISABLE_FILEREADER_CACHE"] = "1"
     lr = LogReader(f"{TEST_ROUTE}/0:4")
     assert len(lr.run_across_segments(4, noop)) == len(list(lr))
 
@@ -193,28 +201,27 @@ class TestLogReader:
 
     with subtests.test("interactive_yes"):
       mocker.patch("sys.stdin", new=io.StringIO("y\n"))
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, source=comma_api_source)
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[comma_api_source])
       log_len = len(list(lr))
       assert qlog_len == log_len
 
     with subtests.test("interactive_no"):
       mocker.patch("sys.stdin", new=io.StringIO("n\n"))
-      with pytest.raises(AssertionError):
-        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, source=comma_api_source)
+      with pytest.raises(LogsUnavailable):
+        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, sources=[comma_api_source])
 
     with subtests.test("non_interactive"):
-      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, source=comma_api_source)
+      lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, sources=[comma_api_source])
       log_len = len(list(lr))
       assert qlog_len == log_len
 
   @pytest.mark.parametrize("is_internal", [True, False])
-  @pytest.mark.slow
   def test_auto_source_scenarios(self, mocker, is_internal):
     lr = LogReader(QLOG_FILE)
     qlog_len = len(list(lr))
 
     with setup_source_scenario(mocker, is_internal=is_internal):
-      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      lr = LogReader(f"{TEST_ROUTE}/3/q")
       log_len = len(list(lr))
       assert qlog_len == log_len
 
diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py
deleted file mode 100644
index 624531a1a8..0000000000
--- a/tools/lib/tests/test_readers.py
+++ /dev/null
@@ -1,63 +0,0 @@
-import pytest
-import requests
-import tempfile
-
-from collections import defaultdict
-import numpy as np
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-
-
-class TestReaders:
-  @pytest.mark.skip("skip for bandwidth reasons")
-  def test_logreader(self):
-    def _check_data(lr):
-      hist = defaultdict(int)
-      for l in lr:
-        hist[l.which()] += 1
-
-      assert hist['carControl'] == 6000
-      assert hist['logMessage'] == 6857
-
-    with tempfile.NamedTemporaryFile(suffix=".bz2") as fp:
-      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10)
-      fp.write(r.content)
-      fp.flush()
-
-      lr_file = LogReader(fp.name)
-      _check_data(lr_file)
-
-    lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true")
-    _check_data(lr_url)
-
-  @pytest.mark.skip("skip for bandwidth reasons")
-  def test_framereader(self):
-    def _check_data(f):
-      assert f.frame_count == 1200
-      assert f.w == 1164
-      assert f.h == 874
-
-      frame_first_30 = f.get(0, 30)
-      assert len(frame_first_30) == 30
-
-      print(frame_first_30[15])
-
-      print("frame_0")
-      frame_0 = f.get(0, 1)
-      frame_15 = f.get(15, 1)
-
-      print(frame_15[0])
-
-      assert np.all(frame_first_30[0] == frame_0[0])
-      assert np.all(frame_first_30[15] == frame_15[0])
-
-    with tempfile.NamedTemporaryFile(suffix=".hevc") as fp:
-      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true", timeout=10)
-      fp.write(r.content)
-      fp.flush()
-
-      fr_file = FrameReader(fp.name)
-      _check_data(fr_file)
-
-    fr_url = FrameReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true")
-    _check_data(fr_url)
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index b2a11dc77b..de12070465 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,30 +1,61 @@
 import logging
 import os
+import re
 import socket
 import time
-from hashlib import sha256
+from hashlib import md5
 from urllib3 import PoolManager, Retry
 from urllib3.response import BaseHTTPResponse
 from urllib3.util import Timeout
 
-from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.hardware.hw import Paths
+from urllib3.exceptions import MaxRetryError
+
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
+CACHE_SIZE = 10 * 1024 * 1024 * 1024  # total cache size in GB
 
 logging.getLogger("urllib3").setLevel(logging.WARNING)
 
-def hash_256(link: str) -> str:
-  return sha256((link.split("?")[0]).encode('utf-8')).hexdigest()
 
+def hash_url(link: str) -> str:
+  return md5((link.split("?")[0]).encode('utf-8')).hexdigest()
+
+
+def prune_cache(new_entry: str | None = None) -> None:
+  """Evicts oldest cache files (LRU) until cache is under the size limit."""
+  # we use a manifest to avoid tons of os.stat syscalls (slow)
+  manifest = {}
+  manifest_path = Paths.download_cache_root() + "manifest.txt"
+  if os.path.exists(manifest_path):
+    with open(manifest_path) as f:
+      manifest = {parts[0]: int(parts[1]) for line in f if (parts := line.strip().split()) and len(parts) == 2}
+
+  if new_entry:
+    manifest[new_entry] = int(time.time())  # noqa: TID251
+
+  # evict the least recently used files until under limit
+  sorted_items = sorted(manifest.items(), key=lambda x: x[1])
+  while len(manifest) * CHUNK_SIZE > CACHE_SIZE and sorted_items:
+    key, _ = sorted_items.pop(0)
+    try:
+      os.remove(Paths.download_cache_root() + key)
+    except OSError:
+      pass
+    manifest.pop(key, None)
+
+  # write out manifest
+  with atomic_write(manifest_path, mode="w", overwrite=True) as f:
+    f.write('\n'.join(f"{k} {v}" for k, v in manifest.items()))
 
 class URLFileException(Exception):
   pass
 
 
 class URLFile:
-  _pool_manager: PoolManager|None = None
+  _pool_manager: PoolManager | None = None
 
   @staticmethod
   def reset() -> None:
@@ -33,19 +64,18 @@ class URLFile:
   @staticmethod
   def pool_manager() -> PoolManager:
     if URLFile._pool_manager is None:
-      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
+      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)]
       retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
       URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
     return URLFile._pool_manager
 
-  def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
+  def __init__(self, url: str, timeout: int = 10, cache: bool | None = None):
     self._url = url
     self._timeout = Timeout(connect=timeout, read=timeout)
     self._pos = 0
-    self._length: int|None = None
-    self._debug = debug
-    #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
-    self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
+    self._length: int | None = None
+    #  Caching enabled by default, can be disabled with DISABLE_FILEREADER_CACHE=1, or overwritten by the cache input
+    self._force_download = int(os.environ.get("DISABLE_FILEREADER_CACHE", "0")) == 1
     if cache is not None:
       self._force_download = not cache
 
@@ -58,8 +88,11 @@ class URLFile:
   def __exit__(self, exc_type, exc_value, traceback) -> None:
     pass
 
-  def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
-    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+  def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
+    try:
+      return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+    except MaxRetryError as e:
+      raise URLFileException(f"Failed to {method} {url}: {e}") from e
 
   def get_length_online(self) -> int:
     response = self._request('HEAD', self._url)
@@ -72,7 +105,7 @@ class URLFile:
     if self._length is not None:
       return self._length
 
-    file_length_path = os.path.join(Paths.download_cache_root(), hash_256(self._url) + "_length")
+    file_length_path = os.path.join(Paths.download_cache_root(), hash_url(self._url) + "_length")
     if not self._force_download and os.path.exists(file_length_path):
       with open(file_length_path) as file_length:
         content = file_length.read()
@@ -81,11 +114,11 @@ class URLFile:
 
     self._length = self.get_length_online()
     if not self._force_download and self._length != -1:
-      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
+      with atomic_write(file_length_path, mode="w", overwrite=True) as file_length:
         file_length.write(str(self._length))
     return self._length
 
-  def read(self, ll: int|None=None) -> bytes:
+  def read(self, ll: int | None = None) -> bytes:
     if self._force_download:
       return self.read_aux(ll=ll)
 
@@ -98,14 +131,15 @@ class URLFile:
     while True:
       self._pos = position
       chunk_number = self._pos / CHUNK_SIZE
-      file_name = hash_256(self._url) + "_" + str(chunk_number)
+      file_name = hash_url(self._url) + "_" + str(chunk_number)
       full_path = os.path.join(Paths.download_cache_root(), str(file_name))
       data = None
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
         data = self.read_aux(ll=CHUNK_SIZE)
-        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
+        with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
+        prune_cache(file_name)
       else:
         with open(full_path, "rb") as cached_file:
           data = cached_file.read()
@@ -117,43 +151,66 @@ class URLFile:
         self._pos = file_end
         return response
 
-  def read_aux(self, ll: int|None=None) -> bytes:
-    download_range = False
-    headers = {}
-    if self._pos != 0 or ll is not None:
-      if ll is None:
-        end = self.get_length() - 1
-      else:
-        end = min(self._pos + ll, self.get_length()) - 1
-      if self._pos >= end:
-        return b""
-      headers['Range'] = f"bytes={self._pos}-{end}"
-      download_range = True
+  def read_aux(self, ll: int | None = None) -> bytes:
+    if ll is None:
+      length = self.get_length()
+      if length == -1:
+        raise URLFileException(f"Remote file is empty or doesn't exist: {self._url}")
+      end = length
+    else:
+      end = self._pos + ll
+    data = self.get_multi_range([(self._pos, end)])
+    self._pos += len(data[0])
+    return data[0]
 
-    if self._debug:
-      t1 = time.time()
+  def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
+    # HTTP range requests are inclusive
+    assert all(e > s for s, e in ranges), "Range end must be greater than start"
+    rs = [f"{s}-{e-1}" for s, e in ranges if e > s]
 
-    response = self._request('GET', self._url, headers=headers)
-    ret = response.data
+    r = self._request("GET", self._url, headers={"Range": "bytes=" + ",".join(rs)})
+    if r.status not in [200, 206]:
+      raise URLFileException(f"Expected 206 or 200 response {r.status} ({self._url})")
 
-    if self._debug:
-      t2 = time.time()
-      if t2 - t1 > 0.1:
-        print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow")
+    ctype = (r.headers.get("content-type") or "").lower()
+    if "multipart/byteranges" not in ctype:
+      return [r.data,]
 
-    response_code = response.status
-    if response_code == 416:  # Requested Range Not Satisfiable
-      raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
-    if download_range and response_code != 206:  # Partial Content
-      raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
-    if (not download_range) and response_code != 200:  # OK
-      raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
+    m = re.search(r'boundary="?([^";]+)"?', ctype)
+    if not m:
+      raise URLFileException(f"Missing multipart boundary ({self._url})")
+    boundary = m.group(1).encode()
 
-    self._pos += len(ret)
-    return ret
+    parts = []
+    for chunk in r.data.split(b"--" + boundary):
+      if b"\r\n\r\n" not in chunk:
+        continue
+      payload = chunk.split(b"\r\n\r\n", 1)[1].rstrip(b"\r\n")
+      if payload and payload != b"--":
+        parts.append(payload)
+    if len(parts) != len(ranges):
+      raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})")
+    return parts
 
-  def seek(self, pos:int) -> None:
-    self._pos = pos
+  def seekable(self) -> bool:
+    return True
+
+  def seek(self, pos: int, whence: int = 0) -> int:
+    pos = int(pos)
+    if whence == os.SEEK_SET:
+      self._pos = pos
+    elif whence == os.SEEK_CUR:
+      self._pos += pos
+    elif whence == os.SEEK_END:
+      length = self.get_length()
+      assert length != -1, "Cannot seek from end on unknown length file"
+      self._pos = length + pos
+    else:
+      raise URLFileException("Invalid whence value")
+    return self._pos
+
+  def tell(self) -> int:
+    return self._pos
 
   @property
   def name(self) -> str:
diff --git a/tools/lib/vidindex.py b/tools/lib/vidindex.py
index f2e4e9ca45..4aef6fb4d5 100755
--- a/tools/lib/vidindex.py
+++ b/tools/lib/vidindex.py
@@ -140,7 +140,7 @@ def get_ue(dat: bytes, start_idx: int, skip_bits: int) -> tuple[int, int]:
       j -= 1
 
       if prefix_val == 1 and prefix_len - 1 == suffix_len:
-        val = 2**(prefix_len-1) - 1 + suffix_val
+        val = int(2**(prefix_len-1) - 1 + suffix_val)
         size = prefix_len + suffix_len
         return val, size
     i += 1
diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 8c16e30d56..32bdb5b1c4 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -9,7 +9,7 @@ import webbrowser
 from collections import defaultdict
 from pathlib import Path
 import matplotlib.pyplot as plt
-from tabulate import tabulate
+from openpilot.common.utils import tabulate
 
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware.hw import Paths
diff --git a/tools/longitudinal_maneuvers/maneuver_helpers.py b/tools/longitudinal_maneuvers/maneuver_helpers.py
new file mode 100644
index 0000000000..9fc65fb9e6
--- /dev/null
+++ b/tools/longitudinal_maneuvers/maneuver_helpers.py
@@ -0,0 +1,18 @@
+from enum import IntEnum
+
+class Axis(IntEnum):
+  TIME = 0
+  EGO_POSITION = 1
+  LEAD_DISTANCE= 2
+  EGO_V = 3
+  LEAD_V = 4
+  EGO_A = 5
+  D_REL = 6
+
+axis_labels = {Axis.TIME: 'Time (s)',
+               Axis.EGO_POSITION: 'Ego position (m)',
+               Axis.LEAD_DISTANCE: 'Lead absolute position (m)',
+               Axis.EGO_V: 'Ego Velocity (m/s)',
+               Axis.LEAD_V: 'Lead Velocity (m/s)',
+               Axis.EGO_A: 'Ego acceleration (m/s^2)',
+               Axis.D_REL: 'Lead distance (m)'}
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 6c6e252a57..9044afaa8f 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -3,7 +3,7 @@ import numpy as np
 from dataclasses import dataclass
 
 from cereal import messaging, car
-from opendbc.car.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -132,7 +132,7 @@ def main():
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
   sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
-  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP', 'driverAssistance', 'alertDebug'])
 
   maneuvers = iter(MANEUVERS)
   maneuver = None
@@ -177,6 +177,10 @@ def main():
 
     pm.send('longitudinalPlan', plan_send)
 
+    plan_sp_send = messaging.new_message('longitudinalPlanSP')
+    plan_sp_send.valid = True
+    pm.send('longitudinalPlanSP', plan_sp_send)
+
     assistance_send = messaging.new_message('driverAssistance')
     assistance_send.valid = True
     pm.send('driverAssistance', assistance_send)
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
new file mode 100644
index 0000000000..ae3fee7355
--- /dev/null
+++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -0,0 +1,292 @@
+import io
+import sys
+import markdown
+import numpy as np
+import matplotlib.pyplot as plt
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
+from openpilot.tools.longitudinal_maneuvers.maneuver_helpers import Axis, axis_labels
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+
+
+def get_html_from_results(results, labels, AXIS):
+  fig, ax = plt.subplots(figsize=(16, 8))
+  for idx, key in enumerate(results.keys()):
+    ax.plot(results[key][:, Axis.TIME], results[key][:, AXIS], label=labels[idx])
+
+  ax.set_xlabel(axis_labels[Axis.TIME])
+  ax.set_ylabel(axis_labels[AXIS])
+  ax.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
+  ax.grid(True, linestyle='--', alpha=0.7)
+  ax.text(-0.075, 0.5, '.', transform=ax.transAxes, color='none')
+
+  fig_buffer = io.StringIO()
+  fig.savefig(fig_buffer, format='svg', bbox_inches='tight')
+  plt.close(fig)
+  return fig_buffer.getvalue() + '<br/>'
+
+def generate_mpc_tuning_report():
+  htmls = []
+
+  results = {}
+  name = 'Resuming behind lead'
+  labels = []
+  for lead_accel in np.linspace(1.0, 4.0, 4):
+    man = Maneuver(
+      '',
+      duration=11,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 10 * lead_accel],
+      cruise_values=[100, 100],
+      prob_lead_values=[1.0, 1.0],
+      breakpoints=[1., 11],
+    )
+    valid, results[lead_accel] = man.evaluate()
+    labels.append(f'{lead_accel} m/s^2 lead acceleration')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'Approaching stopped car from 140m'
+  labels = []
+  for speed in np.arange(0,45,5):
+    man = Maneuver(
+      name,
+      duration=30.,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=140.,
+      speed_lead_values=[0.0, 0.],
+      breakpoints=[0., 30.],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s approach speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Following 5s (triangular) oscillating lead'
+  labels = []
+  speed = np.int64(10)
+  for oscil in np.arange(0, 10, 1):
+    man = Maneuver(
+      '',
+      duration=30.,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed),
+      speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
+      breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+    )
+    valid, results[oscil] = man.evaluate()
+    labels.append(f'{oscil} m/s oscillation size')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'Following 5s (sinusoidal) oscillating lead'
+  labels = []
+  speed = np.int64(10)
+  duration = float(30)
+  f_osc = 1. / 5
+  for oscil in np.arange(0, 10, 1):
+    bps = DT_MDL * np.arange(int(duration / DT_MDL))
+    lead_speeds = speed + oscil * np.sin(2 * np.pi * f_osc * bps)
+    man = Maneuver(
+      '',
+      duration=duration,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed),
+      speed_lead_values=lead_speeds,
+      breakpoints=bps,
+    )
+    valid, results[oscil] = man.evaluate()
+    labels.append(f'{oscil} m/s oscillation size')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'Speed profile when converging to steady state lead at 30m/s'
+  labels = []
+  for distance in np.arange(20, 140, 10):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=30.0,
+      lead_relevancy=True,
+      initial_distance_lead=distance,
+      speed_lead_values=[30.0],
+      breakpoints=[0.],
+    )
+    valid, results[distance] = man.evaluate()
+    labels.append(f'{distance} m initial distance')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Speed profile when converging to steady state lead at 20m/s'
+  labels = []
+  for distance in np.arange(20, 140, 10):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=20.0,
+      lead_relevancy=True,
+      initial_distance_lead=distance,
+      speed_lead_values=[20.0],
+      breakpoints=[0.],
+    )
+    valid, results[distance] = man.evaluate()
+    labels.append(f'{distance} m initial distance')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Following car at 30m/s that comes to a stop'
+  labels = []
+  for stop_time in np.arange(4, 14, 1):
+    man = Maneuver(
+      '',
+      duration=30,
+      initial_speed=30.0,
+      cruise_values=[30.0, 30.0, 30.0],
+      lead_relevancy=True,
+      initial_distance_lead=60.0,
+      speed_lead_values=[30.0, 30.0, 0.0],
+      breakpoints=[0., 5., 5 + stop_time],
+    )
+    valid, results[stop_time] = man.evaluate()
+    labels.append(f'{stop_time} seconds stop time')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Response to cut-in at half follow distance'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=20,
+      initial_speed=float(speed),
+      cruise_values=[speed, speed, speed],
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(speed, speed)/2,
+      speed_lead_values=[speed, speed, speed],
+      prob_lead_values=[0.0, 0.0, 1.0],
+      breakpoints=[0., 5.0, 5.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+  htmls.append(get_html_from_results(results, labels, Axis.D_REL))
+
+
+  results = {}
+  name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=60,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0, speed],
+      prob_lead_values=[1.0, 1.0, 1.0],
+      breakpoints=[0., 1.0, speed/2],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'From stop to cruise'
+  labels = []
+  for speed in np.arange(0, 40, 5):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=0.0,
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0],
+      cruise_values=[0.0, speed],
+      prob_lead_values=[0.0, 0.0],
+      breakpoints=[1., 1.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+
+  results = {}
+  name = 'From cruise to min'
+  labels = []
+  for speed in np.arange(10, 40, 5):
+    man = Maneuver(
+      '',
+      duration=50,
+      initial_speed=float(speed),
+      lead_relevancy=True,
+      initial_distance_lead=desired_follow_distance(0.0, 0.0),
+      speed_lead_values=[0.0, 0.0],
+      cruise_values=[speed, 10.0],
+      prob_lead_values=[0.0, 0.0],
+      breakpoints=[1., 1.01],
+    )
+    valid, results[speed] = man.evaluate()
+    labels.append(f'{speed} m/s speed')
+
+  htmls.append(markdown.markdown('# ' + name))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_V))
+  htmls.append(get_html_from_results(results, labels, Axis.EGO_A))
+
+  return htmls
+
+if __name__ == '__main__':
+  htmls = generate_mpc_tuning_report()
+
+  if len(sys.argv) < 2:
+    file_name = 'long_mpc_tune_report.html'
+  else:
+    file_name = sys.argv[1]
+
+  with open(file_name, 'w') as f:
+    f.write(markdown.markdown('# MPC longitudinal tuning report'))
+    for html in htmls:
+      f.write(html)
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
deleted file mode 100755
index d23052d0f0..0000000000
--- a/tools/mac_setup.sh
+++ /dev/null
@@ -1,99 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$(cd $DIR/../ && pwd)"
-ARCH=$(uname -m)
-
-# homebrew update is slow
-export HOMEBREW_NO_AUTO_UPDATE=1
-
-if [[ $SHELL == "/bin/zsh" ]]; then
-  RC_FILE="$HOME/.zshrc"
-elif [[ $SHELL == "/bin/bash" ]]; then
-  RC_FILE="$HOME/.bash_profile"
-fi
-
-# Install brew if required
-if [[ $(command -v brew) == "" ]]; then
-  echo "Installing Homebrew"
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-  echo "[ ] installed brew t=$SECONDS"
-
-  # make brew available now
-  if [[ $ARCH == "x86_64" ]]; then
-    echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE
-    eval "$(/usr/local/bin/brew shellenv)"
-  else
-    echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
-    eval "$(/opt/homebrew/bin/brew shellenv)"
-  fi
-else
-    brew up
-fi
-
-brew bundle --file=- <<-EOS
-brew "git-lfs"
-brew "zlib"
-brew "capnp"
-brew "coreutils"
-brew "eigen"
-brew "ffmpeg"
-brew "glfw"
-brew "libarchive"
-brew "libusb"
-brew "libtool"
-brew "llvm"
-brew "openssl@3.0"
-brew "qt@5"
-brew "zeromq"
-cask "gcc-arm-embedded"
-brew "portaudio"
-brew "gcc@13"
-EOS
-
-echo "[ ] finished brew install t=$SECONDS"
-
-BREW_PREFIX=$(brew --prefix)
-
-# archive backend tools for pip dependencies
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/zlib/lib"
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/bzip2/lib"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/zlib/include"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include"
-
-# pycurl curl/openssl backend dependencies
-export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib"
-export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include"
-export PYCURL_CURL_CONFIG=/usr/bin/curl-config
-export PYCURL_SSL_LIBRARY=openssl
-
-# install python dependencies
-$DIR/install_python_dependencies.sh
-echo "[ ] installed python dependencies t=$SECONDS"
-
-# brew does not link qt5 by default
-# check if qt5 can be linked, if not, prompt the user to link it
-QT_BIN_LOCATION="$(command -v lupdate || :)"
-if [ -n "$QT_BIN_LOCATION" ]; then
-  # if qt6 is linked, prompt the user to unlink it and link the right version
-  QT_BIN_VERSION="$(lupdate -version | awk '{print $NF}')"
-  if [[ ! "$QT_BIN_VERSION" =~ 5\.[0-9]+\.[0-9]+ ]]; then
-    echo
-    echo "lupdate/lrelease available at PATH is $QT_BIN_VERSION"
-    if [[ "$QT_BIN_LOCATION" == "$(brew --prefix)/"* ]]; then
-      echo "Run the following command to link qt5:"
-      echo "brew unlink qt@6 && brew link qt@5"
-    else
-      echo "Remove conflicting qt entries from PATH and run the following command to link qt5:"
-      echo "brew link qt@5"
-    fi
-  fi
-else
-  brew link qt@5
-fi
-
-echo
-echo "----   OPENPILOT SETUP DONE   ----"
-echo "Open a new shell or configure your active shell env by running:"
-echo "source $RC_FILE"
diff --git a/tools/op.sh b/tools/op.sh
index 93e774a2ac..7c20403a27 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -35,6 +35,21 @@ function loge() {
   fi
 }
 
+function retry() {
+  local attempts=$1
+  shift
+  for i in $(seq 1 "$attempts"); do
+    if "$@"; then
+      return 0
+    fi
+    if [ "$i" -lt "$attempts" ]; then
+      echo "  Attempt $i/$attempts failed, retrying in 5s..."
+      sleep 5
+    fi
+  done
+  return 1
+}
+
 function op_run_command() {
   CMD="$@"
 
@@ -62,7 +77,8 @@ function op_get_openpilot_dir() {
   done
 
   # Fallback to hardcoded directories if not found
-  for dir in "$HOME/openpilot" "/data/openpilot"; do
+  SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+  for dir in "${SCRIPT_DIR%/tools}" "$HOME/openpilot" "/data/openpilot"; do
     if [[ -f "$dir/launch_openpilot.sh" ]]; then
       OPENPILOT_ROOT="$dir"
       return 0
@@ -161,9 +177,9 @@ function op_check_python() {
     loge "ERROR_PYTHON_NOT_FOUND"
     return 1
   else
-    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1)
-    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2)
-    VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]')
+    LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($4, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
+    UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($6, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
+    VERSION=$(echo $INSTALLED_PYTHON_VERSION | awk '{ split($2, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }')
     if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
     else
@@ -216,11 +232,7 @@ function op_setup() {
 
   echo "Installing dependencies..."
   st="$(date +%s)"
-  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
-    SETUP_SCRIPT="tools/ubuntu_setup.sh"
-  elif [[ "$OSTYPE" == "darwin"* ]]; then
-    SETUP_SCRIPT="tools/mac_setup.sh"
-  fi
+  SETUP_SCRIPT="tools/setup_dependencies.sh"
   if ! $OPENPILOT_ROOT/$SETUP_SCRIPT; then
     echo -e " ↳ [${RED}✗${NC}] Dependencies installation failed!"
     loge "ERROR_DEPENDENCIES_INSTALLATION"
@@ -229,9 +241,11 @@ function op_setup() {
   et="$(date +%s)"
   echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds."
 
+  op_activate_venv
+
   echo "Getting git submodules..."
   st="$(date +%s)"
-  if ! git submodule update --filter=blob:none --jobs 4 --init --recursive; then
+  if ! retry 3 git submodule update --jobs 4 --init --recursive; then
     echo -e " ↳ [${RED}✗${NC}] Getting git submodules failed!"
     loge "ERROR_GIT_SUBMODULES"
     return 1
@@ -241,7 +255,7 @@ function op_setup() {
 
   echo "Pulling git lfs files..."
   st="$(date +%s)"
-  if ! git lfs pull; then
+  if ! retry 3 git lfs pull; then
     echo -e " ↳ [${RED}✗${NC}] Pulling git lfs files failed!"
     loge "ERROR_GIT_LFS"
     return 1
@@ -254,7 +268,7 @@ function op_setup() {
 
 function op_auth() {
   op_before_cmd
-  op_run_command tools/lib/auth.py
+  op_run_command tools/lib/auth.py "$@"
 }
 
 function op_activate_venv() {
@@ -262,6 +276,11 @@ function op_activate_venv() {
   set +e
   source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
   set -e
+
+  # persist venv on PATH across GitHub Actions steps
+  if [ -n "$GITHUB_PATH" ]; then
+    echo "$OPENPILOT_ROOT/.venv/bin" >> "$GITHUB_PATH"
+  fi
 }
 
 function op_venv() {
@@ -284,7 +303,25 @@ function op_venv() {
 
 function op_adb() {
   op_before_cmd
-  op_run_command tools/scripts/adb_ssh.sh
+  op_run_command tools/scripts/adb_ssh.sh "$@"
+}
+
+function op_ssh() {
+  op_before_cmd
+  op_run_command tools/scripts/ssh.py "$@"
+}
+
+function op_script() {
+  op_before_cmd
+
+  case $1 in
+    som-debug )  op_run_command panda/scripts/som_debug.sh "${@:2}" ;;
+    * )
+      echo -e "Unknown script '$1'. Available scripts:"
+      echo -e "  ${BOLD}som-debug${NC}    SOM serial debug console via panda"
+      return 1
+      ;;
+  esac
 }
 
 function op_check() {
@@ -293,6 +330,11 @@ function op_check() {
   unset VERBOSE
 }
 
+function op_esim() {
+  op_before_cmd
+  op_run_command system/hardware/esim.py "$@"
+}
+
 function op_build() {
   CDIR=$(pwd)
   op_before_cmd
@@ -355,9 +397,12 @@ function op_switch() {
   fi
   BRANCH="$1"
 
+  git config --replace-all remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*"
+  git submodule deinit --all --force
   git fetch "$REMOTE" "$BRANCH"
   git checkout -f FETCH_HEAD
   git checkout -B "$BRANCH" --track "$REMOTE"/"$BRANCH"
+  git submodule deinit --all --force
   git reset --hard "${REMOTE}/${BRANCH}"
   git clean -df
   git submodule update --init --recursive
@@ -392,6 +437,7 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
   echo -e "  ${BOLD}auth${NC}         Authenticate yourself for API use"
   echo -e "  ${BOLD}check${NC}        Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}esim${NC}         Manage eSIM profiles on your comma device"
   echo -e "  ${BOLD}venv${NC}         Activate the python virtual environment"
   echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
@@ -406,6 +452,10 @@ function op_default() {
   echo -e "  ${BOLD}cabana${NC}       Run Cabana"
   echo -e "  ${BOLD}clip${NC}         Run clip (linux only)"
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
+  echo -e "  ${BOLD}ssh${NC}          comma prime SSH helper"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands [Scripts]:${NC}"
+  echo -e "  ${BOLD}script${NC}       Run a script (e.g. op script som-debug)"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
   echo -e "  ${BOLD}sim${NC}          Run openpilot in a simulator"
@@ -448,6 +498,7 @@ function _op() {
     auth )          shift 1; op_auth "$@" ;;
     venv )          shift 1; op_venv "$@" ;;
     check )         shift 1; op_check "$@" ;;
+    esim )          shift 1; op_esim "$@" ;;
     setup )         shift 1; op_setup "$@" ;;
     build )         shift 1; op_build "$@" ;;
     juggle )        shift 1; op_juggle "$@" ;;
@@ -464,6 +515,8 @@ function _op() {
     restart )       shift 1; op_restart "$@" ;;
     post-commit )   shift 1; op_install_post_commit "$@" ;;
     adb )           shift 1; op_adb "$@" ;;
+    ssh )           shift 1; op_ssh "$@" ;;
+    script )        shift 1; op_script "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index 794c292e68..3249971bfc 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -13,14 +13,13 @@ Once you've [set up the openpilot environment](../README.md), this command will
 ```
 $ ./juggle.py -h
 usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
-                 [route_or_segment_name] [segment_count]
+                 [route_or_segment_name]
 
 A helper to run PlotJuggler on openpilot routes
 
 positional arguments:
   route_or_segment_name
                         The route or segment name to plot (cabana share URL accepted) (default: None)
-  segment_count         The number of segments to plot (default: None)
 
 optional arguments:
   -h, --help            show this help message and exit
@@ -34,15 +33,19 @@ optional arguments:
 
 ```
 
-Examples using route name:
+Example using route name:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496"`
 
-Examples using segment range:
+Examples using segment:
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/1"`
 
-`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/1/q" # use qlogs`
+
+Example using segment range:
+
+`./juggle.py "5beb9b58bd12b691/0000010a--a51155e496/0:1"`
 
 ## Streaming
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 34f33d1959..c86945ef6b 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -21,7 +21,7 @@ juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
 os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
 
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
 RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
@@ -31,7 +31,7 @@ MAX_STREAMING_BUFFER_SIZE = 1000
 
 def install():
   m = f"{platform.system()}-{platform.machine()}"
-  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
+  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64")
   if m not in supported:
     raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
 
@@ -47,7 +47,7 @@ def install():
         tmpf.write(chunk)
 
     with tarfile.open(tmp.name) as tar:
-      tar.extractall(path=INSTALL_DIR)
+      tar.extractall(path=INSTALL_DIR, filter="data")
 
 
 def get_plotjuggler_version():
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index 606df03611..8e9a1a8526 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -1,77 +1,45 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
- <tabbed_widget parent="main_window" name="Main Window">
+ <tabbed_widget name="Main Window" parent="main_window">
   <Tab containers="1" tab_name="Lateral Plan Conformance">
    <Container>
-    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+    <DockSplitter orientation="-" count="4" sizes="0.250949;0.249051;0.250949;0.249051">
      <DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.858161" bottom="-1.823407" right="1138.891674" left="0.000194"/>
        <limitY/>
-       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
-       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
+       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
       </plot>
      </DockArea>
      <DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="2.749816" bottom="-3.723091" right="1138.891674" left="0.000194"/>
        <limitY/>
-       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
-       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
       </plot>
      </DockArea>
      <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.978032" bottom="-1.570956" right="1138.891674" left="0.000194"/>
        <limitY/>
-       <curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
+       <curve name="/carOutput/actuatorsOutput/torque" color="#9467bd">
         <transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
-         <options value_scale="-1" time_offset="0" value_offset="0"/>
+         <options value_offset="0" value_scale="-1" time_offset="0"/>
         </transform>
        </curve>
-       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
-       <curve color="#ff000f" name="/carState/steeringPressed"/>
+       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
+       <curve name="/carState/steeringPressed" color="#ff000f"/>
       </plot>
      </DockArea>
      <DockArea name="vehicle speed">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="105.981304" bottom="-2.709314" right="1138.891674" left="0.000194"/>
        <limitY/>
-       <curve color="#d62728" name="carState.vEgo mph"/>
-       <curve color="#1ac938" name="carState.vEgo kmh"/>
-       <curve color="#ff7f0e" name="/carState/vEgo"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="Actuator Performance">
-   <Container>
-    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
-     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
-       <limitY/>
-       <curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
-       <curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
-       <curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
-      </plot>
-     </DockArea>
-     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
-       <limitY/>
-       <curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
-       <curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
-      </plot>
-     </DockArea>
-     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
-       <limitY/>
-       <curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
-       <curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
-       <curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
+       <curve name="carState.vEgo mph" color="#d62728"/>
+       <curve name="carState.vEgo kmh" color="#1ac938"/>
+       <curve name="/carState/vEgo" color="#ff7f0e"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -79,115 +47,134 @@
   </Tab>
   <Tab containers="1" tab_name="Vehicle Dynamics">
    <Container>
-    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+    <DockSplitter orientation="-" count="3" sizes="0.334282;0.331437;0.334282">
      <DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="19.665784" bottom="19.359553" right="1138.816328" left="0.000000"/>
        <limitY/>
-       <curve color="#1f77b4" name="/carParams/steerRatio"/>
-       <curve color="#1ac938" name="/liveParameters/steerRatio"/>
+       <curve name="/carParams/steerRatio" color="#1f77b4"/>
+       <curve name="/liveParameters/steerRatio" color="#1ac938"/>
       </plot>
      </DockArea>
      <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.112210" bottom="0.995631" right="1138.816328" left="0.000000"/>
        <limitY/>
-       <curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
-       <curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
+       <curve name="/carParams/tireStiffnessFactor" color="#d62728"/>
+       <curve name="/liveParameters/stiffnessFactor" color="#ff7f0e"/>
       </plot>
      </DockArea>
      <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="-1.081041" bottom="-4.494133" right="1138.816328" left="0.000000"/>
        <limitY/>
-       <curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
-       <curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
+       <curve name="/liveParameters/angleOffsetAverageDeg" color="#f14cc1"/>
+       <curve name="/liveParameters/angleOffsetDeg" color="#9467bd"/>
       </plot>
      </DockArea>
     </DockSplitter>
    </Container>
   </Tab>
-  <Tab containers="1" tab_name="Controller PIF Terms">
+  <Tab containers="1" tab_name="Actuator Performance">
    <Container>
-    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
-     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+    <DockSplitter orientation="-" count="3" sizes="0.333333;0.333333;0.333333">
+     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.216110" bottom="0.539474" right="1138.920072" left="0.000000"/>
        <limitY/>
-       <curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
+       <curve name="/liveTorqueParameters/latAccelFactorFiltered" color="#1f77b4"/>
+       <curve name="/liveTorqueParameters/latAccelFactorRaw" color="#d62728"/>
+       <curve name="/carParams/lateralTuning/torque/latAccelFactor" color="#1c9222"/>
+      </plot>
+     </DockArea>
+     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="-0.304367" bottom="-0.418688" right="1138.920072" left="0.000000"/>
+       <limitY/>
+       <curve name="/liveTorqueParameters/latAccelOffsetFiltered" color="#1ac938"/>
+       <curve name="/liveTorqueParameters/latAccelOffsetRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="0.226389" bottom="0.158050" right="1138.920072" left="0.000000"/>
+       <limitY/>
+       <curve name="/liveTorqueParameters/frictionCoefficientFiltered" color="#f14cc1"/>
+       <curve name="/liveTorqueParameters/frictionCoefficientRaw" color="#9467bd"/>
+       <curve name="/carParams/lateralTuning/torque/friction" color="#1c9222"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Delay">
+   <Container>
+    <DockSplitter orientation="-" count="3" sizes="0.30441;0.358464;0.337127">
+     <DockArea name="actuator lag learning state, 0 = learning, 1 = learned/applying, 2 = invalid">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.025000" bottom="-0.025000" right="1138.749979" left="0.000000"/>
+       <limitY/>
+       <curve name="/liveDelay/status" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline default vs online estimated steering actuator lag">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="0.419648" bottom="0.318362" right="1138.749979" left="0.000000"/>
+       <limitY/>
+       <curve name="/liveDelay/lateralDelay" color="#1f77b4"/>
+       <curve name="/liveDelay/lateralDelayEstimate" color="#d62728"/>
+       <curve name="opendbc default steering lag" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="online estimated steering actuator lag, standard deviation">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="0.067320" bottom="-0.001642" right="1138.749979" left="0.000000"/>
+       <limitY/>
+       <curve name="/liveDelay/lateralDelayEstimateStd" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Controls Performance">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.265655;0.251898;0.245731;0.236717">
+     <DockArea name="rate-of-change limits on steering actuator (blue = original, green = rate-limited before CAN output)">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.050000" bottom="-1.050000" right="1138.891921" left="0.000194"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#0c00f2"/>
+       <curve name="/carOutput/actuatorsOutput/torque" color="#2cd63a"/>
+      </plot>
+     </DockArea>
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="1.978032" bottom="-1.570956" right="1138.891921" left="0.000194"/>
+       <limitY/>
+       <curve name="/carOutput/actuatorsOutput/torque" color="#9467bd">
         <transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
-         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
+         <options value_offset="0" value_scale="-1.0" time_offset="0"/>
         </transform>
        </curve>
-       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
-       <curve color="#ff000f" name="/carState/steeringPressed"/>
+       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
+       <curve name="/carState/steeringPressed" color="#ff000f"/>
       </plot>
      </DockArea>
      <DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="2.099784" bottom="-4.027542" right="1138.891921" left="0.000194"/>
        <limitY/>
-       <curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
-       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
-       <curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
-       <curve color="#756a6a" name="Zero"/>
+       <curve name="/controlsState/lateralControlState/torqueState/f" color="#0ab027"/>
+       <curve name="/controlsState/lateralControlState/torqueState/p" color="#d62728"/>
+       <curve name="/controlsState/lateralControlState/torqueState/i" color="#ffaf00"/>
+       <curve name="Zero" color="#756a6a"/>
       </plot>
      </DockArea>
      <DockArea name="road roll angle, from openpilot localizer">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range top="0.109446" bottom="-0.045525" right="1138.891921" left="0.000194"/>
        <limitY/>
-       <curve color="#f14cc1" name="/liveParameters/roll"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="Actuator Delay Estimation">
-   <Container>
-    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
-     <DockArea name="desired vs actual lateral acceleration (baseline)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
-       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
-      </plot>
-     </DockArea>
-     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
-        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
-         <options value_scale="1.0" time_offset="0.1" value_offset="0"/>
-        </transform>
-       </curve>
-       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
-      </plot>
-     </DockArea>
-     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
-        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
-         <options value_scale="1.0" time_offset="0.2" value_offset="0"/>
-        </transform>
-       </curve>
-       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
-      </plot>
-     </DockArea>
-     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
-       <limitY/>
-       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
-        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
-         <options value_scale="1.0" time_offset="0.3" value_offset="0"/>
-        </transform>
-       </curve>
-       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+       <curve name="/liveParameters/roll" color="#f14cc1"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -199,25 +186,34 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default delimiter="0" time_axis=""/>
+  </plugin>
   <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
   <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
  </Plugins>
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
-  <snippet name="Zero">
+  <snippet name="carState.vEgo kmh">
    <global></global>
-   <function>return (0)</function>
-   <linked_source>/carState/canValid</linked_source>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
   </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
+  <snippet name="carState.vEgo mph">
    <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
   </snippet>
   <snippet name="Desired lateral accel (roll compensated)">
    <global></global>
@@ -228,15 +224,24 @@
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
-  <snippet name="carState.vEgo mph">
+  <snippet name="Actual lateral accel (roll compensated)">
    <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
   </snippet>
-  <snippet name="carState.vEgo kmh">
+  <snippet name="opendbc default steering lag">
    <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
+   <function>return value + 0.2</function>
+   <linked_source>/carParams/steerActuatorDelay</linked_source>
+  </snippet>
+  <snippet name="Zero">
+   <global></global>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
   </snippet>
  </customMathEquations>
  <snippets/>
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index a2c509f943..26bad25c3e 100644
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -1,9 +1,12 @@
 import os
 import glob
+import shutil
 import signal
 import subprocess
 import time
 
+import pytest
+
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
@@ -12,6 +15,7 @@ PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
 
 class TestPlotJuggler:
 
+  @pytest.mark.skipif(not shutil.which('qmake'), reason="Qt not installed")
   def test_demo(self):
     install()
 
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 8b4afb0acc..d2beda9940 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -19,7 +19,7 @@ You can replay a route from your comma account by specifying the route name.
 tools/replay/replay <route-name>
 
 # Example:
-tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
+tools/replay/replay '5beb9b58bd12b691/0000010a--a51155e496'
 
 # Replay the default demo route:
 tools/replay/replay --demo
@@ -34,10 +34,10 @@ tools/replay/replay <route-name> --data_dir="/path_to/route"
 
 # Example:
 # If you have a local route stored at /path_to_routes with segments like:
-# a2a0ccea32023010|2023-07-27--13-01-19--0
-# a2a0ccea32023010|2023-07-27--13-01-19--1
+# 5beb9b58bd12b691/0000010a--a51155e496--0
+# 5beb9b58bd12b691/0000010a--a51155e496--1
 # You can replay it like this:
-tools/replay/replay "a2a0ccea32023010|2023-07-27--13-01-19" --data_dir="/path_to_routes"
+tools/replay/replay "5beb9b58bd12b691/0000010a--a51155e496" --data_dir="/path_to_routes"
 ```
 
 ## Send Messages via ZMQ
@@ -75,7 +75,7 @@ Options:
   --qcam                 load qcamera
   --no-hw-decoder        disable HW video decoding
   --no-vipc              do not output video
-  --all                  do output all messages including uiDebug, userFlag.
+  --all                  do output all messages including uiDebug, userBookmark.
                          this may causes issues when used along with UI
 
 Arguments:
@@ -88,15 +88,7 @@ To visualize the replay within the openpilot UI, run the following commands:
 
 ```bash
 tools/replay/replay <route-name>
-cd selfdrive/ui && ./ui
-```
-
-## Try Radar Point Visualization with Rerun
-To visualize radar points, run rp_visualization.py while tools/replay/replay is active.
-
-```bash
-tools/replay/replay <route-name>
-python3 replay/rp_visualization.py
+cd selfdrive/ui && ./ui.py
 ```
 
 ## Work with plotjuggler
@@ -118,7 +110,7 @@ simply replay a route using the `--dcam` and `--ecam` flags:
 cd tools/replay && ./replay --demo --dcam --ecam
 
 # then start watch3
-cd selfdrive/ui && ./watch3
+cd selfdrive/ui && ./watch3.py
 ```
 
 ![](https://i.imgur.com/IeaOdAb.png)
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 18849407cf..3efa970b37 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -6,16 +6,13 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
 base_frameworks = []
 base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
 
-if arch == "Darwin":
-  base_frameworks.append('OpenCL')
-else:
-  base_libs.append('OpenCL')
-
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
-                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
+                  "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "py_downloader.cc"]
+if arch != "Darwin":
+  replay_lib_src.append("qcom_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/tools/replay/api.cc b/tools/replay/api.cc
deleted file mode 100644
index 85e4e52b28..0000000000
--- a/tools/replay/api.cc
+++ /dev/null
@@ -1,162 +0,0 @@
-
-#include "tools/replay/api.h"
-
-#include <openssl/pem.h>
-#include <openssl/rsa.h>
-#include <openssl/evp.h>
-#include <openssl/sha.h>
-
-#include <cassert>
-#include <chrono>
-#include <iostream>
-
-#include "common/params.h"
-#include "common/version.h"
-#include "system/hardware/hw.h"
-
-namespace CommaApi2 {
-
-// Base64 URL-safe character set (uses '-' and '_' instead of '+' and '/')
-static const std::string base64url_chars =
-    "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-    "abcdefghijklmnopqrstuvwxyz"
-    "0123456789-_";
-
-std::string base64url_encode(const std::string &in) {
-  std::string out;
-  int val = 0, valb = -6;
-  for (unsigned char c : in) {
-    val = (val << 8) + c;
-    valb += 8;
-    while (valb >= 0) {
-      out.push_back(base64url_chars[(val >> valb) & 0x3F]);
-      valb -= 6;
-    }
-  }
-  if (valb > -6) {
-    out.push_back(base64url_chars[((val << 8) >> (valb + 8)) & 0x3F]);
-  }
-
-  return out;
-}
-
-EVP_PKEY *get_rsa_private_key() {
-  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> rsa_private(nullptr, EVP_PKEY_free);
-  if (!rsa_private) {
-    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
-    if (!fp) {
-      std::cerr << "No RSA private key found, please run manager.py or registration.py" << std::endl;
-      return nullptr;
-    }
-    rsa_private.reset(PEM_read_PrivateKey(fp, NULL, NULL, NULL));
-    fclose(fp);
-  }
-  return rsa_private.get();
-}
-
-std::string rsa_sign(const std::string &data) {
-  EVP_PKEY *private_key = get_rsa_private_key();
-  if (!private_key) return {};
-
-  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
-  assert(mdctx != nullptr);
-
-  std::vector<uint8_t> sig(EVP_PKEY_size(private_key));
-  uint32_t sig_len;
-
-  EVP_SignInit(mdctx, EVP_sha256());
-  EVP_SignUpdate(mdctx, data.data(), data.size());
-  int ret = EVP_SignFinal(mdctx, sig.data(), &sig_len, private_key);
-
-  EVP_MD_CTX_free(mdctx);
-
-  assert(ret == 1);
-  assert(sig.size() == sig_len);
-  return std::string(sig.begin(), sig.begin() + sig_len);
-}
-
-std::string create_jwt(const json11::Json &extra, int exp_time) {
-  int now = std::chrono::seconds(std::time(nullptr)).count();
-  std::string dongle_id = Params().get("DongleId");
-
-  // Create header and payload
-  json11::Json header = json11::Json::object{{"alg", "RS256"}};
-  auto payload = json11::Json::object{
-      {"identity", dongle_id},
-      {"iat", now},
-      {"nbf", now},
-      {"exp", now + exp_time},
-  };
-  // Merge extra payload
-  for (const auto &item : extra.object_items()) {
-    payload[item.first] = item.second;
-  }
-
-  // JWT construction
-  std::string jwt = base64url_encode(header.dump()) + '.' +
-                    base64url_encode(json11::Json(payload).dump());
-
-  // Hash and sign
-  std::string hash(SHA256_DIGEST_LENGTH, '\0');
-  SHA256((uint8_t *)jwt.data(), jwt.size(), (uint8_t *)hash.data());
-  std::string signature = rsa_sign(hash);
-
-  return jwt + "." + base64url_encode(signature);
-}
-
-std::string create_token(bool use_jwt, const json11::Json &payloads, int expiry) {
-  if (use_jwt) {
-    return create_jwt(payloads, expiry);
-  }
-
-  std::string token_json = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
-  std::string err;
-  auto json = json11::Json::parse(token_json, err);
-  if (!err.empty()) {
-    std::cerr << "Error parsing auth.json " << err << std::endl;
-    return "";
-  }
-  return json["access_token"].string_value();
-}
-
-std::string httpGet(const std::string &url, long *response_code) {
-  CURL *curl = curl_easy_init();
-  assert(curl);
-
-  std::string readBuffer;
-  const std::string token = CommaApi2::create_token(!Hardware::PC());
-
-  // Set up the lambda for the write callback
-  // The '+' makes the lambda non-capturing, allowing it to be used as a C function pointer
-  auto writeCallback = +[](char *contents, size_t size, size_t nmemb, std::string *userp) ->size_t{
-    size_t totalSize = size * nmemb;
-    userp->append((char *)contents, totalSize);
-    return totalSize;
-  };
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writeCallback);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &readBuffer);
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
-
-  // Handle headers
-  struct curl_slist *headers = nullptr;
-  headers = curl_slist_append(headers, "User-Agent: openpilot-" COMMA_VERSION);
-  if (!token.empty()) {
-    headers = curl_slist_append(headers, ("Authorization: JWT " + token).c_str());
-  }
-  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, headers);
-
-  CURLcode res = curl_easy_perform(curl);
-
-  if (response_code) {
-    curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, response_code);
-  }
-
-  curl_slist_free_all(headers);
-  curl_easy_cleanup(curl);
-
-  return res == CURLE_OK ? readBuffer : std::string{};
-}
-
-}  // namespace CommaApi
diff --git a/tools/replay/api.h b/tools/replay/api.h
deleted file mode 100644
index dff59c0659..0000000000
--- a/tools/replay/api.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include <curl/curl.h>
-#include <string>
-
-#include "common/util.h"
-#include "third_party/json11/json11.hpp"
-
-namespace CommaApi2 {
-
-const std::string BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str();
-std::string create_token(bool use_jwt, const json11::Json& payloads = {}, int expiry = 3600);
-std::string httpGet(const std::string &url, long *response_code = nullptr);
-
-}  // namespace CommaApi2
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 73243ed20d..671c0320bb 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,24 +1,14 @@
 #include "tools/replay/camera.h"
 
-#include <cassert>
 #include <algorithm>
 
 #include <capnp/dynamic.h>
 
-#include "third_party/linux/include/msm_media_info.h"
+#include "system/camerad/cameras/nv12_info.h"
 #include "tools/replay/util.h"
 
 const int BUFFER_COUNT = 40;
 
-std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
-  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
-  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
-  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
-  assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height));
-  size_t nv12_buffer_size = 2346 * nv12_width;  // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage
-  return {nv12_width, nv12_height, nv12_buffer_size};
-}
-
 CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
   for (int i = 0; i < MAX_CAMERAS; ++i) {
     std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i];
@@ -50,9 +40,10 @@ void CameraServer::startVipcServer() {
 
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
-      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
+      auto [stride, y_height, uv_height_, buffer_size] = get_nv12_info(cam.width, cam.height);
+      (void)uv_height_;  // unused in replay
       vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height,
-                                              nv12_buffer_size, nv12_width, nv12_width * nv12_height);
+                                              buffer_size, stride, stride * y_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
       }
diff --git a/tools/replay/camera.h b/tools/replay/camera.h
index 21c3d98dcf..9433018848 100644
--- a/tools/replay/camera.h
+++ b/tools/replay/camera.h
@@ -10,8 +10,6 @@
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 
-std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height);
-
 class CameraServer {
 public:
   CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 13c30a62ad..0717320077 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -5,8 +5,6 @@ import time
 import usb1
 import threading
 
-os.environ['FILEREADER_CACHE'] = '1'
-
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.tools.lib.logreader import LogReader
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 871e41c273..eeb385f8a4 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -9,6 +9,9 @@
 #include "common/ratekeeper.h"
 #include "common/util.h"
 #include "common/version.h"
+#include "tools/replay/py_downloader.h"
+
+#include "sunnypilot/common/version.h"
 
 namespace {
 
@@ -115,16 +118,21 @@ void ConsoleUI::initWindows() {
     w[Win::Log] = newwin(log_height - 2, max_width - 2 * BORDER_SIZE, 18, BORDER_SIZE);
     scrollok(w[Win::Log], true);
   }
-  w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
+  if (max_height >= 23) {
+    w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
+  } else if (max_height >= 17) {
+    w[Win::Help] = newwin(1, max_width - (2 * BORDER_SIZE), max_height - 1, BORDER_SIZE);
+    mvwprintw(w[Win::Help], 0, 0, "Expand screen vertically to list available commands");
+  }
 
   // set the title bar
   wbkgd(w[Win::Title], A_REVERSE);
-  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", COMMA_VERSION);
+  mvwprintw(w[Win::Title], 0, 3, "sunnypilot replay %s", SUNNYPILOT_VERSION);
 
   // show windows on the real screen
   refresh();
   displayTimelineDesc();
-  displayHelp();
+  if (max_height >= 23) displayHelp();
   updateSummary();
   updateTimeline();
   for (auto win : w) {
@@ -257,7 +265,7 @@ void ConsoleUI::updateTimeline() {
     if (entry.type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
-    } else if (entry.type == TimelineType::UserFlag) {
+    } else if (entry.type == TimelineType::UserBookmark) {
       mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
     } else {
       auto color_id = Color::Green;
@@ -329,7 +337,7 @@ void ConsoleUI::handleKey(char c) {
   } else if (c == 'd') {
     replay->seekToFlag(FindFlag::nextDisEngagement);
   } else if (c == 't') {
-    replay->seekToFlag(FindFlag::nextUserFlag);
+    replay->seekToFlag(FindFlag::nextUserBookmark);
   } else if (c == 'i') {
     replay->seekToFlag(FindFlag::nextInfo);
   } else if (c == 'w') {
diff --git a/tools/replay/filereader.cc b/tools/replay/filereader.cc
index d74aaebaba..93a6a1193f 100644
--- a/tools/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -1,49 +1,14 @@
 #include "tools/replay/filereader.h"
 
-#include <fstream>
-
 #include "common/util.h"
-#include "system/hardware/hw.h"
-#include "tools/replay/util.h"
-
-std::string cacheFilePath(const std::string &url) {
-  static std::string cache_path = [] {
-    const std::string comma_cache = Path::download_cache_root();
-    util::create_directories(comma_cache, 0755);
-    return comma_cache.back() == '/' ? comma_cache : comma_cache + "/";
-  }();
-
-  return cache_path + sha256(getUrlWithoutQuery(url));
-}
+#include "tools/replay/py_downloader.h"
 
 std::string FileReader::read(const std::string &file, std::atomic<bool> *abort) {
-  const bool is_remote = file.find("https://") == 0;
-  const std::string local_file = is_remote ? cacheFilePath(file) : file;
-  std::string result;
-
-  if ((!is_remote || cache_to_local_) && util::file_exists(local_file)) {
-    result = util::read_file(local_file);
-  } else if (is_remote) {
-    result = download(file, abort);
-    if (cache_to_local_ && !result.empty()) {
-      std::ofstream fs(local_file, std::ios::binary | std::ios::out);
-      fs.write(result.data(), result.size());
-    }
+  const bool is_remote = (file.find("https://") == 0) || (file.find("http://") == 0);
+  if (is_remote) {
+    std::string local_path = PyDownloader::download(file, cache_to_local_, abort);
+    if (local_path.empty()) return {};
+    return util::read_file(local_path);
   }
-  return result;
-}
-
-std::string FileReader::download(const std::string &url, std::atomic<bool> *abort) {
-  for (int i = 0; i <= max_retries_ && !(abort && *abort); ++i) {
-    if (i > 0) {
-      rWarning("download failed, retrying %d", i);
-      util::sleep_for(3000);
-    }
-
-    std::string result = httpGet(url, chunk_size_, abort);
-    if (!result.empty()) {
-      return result;
-    }
-  }
-  return {};
+  return util::read_file(file);
 }
diff --git a/tools/replay/filereader.h b/tools/replay/filereader.h
index 34aa91e858..30740cd0ac 100644
--- a/tools/replay/filereader.h
+++ b/tools/replay/filereader.h
@@ -5,16 +5,10 @@
 
 class FileReader {
 public:
-  FileReader(bool cache_to_local, size_t chunk_size = 0, int retries = 3)
-      : cache_to_local_(cache_to_local), chunk_size_(chunk_size), max_retries_(retries) {}
+  FileReader(bool cache_to_local) : cache_to_local_(cache_to_local) {}
   virtual ~FileReader() {}
   std::string read(const std::string &file, std::atomic<bool> *abort = nullptr);
 
 private:
-  std::string download(const std::string &url, std::atomic<bool> *abort);
-  size_t chunk_size_;
-  int max_retries_;
   bool cache_to_local_;
 };
-
-std::string cacheFilePath(const std::string &url);
diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index 690645aca9..a643f0d3a7 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -6,8 +6,10 @@
 #include <utility>
 
 #include "common/util.h"
-#include "third_party/libyuv/include/libyuv.h"
+#include "libyuv.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/util.h"
+#include "system/hardware/hw.h"
 
 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
@@ -37,7 +39,16 @@ struct DecoderManager {
       return it->second.get();
     }
 
-    auto decoder = std::make_unique<VideoDecoder>();
+    std::unique_ptr<VideoDecoder> decoder;
+    #ifndef __APPLE__
+    if (!Hardware::PC() && hw_decoder) {
+      decoder = std::make_unique<QcomVideoDecoder>();
+    } else
+    #endif
+    {
+      decoder = std::make_unique<FFmpegVideoDecoder>();
+    }
+
     if (!decoder->open(codecpar, hw_decoder)) {
       decoder.reset(nullptr);
     }
@@ -61,13 +72,13 @@ FrameReader::~FrameReader() {
   if (input_ctx) avformat_close_input(&input_ctx);
 }
 
-bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  auto local_file_path = url.find("https://") == 0 ? cacheFilePath(url) : url;
-  if (!util::file_exists(local_file_path)) {
-    FileReader f(local_cache, chunk_size, retries);
-    if (f.read(url, abort).empty()) {
-      return false;
-    }
+bool FrameReader::load(CameraType type, const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache) {
+  std::string local_file_path;
+  if (url.find("https://") == 0 || url.find("http://") == 0) {
+    local_file_path = PyDownloader::download(url, local_cache, abort);
+    if (local_file_path.empty()) return false;
+  } else {
+    local_file_path = url;
   }
   return loadFromFile(type, local_file_path, no_hw_decoder, abort);
 }
@@ -80,7 +91,13 @@ bool FrameReader::loadFromFile(CameraType type, const std::string &file, bool no
   }
   input_ctx->probesize = 10 * 1024 * 1024;  // 10MB
 
-  decoder_ = decoder_manager.acquire(type, input_ctx->streams[0]->codecpar, !no_hw_decoder);
+  video_stream_idx_ = av_find_best_stream(input_ctx, AVMEDIA_TYPE_VIDEO, -1, -1, NULL, 0);
+  if (video_stream_idx_ < 0) {
+    rError("No video stream found in file");
+    return false;
+  }
+
+  decoder_ = decoder_manager.acquire(type, input_ctx->streams[video_stream_idx_]->codecpar, !no_hw_decoder);
   if (!decoder_) {
     return false;
   }
@@ -90,7 +107,9 @@ bool FrameReader::loadFromFile(CameraType type, const std::string &file, bool no
   AVPacket pkt;
   packets_info.reserve(60 * 20);  // 20fps, one minute
   while (!(abort && *abort) && av_read_frame(input_ctx, &pkt) == 0) {
-    packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos});
+    if (pkt.stream_index == video_stream_idx_) {
+      packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos});
+    }
     av_packet_unref(&pkt);
   }
   avio_seek(input_ctx->pb, 0, SEEK_SET);
@@ -106,19 +125,19 @@ bool FrameReader::get(int idx, VisionBuf *buf) {
 
 // class VideoDecoder
 
-VideoDecoder::VideoDecoder() {
+FFmpegVideoDecoder::FFmpegVideoDecoder() {
   av_frame_ = av_frame_alloc();
   hw_frame_ = av_frame_alloc();
 }
 
-VideoDecoder::~VideoDecoder() {
+FFmpegVideoDecoder::~FFmpegVideoDecoder() {
   if (hw_device_ctx) av_buffer_unref(&hw_device_ctx);
   if (decoder_ctx) avcodec_free_context(&decoder_ctx);
   av_frame_free(&av_frame_);
   av_frame_free(&hw_frame_);
 }
 
-bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+bool FFmpegVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
   const AVCodec *decoder = avcodec_find_decoder(codecpar->codec_id);
   if (!decoder) return false;
 
@@ -141,7 +160,7 @@ bool VideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
   return true;
 }
 
-bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
+bool FFmpegVideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
   const AVCodecHWConfig *config = nullptr;
   for (int i = 0; (config = avcodec_get_hw_config(decoder_ctx->codec, i)) != nullptr; i++) {
     if (config->methods & AV_CODEC_HW_CONFIG_METHOD_HW_DEVICE_CTX && config->device_type == hw_device_type) {
@@ -167,18 +186,18 @@ bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
   return true;
 }
 
-bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
-  int from_idx = idx;
+bool FFmpegVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
+  int current_idx = idx;
   if (idx != reader->prev_idx + 1) {
     // seeking to the nearest key frame
     for (int i = idx; i >= 0; --i) {
       if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) {
-        from_idx = i;
+        current_idx = i;
         break;
       }
     }
 
-    auto pos = reader->packets_info[from_idx].pos;
+    auto pos = reader->packets_info[current_idx].pos;
     int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE);
     if (ret < 0) {
       rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret));
@@ -188,21 +207,30 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
   }
   reader->prev_idx = idx;
 
-  bool result = false;
   AVPacket pkt;
-  for (int i = from_idx; i <= idx; ++i) {
-    if (av_read_frame(reader->input_ctx, &pkt) == 0) {
-      AVFrame *f = decodeFrame(&pkt);
-      if (f && i == idx) {
-        result = copyBuffer(f, buf);
-      }
+  while (av_read_frame(reader->input_ctx, &pkt) >= 0) {
+    // Skip non-video packets
+    if (pkt.stream_index != reader->video_stream_idx_) {
       av_packet_unref(&pkt);
+      continue;
+    }
+
+    AVFrame *frame = decodeFrame(&pkt);
+    av_packet_unref(&pkt);
+    if (!frame) {
+      rError("Failed to decode frame at index %d", current_idx);
+      return false;
+    }
+
+    if (current_idx++ == idx) {
+      return copyBuffer(frame, buf);
     }
   }
-  return result;
+  rError("Failed to find frame at index %d", idx);
+  return false;
 }
 
-AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) {
+AVFrame *FFmpegVideoDecoder::decodeFrame(AVPacket *pkt) {
   int ret = avcodec_send_packet(decoder_ctx, pkt);
   if (ret < 0) {
     rError("Error sending a packet for decoding: %d", ret);
@@ -222,7 +250,7 @@ AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) {
   return (av_frame_->format == hw_pix_fmt) ? hw_frame_ : av_frame_;
 }
 
-bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
+bool FFmpegVideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
   if (hw_pix_fmt == HW_PIX_FMT) {
     for (int i = 0; i < height/2; i++) {
       memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width);
@@ -239,3 +267,47 @@ bool VideoDecoder::copyBuffer(AVFrame *f, VisionBuf *buf) {
   }
   return true;
 }
+
+#ifndef __APPLE__
+bool QcomVideoDecoder::open(AVCodecParameters *codecpar, bool hw_decoder) {
+  if (codecpar->codec_id != AV_CODEC_ID_HEVC) {
+    rError("Hardware decoder only supports HEVC codec");
+    return false;
+  }
+  width = codecpar->width;
+  height = codecpar->height;
+  msm_vidc.init(VIDEO_DEVICE, width, height, V4L2_PIX_FMT_HEVC);
+  return true;
+}
+
+bool QcomVideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
+  int from_idx = idx;
+  if (idx != reader->prev_idx + 1) {
+    // seeking to the nearest key frame
+    for (int i = idx; i >= 0; --i) {
+      if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) {
+        from_idx = i;
+        break;
+      }
+    }
+
+    auto pos = reader->packets_info[from_idx].pos;
+    int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE);
+    if (ret < 0) {
+      rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret));
+      return false;
+    }
+  }
+  reader->prev_idx = idx;
+  bool result = false;
+  AVPacket pkt;
+  msm_vidc.avctx = reader->input_ctx;
+  for (int i = from_idx; i <= idx; ++i) {
+    if (av_read_frame(reader->input_ctx, &pkt) == 0) {
+      result = msm_vidc.decodeFrame(&pkt, buf) && (i == idx);
+      av_packet_unref(&pkt);
+    }
+  }
+  return result;
+}
+#endif
diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h
index 03ea5be8b2..3609d64f8b 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,9 +4,12 @@
 #include <vector>
 
 #include "msgq/visionipc/visionbuf.h"
-#include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
 
+#ifndef __APPLE__
+#include "tools/replay/qcom_decoder.h"
+#endif
+
 extern "C" {
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
@@ -18,8 +21,7 @@ class FrameReader {
 public:
   FrameReader();
   ~FrameReader();
-  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
-            int chunk_size = -1, int retries = 0);
+  bool load(CameraType type, const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false);
   bool loadFromFile(CameraType type, const std::string &file, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
   bool get(int idx, VisionBuf *buf);
   size_t getFrameCount() const { return packets_info.size(); }
@@ -28,6 +30,7 @@ public:
 
   VideoDecoder *decoder_ = nullptr;
   AVFormatContext *input_ctx = nullptr;
+  int video_stream_idx_ = -1;
   int prev_idx = -1;
   struct PacketInfo {
     int flags;
@@ -39,11 +42,18 @@ public:
 
 class VideoDecoder {
 public:
-  VideoDecoder();
-  ~VideoDecoder();
-  bool open(AVCodecParameters *codecpar, bool hw_decoder);
-  bool decode(FrameReader *reader, int idx, VisionBuf *buf);
+  virtual ~VideoDecoder() = default;
+  virtual bool open(AVCodecParameters *codecpar, bool hw_decoder) = 0;
+  virtual bool decode(FrameReader *reader, int idx, VisionBuf *buf) = 0;
   int width = 0, height = 0;
+};
+
+class FFmpegVideoDecoder : public VideoDecoder {
+public:
+  FFmpegVideoDecoder();
+  ~FFmpegVideoDecoder() override;
+  bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
 
 private:
   bool initHardwareDecoder(AVHWDeviceType hw_device_type);
@@ -55,3 +65,16 @@ private:
   AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
   AVBufferRef *hw_device_ctx = nullptr;
 };
+
+#ifndef __APPLE__
+class QcomVideoDecoder : public VideoDecoder {
+public:
+  QcomVideoDecoder() {};
+  ~QcomVideoDecoder() override {};
+  bool open(AVCodecParameters *codecpar, bool hw_decoder) override;
+  bool decode(FrameReader *reader, int idx, VisionBuf *buf) override;
+
+private:
+  MsmVidc msm_vidc = MsmVidc();
+};
+#endif
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
deleted file mode 100644
index aa20ab8e32..0000000000
--- a/tools/replay/lib/rp_helpers.py
+++ /dev/null
@@ -1,109 +0,0 @@
-import numpy as np
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-
-# Color palette used for rerun AnnotationContext
-rerunColorPalette = [(96, "red", (255, 0, 0)),
-                     (100, "pink", (255, 36, 0)),
-                     (124, "yellow", (255, 255, 0)),
-                     (230, "vibrantpink", (255, 36, 170)),
-                     (240, "orange", (255, 146, 0)),
-                     (255, "white", (255, 255, 255)),
-                     (110, "carColor", (255,0,127)),
-                     (0, "background", (0, 0, 0))]
-
-
-class UIParams:
-  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
-  car_hwidth = 1.7272 / 2 * lidar_zoom
-  car_front = 2.6924 * lidar_zoom
-  car_back = 1.8796 * lidar_zoom
-  car_color = rerunColorPalette[6][0]
-UP = UIParams
-
-
-def to_topdown_pt(y, x):
-  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
-  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
-    return int(px), int(py)
-  return -1, -1
-
-
-def draw_path(path, lid_overlay, lid_color=None):
-  x, y = np.asarray(path.x), np.asarray(path.y)
-  # draw lidar path point on lidar
-  if lid_color is not None and lid_overlay is not None:
-    for i in range(len(x)):
-      px, py = to_topdown_pt(x[i], y[i])
-      if px != -1:
-        lid_overlay[px, py] = lid_color
-
-
-def plot_model(m, lid_overlay):
-  if lid_overlay is None:
-    return
-  for lead in m.leadsV3:
-    if lead.prob < 0.5:
-      continue
-    x, y = lead.x[0], lead.y[0]
-    x_std = lead.xStd[0]
-    x -= RADAR_TO_CAMERA
-    _, py_top = to_topdown_pt(x + x_std, y)
-    px, py_bottom = to_topdown_pt(x - x_std, y)
-    lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
-
-  for path in m.laneLines:
-    draw_path(path, lid_overlay, rerunColorPalette[2][0])
-  for edge in m.roadEdges:
-    draw_path(edge, lid_overlay, rerunColorPalette[0][0])
-  draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
-
-
-def plot_lead(rs, lid_overlay):
-  for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
-      continue
-    x = lead.dRel
-    px_left, py = to_topdown_pt(x, -10)
-    px_right, _ = to_topdown_pt(x, 10)
-    lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
-
-
-def update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
-    ar_pts = {}
-    for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = rerunColorPalette[4][0]
-      elif pt[-2]:
-        color = rerunColorPalette[3][0]
-      else:
-        color = rerunColorPalette[5][0]
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
-
-
-def get_blank_lid_overlay(UP):
-  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
-  # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  return lid_overlay
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index 39431eca10..7c95e9cad4 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -1,9 +1,8 @@
 import itertools
-from typing import Any
 
 import matplotlib.pyplot as plt
 import numpy as np
-import pygame
+import pyray as rl
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
 
@@ -18,21 +17,25 @@ YELLOW = (255, 255, 0)
 BLACK = (0, 0, 0)
 WHITE = (255, 255, 255)
 
+
 class UIParams:
   lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  lidar_car_x, lidar_car_y = lidar_x / 2.0, lidar_y / 1.1
   car_hwidth = 1.7272 / 2 * lidar_zoom
   car_front = 2.6924 * lidar_zoom
   car_back = 1.8796 * lidar_zoom
   car_color = 110
+
+
 UP = UIParams
 
 METER_WIDTH = 20
 
+
 class Calibration:
   def __init__(self, num_px, rpy, intrinsic, calib_scale):
     self.intrinsic = intrinsic
-    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
+    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:, :3]
     self.zoom = calib_scale
 
   def car_space_to_ff(self, x, y, z):
@@ -47,19 +50,18 @@ class Calibration:
     return pts / self.zoom
 
 
-_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
+_COLOR_CACHE: dict[tuple[int, int, int], int] = {
+  (255, 0, 0): 1,  # RED
+  (0, 255, 0): 2,  # GREEN
+  (0, 0, 255): 3,  # BLUE
+  (255, 255, 0): 4,  # YELLOW
+  (0, 0, 0): 0,  # BLACK
+  (255, 255, 255): 255,  # WHITE
+}
+
+
 def find_color(lidar_surface, color):
-  if color in _COLOR_CACHE:
-    return _COLOR_CACHE[color]
-  tcolor = 0
-  ret = 255
-  for x in lidar_surface.get_palette():
-    if x[0:3] == color:
-      ret = tcolor
-      break
-    tcolor += 1
-  _COLOR_CACHE[color] = ret
-  return ret
+  return _COLOR_CACHE.get(color, 255)
 
 
 def to_topdown_pt(y, x):
@@ -91,13 +93,7 @@ def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
 
 
 def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
-  color_palette = { "r": (1, 0, 0),
-                    "g": (0, 1, 0),
-                    "b": (0, 0, 1),
-                    "k": (0, 0, 0),
-                    "y": (1, 1, 0),
-                    "p": (0, 1, 1),
-                    "m": (1, 0, 1)}
+  color_palette = {"r": (1, 0, 0), "g": (0, 1, 0), "b": (0, 0, 1), "k": (0, 0, 0), "y": (1, 1, 0), "p": (0, 1, 1), "m": (1, 0, 1)}
 
   dpi = 90
   fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
@@ -107,7 +103,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
 
   axs = []
   for pn in range(len(plot_ylims)):
-    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
+    ax = fig.add_subplot(len(plot_ylims), 1, len(axs) + 1)
     ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
     ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
     ax.patch.set_facecolor((0.4, 0.4, 0.4))
@@ -116,15 +112,11 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
   plots, idxs, plot_select = [], [], []
   for i, pl_list in enumerate(plot_names):
     for j, item in enumerate(pl_list):
-      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
-                          label=item,
-                          color=color_palette[plot_colors[i][j]],
-                          linestyle=plot_styles[i][j])
+      (plot,) = axs[i].plot(arr[:, name_to_arr_idx[item]], label=item, color=color_palette[plot_colors[i][j]], linestyle=plot_styles[i][j])
       plots.append(plot)
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
+    axs[i].set_title(", ".join(f"{nm} ({cl})" for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
     axs[i].tick_params(axis="x", colors="white")
     axs[i].tick_params(axis="y", colors="white")
     axs[i].title.set_color("white")
@@ -134,6 +126,12 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
 
   canvas.draw()
 
+  # Pre-create texture for plots (reuse each frame to avoid log spam)
+  w, h = canvas.get_width_height()
+  plot_image = rl.gen_image_color(w, h, rl.BLACK)
+  plot_texture = rl.load_texture_from_image(plot_image)
+  rl.unload_image(plot_image)
+
   def draw_plots(arr):
     for ax in axs:
       ax.draw_artist(ax.patch)
@@ -141,17 +139,13 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
       plots[i].set_ydata(arr[:, idxs[i]])
       axs[plot_select[i]].draw_artist(plots[i])
 
-    raw_data = canvas.buffer_rgba()
-    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
-    return plot_surface
+    raw_data = np.ascontiguousarray(canvas.buffer_rgba(), dtype=np.uint8)
+    rl.update_texture(plot_texture, rl.ffi.cast("void *", raw_data.ctypes.data))
+    return plot_texture
 
   return draw_plots
 
 
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
 def plot_model(m, img, calibration, top_down):
   if calibration is None or top_down is None:
     return
@@ -166,7 +160,7 @@ def plot_model(m, img, calibration, top_down):
 
     _, py_top = to_topdown_pt(x + x_std, y)
     px, py_bottom = to_topdown_pt(x - x_std, y)
-    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
+    top_down[1][int(round(px - 4)) : int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
 
   for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
     color = (0, int(255 * prob), 0)
@@ -198,29 +192,19 @@ def maybe_update_radar_points(lt, lid_overlay):
     ar_pts = {}
     for track in lt:
       ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel]
-  for ids, pt in ar_pts.items():
+  for pt in ar_pts.values():
     # negative here since radar is left positive
     px, py = to_topdown_pt(pt[0], -pt[1])
     if px != -1:
-      color = 255
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+      lid_overlay[px - 4 : px + 4, py - 4 : py + 4] = 0
+      lid_overlay[px - 2 : px + 2, py - 2 : py + 2] = 255
+
 
 def get_blank_lid_overlay(UP):
   lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
   # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)) : int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - UP.car_front)) : int(round(UP.lidar_car_y + UP.car_back))] = UP.car_color
   return lid_overlay
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 75abb8417b..997a4bc00f 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -6,8 +6,8 @@
 #include "tools/replay/util.h"
 #include "common/util.h"
 
-bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache) {
+  std::string data = FileReader(local_cache).read(url, abort);
   if (!data.empty()) {
     if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
       data = decompressBZ2(data, abort);
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index f8d60ffadd..9219878ace 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -28,7 +28,7 @@ class LogReader {
 public:
   LogReader(const std::vector<bool> &filters = {}) { filters_ = filters; }
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr,
-            bool local_cache = false, int chunk_size = -1, int retries = 0);
+            bool local_cache = false);
   bool load(const char *data, size_t size, std::atomic<bool> *abort = nullptr);
   std::vector<Event> events;
 
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 38a1da292a..bdb9cf4f35 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,11 +1,14 @@
 #include <getopt.h>
 
+#include <cstdlib>
+#include <iomanip>
 #include <iostream>
 #include <map>
 #include <string>
 #include <vector>
 
 #include "common/prefix.h"
+#include "common/timing.h"
 #include "tools/replay/consoleui.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
@@ -30,7 +33,8 @@ Options:
       --qcam         Load qcamera
       --no-hw-decoder Disable HW video decoding
       --no-vipc      Do not output video
-      --all          Output all messages including uiDebug, userFlag
+      --all          Output all messages including bookmarkButton, uiDebug, userBookmark
+      --benchmark    Run in benchmark mode (process all events then exit with stats)
   -h, --help         Show this help message
 )";
 
@@ -66,6 +70,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"no-hw-decoder", no_argument, nullptr, 0},
       {"no-vipc", no_argument, nullptr, 0},
       {"all", no_argument, nullptr, 0},
+      {"benchmark", no_argument, nullptr, 0},
       {"help", no_argument, nullptr, 'h'},
       {nullptr, 0, nullptr, 0},  // Terminating entry
   };
@@ -79,6 +84,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER},
       {"no-vipc", REPLAY_FLAG_NO_VIPC},
       {"all", REPLAY_FLAG_ALL_SERVICES},
+      {"benchmark", REPLAY_FLAG_BENCHMARK},
   };
 
   if (argc == 1) {
@@ -127,6 +133,10 @@ int main(int argc, char *argv[]) {
   util::set_file_descriptor_limit(1024);
 #endif
 
+  // The vendored ncurses static library has a wrong compiled-in terminfo path.
+  // Point it at the system terminfo database if not already set.
+  setenv("TERMINFO_DIRS", "/usr/share/terminfo:/lib/terminfo:/usr/lib/terminfo", 0);
+
   ReplayConfig config;
 
   if (!parseArgs(argc, argv, config)) {
@@ -149,6 +159,28 @@ int main(int argc, char *argv[]) {
     return 1;
   }
 
+  if (config.flags & REPLAY_FLAG_BENCHMARK) {
+    replay.start(config.start_seconds);
+    replay.waitForFinished();
+
+    const auto &stats = replay.getBenchmarkStats();
+    uint64_t process_start = stats.process_start_ts;
+
+    std::cout << "\n===== REPLAY BENCHMARK RESULTS =====\n";
+    std::cout << "Route: " << replay.route().name() << "\n\n";
+
+    std::cout << "TIMELINE:\n";
+    std::cout << "  t=0 ms        process start\n";
+    for (const auto &[ts, event] : stats.timeline) {
+      double ms = (ts - process_start) / 1e6;
+      std::cout << "  t=" << std::fixed << std::setprecision(0) << ms << " ms"
+                << std::string(std::max(1, 8 - static_cast<int>(std::to_string(static_cast<int>(ms)).length())), ' ')
+                << event << "\n";
+    }
+
+    return 0;
+  }
+
   ConsoleUI console_ui(&replay);
   replay.start(config.start_seconds);
   return console_ui.exec();
diff --git a/tools/replay/py_downloader.cc b/tools/replay/py_downloader.cc
new file mode 100644
index 0000000000..efaf3c93a2
--- /dev/null
+++ b/tools/replay/py_downloader.cc
@@ -0,0 +1,218 @@
+#include "tools/replay/py_downloader.h"
+
+#include <csignal>
+#include <fcntl.h>
+#include <mutex>
+#include <sys/wait.h>
+#include <unistd.h>
+
+#include "tools/replay/util.h"
+
+namespace {
+
+static std::mutex handler_mutex;
+static DownloadProgressHandler progress_handler = nullptr;
+
+// Run a Python command and capture stdout. Optionally parse stderr for PROGRESS lines.
+// Returns stdout content. If abort is signaled, kills the child process.
+std::string runPython(const std::vector<std::string> &args, std::atomic<bool> *abort = nullptr, bool parse_progress = false) {
+  // Build argv for execvp
+  std::vector<const char *> argv;
+  argv.push_back("python3");
+  argv.push_back("-m");
+  argv.push_back("openpilot.tools.lib.file_downloader");
+  for (const auto &a : args) {
+    argv.push_back(a.c_str());
+  }
+  argv.push_back(nullptr);
+
+  int stdout_pipe[2];
+  int stderr_pipe[2];
+  if (pipe(stdout_pipe) != 0) {
+    rWarning("py_downloader: pipe() failed");
+    return {};
+  }
+  if (pipe(stderr_pipe) != 0) {
+    rWarning("py_downloader: pipe() failed");
+    close(stdout_pipe[0]); close(stdout_pipe[1]);
+    return {};
+  }
+
+  pid_t pid = fork();
+  if (pid < 0) {
+    rWarning("py_downloader: fork() failed");
+    close(stdout_pipe[0]); close(stdout_pipe[1]);
+    close(stderr_pipe[0]); close(stderr_pipe[1]);
+    return {};
+  }
+
+  if (pid == 0) {
+    // Child process — detach from controlling terminal so Python
+    // cannot corrupt terminal settings needed by ncurses in the parent.
+    setsid();
+    int devnull = open("/dev/null", O_RDONLY);
+    if (devnull >= 0) {
+      dup2(devnull, STDIN_FILENO);
+      if (devnull > STDERR_FILENO) close(devnull);
+    }
+
+    // Clear OPENPILOT_PREFIX so the Python process uses default paths
+    // (e.g. ~/.comma/auth.json). The prefix is only for IPC in the parent.
+    unsetenv("OPENPILOT_PREFIX");
+
+    close(stdout_pipe[0]);
+    close(stderr_pipe[0]);
+    dup2(stdout_pipe[1], STDOUT_FILENO);
+    dup2(stderr_pipe[1], STDERR_FILENO);
+    close(stdout_pipe[1]);
+    close(stderr_pipe[1]);
+
+    execvp("python3", const_cast<char *const *>(argv.data()));
+    _exit(127);
+  }
+
+  // Parent process
+  close(stdout_pipe[1]);
+  close(stderr_pipe[1]);
+
+  std::string stdout_data;
+  std::string stderr_buf;
+  char buf[4096];
+
+  // Use select() to read from both pipes
+  fd_set rfds;
+  int max_fd = std::max(stdout_pipe[0], stderr_pipe[0]);
+  bool stdout_open = true, stderr_open = true;
+
+  while (stdout_open || stderr_open) {
+    if (abort && *abort) {
+      kill(pid, SIGTERM);
+      break;
+    }
+
+    FD_ZERO(&rfds);
+    if (stdout_open) FD_SET(stdout_pipe[0], &rfds);
+    if (stderr_open) FD_SET(stderr_pipe[0], &rfds);
+
+    struct timeval tv = {0, 100000};  // 100ms timeout
+    int ret = select(max_fd + 1, &rfds, nullptr, nullptr, &tv);
+    if (ret < 0) break;
+
+    if (stdout_open && FD_ISSET(stdout_pipe[0], &rfds)) {
+      ssize_t n = read(stdout_pipe[0], buf, sizeof(buf));
+      if (n <= 0) {
+        stdout_open = false;
+      } else {
+        stdout_data.append(buf, n);
+      }
+    }
+
+    if (stderr_open && FD_ISSET(stderr_pipe[0], &rfds)) {
+      ssize_t n = read(stderr_pipe[0], buf, sizeof(buf));
+      if (n <= 0) {
+        stderr_open = false;
+      } else {
+        stderr_buf.append(buf, n);
+        // Parse complete lines from stderr
+        size_t pos;
+        while ((pos = stderr_buf.find('\n')) != std::string::npos) {
+          std::string line = stderr_buf.substr(0, pos);
+          stderr_buf.erase(0, pos + 1);
+
+          if (parse_progress && line.rfind("PROGRESS:", 0) == 0) {
+            // Parse "PROGRESS:<cur>:<total>"
+            auto colon1 = line.find(':', 9);
+            if (colon1 != std::string::npos) {
+              try {
+                uint64_t cur = std::stoull(line.c_str() + 9);
+                uint64_t total = std::stoull(line.c_str() + colon1 + 1);
+                std::lock_guard<std::mutex> lk(handler_mutex);
+                if (progress_handler) {
+                  progress_handler(cur, total, true);
+                }
+              } catch (...) {}
+            }
+          } else if (line.rfind("ERROR:", 0) == 0) {
+            rWarning("py_downloader: %s", line.c_str() + 6);
+          }
+        }
+      }
+    }
+  }
+
+  // Drain remaining pipe data to prevent child from blocking on write
+  for (int fd : {stdout_pipe[0], stderr_pipe[0]}) {
+    while (read(fd, buf, sizeof(buf)) > 0) {}
+    close(fd);
+  }
+
+  int status;
+  waitpid(pid, &status, 0);
+
+  bool failed = (abort && *abort) ||
+                (WIFEXITED(status) && WEXITSTATUS(status) != 0) ||
+                WIFSIGNALED(status);
+  if (failed) {
+    if (WIFEXITED(status) && WEXITSTATUS(status) != 0) {
+      rWarning("py_downloader: process exited with code %d", WEXITSTATUS(status));
+    } else if (WIFSIGNALED(status)) {
+      rWarning("py_downloader: process killed by signal %d", WTERMSIG(status));
+    }
+    std::lock_guard<std::mutex> lk(handler_mutex);
+    if (progress_handler) {
+      progress_handler(0, 0, false);
+    }
+    return {};
+  }
+
+  // Trim trailing newline
+  while (!stdout_data.empty() && (stdout_data.back() == '\n' || stdout_data.back() == '\r')) {
+    stdout_data.pop_back();
+  }
+
+  return stdout_data;
+}
+
+}  // namespace
+
+void installDownloadProgressHandler(DownloadProgressHandler handler) {
+  std::lock_guard<std::mutex> lk(handler_mutex);
+  progress_handler = handler;
+}
+
+namespace PyDownloader {
+
+std::string download(const std::string &url, bool use_cache, std::atomic<bool> *abort) {
+  std::vector<std::string> args = {"download", url};
+  if (!use_cache) {
+    args.push_back("--no-cache");
+  }
+  return runPython(args, abort, true);
+}
+
+std::string getRouteFiles(const std::string &route) {
+  return runPython({"route-files", route});
+}
+
+std::string getDevices() {
+  return runPython({"devices"});
+}
+
+std::string getDeviceRoutes(const std::string &dongle_id, int64_t start_ms, int64_t end_ms, bool preserved) {
+  std::vector<std::string> args = {"device-routes", dongle_id};
+  if (preserved) {
+    args.push_back("--preserved");
+  } else {
+    if (start_ms > 0) {
+      args.push_back("--start");
+      args.push_back(std::to_string(start_ms));
+    }
+    if (end_ms > 0) {
+      args.push_back("--end");
+      args.push_back(std::to_string(end_ms));
+    }
+  }
+  return runPython(args);
+}
+
+}  // namespace PyDownloader
diff --git a/tools/replay/py_downloader.h b/tools/replay/py_downloader.h
new file mode 100644
index 0000000000..535189784c
--- /dev/null
+++ b/tools/replay/py_downloader.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <string>
+
+typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler;
+void installDownloadProgressHandler(DownloadProgressHandler handler);
+
+namespace PyDownloader {
+
+// Downloads url to local cache, returns local file path. Reports progress via installDownloadProgressHandler.
+std::string download(const std::string &url, bool use_cache = true, std::atomic<bool> *abort = nullptr);
+
+// Returns JSON string of route files (same format as /v1/route/.../files API)
+std::string getRouteFiles(const std::string &route);
+
+// Returns JSON string of user's devices
+std::string getDevices();
+
+// Returns JSON string of device routes
+std::string getDeviceRoutes(const std::string &dongle_id, int64_t start_ms = 0, int64_t end_ms = 0, bool preserved = false);
+
+}  // namespace PyDownloader
diff --git a/tools/replay/qcom_decoder.cc b/tools/replay/qcom_decoder.cc
new file mode 100644
index 0000000000..44ff16ce4f
--- /dev/null
+++ b/tools/replay/qcom_decoder.cc
@@ -0,0 +1,346 @@
+#include "qcom_decoder.h"
+
+#include <assert.h>
+#include "third_party/linux/include/v4l2-controls.h"
+#include <linux/videodev2.h>
+
+
+#include "common/swaglog.h"
+#include "common/util.h"
+
+// echo "0xFFFF" > /sys/kernel/debug/msm_vidc/debug_level
+
+static void copyBuffer(VisionBuf *src_buf, VisionBuf *dst_buf) {
+  // Copy Y plane
+  memcpy(dst_buf->y, src_buf->y, src_buf->height * src_buf->stride);
+  // Copy UV plane
+  memcpy(dst_buf->uv, src_buf->uv, src_buf->height / 2 * src_buf->stride);
+}
+
+static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) {
+  struct v4l2_requestbuffers reqbuf = {
+    .count = count,
+    .type = buf_type,
+    .memory = V4L2_MEMORY_USERPTR
+  };
+  util::safe_ioctl(fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
+}
+
+MsmVidc::~MsmVidc() {
+  if (fd > 0) {
+    close(fd);
+  }
+}
+
+bool MsmVidc::init(const char* dev, size_t width, size_t height, uint64_t codec) {
+  LOG("Initializing msm_vidc device %s", dev);
+  this->w = width;
+  this->h = height;
+  this->fd = open(dev, O_RDWR, 0);
+  if (fd < 0) {
+    LOGE("failed to open video device %s", dev);
+    return false;
+  }
+  subscribeEvents();
+  v4l2_buf_type out_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+  setPlaneFormat(out_type, V4L2_PIX_FMT_HEVC); // Also allocates the output buffer
+  setFPS(FPS);
+  request_buffers(fd, out_type, OUTPUT_BUFFER_COUNT);
+  util::safe_ioctl(fd, VIDIOC_STREAMON, &out_type, "VIDIOC_STREAMON OUTPUT failed");
+  restartCapture();
+  setupPolling();
+
+  this->initialized = true;
+  return true;
+}
+
+VisionBuf* MsmVidc::decodeFrame(AVPacket *pkt, VisionBuf *buf) {
+  assert(initialized && (pkt != nullptr) && (buf != nullptr));
+
+  this->frame_ready = false;
+  this->current_output_buf = buf;
+  bool sent_packet = false;
+
+  while (!this->frame_ready) {
+    if (!sent_packet) {
+      int buf_index = getBufferUnlocked();
+      if (buf_index >= 0) {
+        assert(buf_index < out_buf_cnt);
+        sendPacket(buf_index, pkt);
+        sent_packet = true;
+      }
+    }
+
+    if (poll(pfd, nfds, -1) < 0) {
+      LOGE("poll() error: %d", errno);
+      return nullptr;
+    }
+
+    if (VisionBuf* result = processEvents()) {
+      return result;
+    }
+  }
+
+  return buf;
+}
+
+VisionBuf* MsmVidc::processEvents() {
+  for (int idx = 0; idx < nfds; idx++) {
+    short revents = pfd[idx].revents;
+    if (!revents) continue;
+
+    if (idx == ev[EV_VIDEO]) {
+      if (revents & (POLLIN | POLLRDNORM)) {
+        VisionBuf *result = handleCapture();
+        if (result == this->current_output_buf) {
+          this->frame_ready = true;
+        }
+      }
+      if (revents & (POLLOUT | POLLWRNORM)) {
+        handleOutput();
+      }
+      if (revents & POLLPRI) {
+        handleEvent();
+      }
+    } else {
+      LOGE("Unexpected event on fd %d", pfd[idx].fd);
+    }
+  }
+  return nullptr;
+}
+
+VisionBuf* MsmVidc::handleCapture() {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1] = {0};
+  buf.type          = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+  buf.memory        = V4L2_MEMORY_USERPTR;
+  buf.m.planes      = planes;
+  buf.length        = 1;
+  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF CAPTURE failed");
+
+  if (this->reconfigure_pending || buf.m.planes[0].bytesused == 0) {
+    return nullptr;
+  }
+
+  copyBuffer(&cap_bufs[buf.index], this->current_output_buf);
+  queueCaptureBuffer(buf.index);
+  return this->current_output_buf;
+}
+
+bool MsmVidc::subscribeEvents() {
+  for (uint32_t event : subscriptions) {
+    struct v4l2_event_subscription sub = { .type = event};
+    util::safe_ioctl(fd, VIDIOC_SUBSCRIBE_EVENT, &sub, "VIDIOC_SUBSCRIBE_EVENT failed");
+  }
+  return true;
+}
+
+bool MsmVidc::setPlaneFormat(enum v4l2_buf_type type, uint32_t fourcc) {
+  struct v4l2_format fmt = {.type = type};
+  struct v4l2_pix_format_mplane *pix = &fmt.fmt.pix_mp;
+  *pix = {
+    .width = (__u32)this->w,
+    .height = (__u32)this->h,
+    .pixelformat = fourcc
+  };
+  util::safe_ioctl(fd, VIDIOC_S_FMT, &fmt, "VIDIOC_S_FMT failed");
+  if (type == V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE) {
+    this->out_buf_size = pix->plane_fmt[0].sizeimage;
+    int ion_size = this->out_buf_size * OUTPUT_BUFFER_COUNT; // Output (input) buffers are ION buffer.
+    this->out_buf.allocate(ion_size); // mmap rw
+    for (int i = 0; i < OUTPUT_BUFFER_COUNT; i++) {
+      this->out_buf_off[i] = i * this->out_buf_size;
+      this->out_buf_addr[i] = (char *)this->out_buf.addr + this->out_buf_off[i];
+      this->out_buf_flag[i] = false;
+    }
+    LOGD("Set output buffer size to %d, count %d, addr %p", this->out_buf_size, OUTPUT_BUFFER_COUNT, this->out_buf.addr);
+  } else if (type == V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE) {
+    request_buffers(this->fd, type, CAPTURE_BUFFER_COUNT);
+    util::safe_ioctl(fd, VIDIOC_G_FMT, &fmt, "VIDIOC_G_FMT failed");
+    const __u32 y_size    = pix->plane_fmt[0].sizeimage;
+    const __u32 y_stride  = pix->plane_fmt[0].bytesperline;
+    for (int i = 0; i < CAPTURE_BUFFER_COUNT; i++) {
+      size_t uv_offset = (size_t)y_stride * pix->height;
+      size_t required = uv_offset + (y_stride * pix->height / 2); // enough for Y + UV. For linear NV12, UV plane starts at y_stride * height.
+      size_t alloc_size = std::max<size_t>(y_size, required);
+      this->cap_bufs[i].allocate(alloc_size);
+      this->cap_bufs[i].init_yuv(pix->width, pix->height, y_stride, uv_offset);
+    }
+    LOGD("Set capture buffer size to %d, count %d, addr %p, extradata size %d",
+      pix->plane_fmt[0].sizeimage, CAPTURE_BUFFER_COUNT, this->cap_bufs[0].addr, pix->plane_fmt[1].sizeimage);
+  }
+  return true;
+}
+
+bool MsmVidc::setFPS(uint32_t fps) {
+  struct v4l2_streamparm streamparam = {
+    .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE,
+  };
+  streamparam.parm.output.timeperframe = {1, fps};
+  util::safe_ioctl(fd, VIDIOC_S_PARM, &streamparam, "VIDIOC_S_PARM failed");
+  return true;
+}
+
+bool MsmVidc::restartCapture() {
+  // stop if already initialized
+  enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+  if (this->initialized) {
+    LOGD("Restarting capture, flushing buffers...");
+    util::safe_ioctl(this->fd, VIDIOC_STREAMOFF, &type, "VIDIOC_STREAMOFF CAPTURE failed");
+    struct v4l2_requestbuffers reqbuf = {.type = type, .memory = V4L2_MEMORY_USERPTR};
+    util::safe_ioctl(this->fd, VIDIOC_REQBUFS, &reqbuf, "VIDIOC_REQBUFS failed");
+    for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
+      this->cap_bufs[i].free();
+      this->cap_buf_flag[i] = false; // mark as not queued
+      cap_bufs[i].~VisionBuf();
+      new (&cap_bufs[i]) VisionBuf();
+    }
+  }
+  // setup, start and queue capture buffers
+  setDBP();
+  setPlaneFormat(type, V4L2_PIX_FMT_NV12);
+  util::safe_ioctl(this->fd, VIDIOC_STREAMON, &type, "VIDIOC_STREAMON CAPTURE failed");
+  for (size_t i = 0; i < CAPTURE_BUFFER_COUNT; ++i) {
+    queueCaptureBuffer(i);
+  }
+
+  return true;
+}
+
+bool MsmVidc::queueCaptureBuffer(int i) {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1] = {0};
+
+  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+  buf.memory = V4L2_MEMORY_USERPTR;
+  buf.index = i;
+  buf.m.planes = planes;
+  buf.length = 1;
+  // decoded frame plane
+  planes[0].m.userptr     = (unsigned long)this->cap_bufs[i].addr; // no security
+  planes[0].length        = this->cap_bufs[i].len;
+  planes[0].reserved[0]   = this->cap_bufs[i].fd; // ION fd
+  planes[0].reserved[1]   = 0;
+  planes[0].bytesused     = this->cap_bufs[i].len;
+  planes[0].data_offset   = 0;
+  util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
+  this->cap_buf_flag[i] = true; // mark as queued
+  return true;
+}
+
+bool MsmVidc::queueOutputBuffer(int i, size_t size) {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1] = {0};
+
+  buf.type                = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+  buf.memory              = V4L2_MEMORY_USERPTR;
+  buf.index               = i;
+  buf.m.planes            = planes;
+  buf.length              = 1;
+  // decoded frame plane
+  planes[0].m.userptr     = (unsigned long)this->out_buf_off[i]; // check this
+  planes[0].length        = this->out_buf_size;
+  planes[0].reserved[0]   = this->out_buf.fd; // ION fd
+  planes[0].reserved[1]   = 0;
+  planes[0].bytesused     = size;
+  planes[0].data_offset   = 0;
+  assert((this->out_buf_off[i] & 0xfff) == 0);          // must be 4 KiB aligned
+  assert(this->out_buf_size % 4096 == 0);               // ditto for size
+
+  util::safe_ioctl(this->fd, VIDIOC_QBUF, &buf, "VIDIOC_QBUF failed");
+  this->out_buf_flag[i] = true; // mark as queued
+  return true;
+}
+
+bool MsmVidc::setDBP() {
+  struct v4l2_ext_control control[2] = {0};
+  struct v4l2_ext_controls controls = {0};
+  control[0].id           = V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE;
+  control[0].value        = 1; // V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_SECONDARY
+  control[1].id           = V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT;
+  control[1].value        = 0; // V4L2_MPEG_VIDC_VIDEO_DPB_COLOR_FMT_NONE
+  controls.count          = 2;
+  controls.ctrl_class     = V4L2_CTRL_CLASS_MPEG;
+  controls.controls       = control;
+  util::safe_ioctl(fd, VIDIOC_S_EXT_CTRLS, &controls, "VIDIOC_S_EXT_CTRLS failed");
+  return true;
+}
+
+bool MsmVidc::setupPolling() {
+  // Initialize poll array
+  pfd[EV_VIDEO] = {fd, POLLIN | POLLOUT | POLLWRNORM | POLLRDNORM | POLLPRI, 0};
+  ev[EV_VIDEO] = EV_VIDEO;
+  nfds = 1;
+  return true;
+}
+
+bool MsmVidc::sendPacket(int buf_index, AVPacket *pkt) {
+  assert(buf_index >= 0 && buf_index < out_buf_cnt);
+  assert(pkt != nullptr && pkt->data != nullptr && pkt->size > 0);
+  // Prepare output buffer
+  memset(this->out_buf_addr[buf_index], 0, this->out_buf_size);
+  uint8_t * data = (uint8_t *)this->out_buf_addr[buf_index];
+  memcpy(data, pkt->data, pkt->size);
+  queueOutputBuffer(buf_index, pkt->size);
+  return true;
+}
+
+int MsmVidc::getBufferUnlocked() {
+  for (int i = 0; i < this->out_buf_cnt; i++) {
+    if (!out_buf_flag[i]) {
+      return i;
+    }
+  }
+  return -1;
+}
+
+
+bool MsmVidc::handleOutput() {
+  struct v4l2_buffer buf = {0};
+  struct v4l2_plane planes[1];
+  buf.type      = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
+  buf.memory    = V4L2_MEMORY_USERPTR;
+  buf.m.planes  = planes;
+  buf.length    = 1;
+  util::safe_ioctl(this->fd, VIDIOC_DQBUF, &buf, "VIDIOC_DQBUF OUTPUT failed");
+  this->out_buf_flag[buf.index] = false; // mark as not queued
+  return true;
+}
+
+bool MsmVidc::handleEvent() {
+  // dequeue event
+  struct v4l2_event event = {0};
+  util::safe_ioctl(this->fd, VIDIOC_DQEVENT, &event, "VIDIOC_DQEVENT failed");
+  switch (event.type) {
+    case V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT: {
+      unsigned int *ptr     = (unsigned int *)event.u.data;
+      unsigned int height   = ptr[0];
+      unsigned int width    = ptr[1];
+      this->w               = width;
+      this->h               = height;
+      LOGD("Port Reconfig received insufficient, new size %ux%u, flushing capture bufs...", width, height); // This is normal
+      struct v4l2_decoder_cmd dec;
+      dec.flags = V4L2_QCOM_CMD_FLUSH_CAPTURE;
+      dec.cmd = V4L2_QCOM_CMD_FLUSH;
+      util::safe_ioctl(this->fd, VIDIOC_DECODER_CMD, &dec, "VIDIOC_DECODER_CMD FLUSH_CAPTURE failed");
+      this->reconfigure_pending = true;
+      LOGD("Waiting for flush done event to reconfigure capture queue");
+      break;
+    }
+
+    case V4L2_EVENT_MSM_VIDC_FLUSH_DONE: {
+      unsigned int *ptr   = (unsigned int *)event.u.data;
+      unsigned int flags  = ptr[0];
+      if (flags & V4L2_QCOM_CMD_FLUSH_CAPTURE) {
+        if (this->reconfigure_pending) {
+          this->restartCapture();
+          this->reconfigure_pending = false;
+        }
+      }
+      break;
+    }
+    default:
+      break;
+  }
+  return true;
+}
\ No newline at end of file
diff --git a/tools/replay/qcom_decoder.h b/tools/replay/qcom_decoder.h
new file mode 100644
index 0000000000..1d7522cc70
--- /dev/null
+++ b/tools/replay/qcom_decoder.h
@@ -0,0 +1,88 @@
+#pragma once
+
+#include <linux/videodev2.h>
+#include <poll.h>
+
+#include "msgq/visionipc/visionbuf.h"
+
+extern "C" {
+  #include <libavcodec/avcodec.h>
+  #include <libavformat/avformat.h>
+}
+
+#define V4L2_EVENT_MSM_VIDC_START (V4L2_EVENT_PRIVATE_START + 0x00001000)
+#define V4L2_EVENT_MSM_VIDC_FLUSH_DONE (V4L2_EVENT_MSM_VIDC_START + 1)
+#define V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT (V4L2_EVENT_MSM_VIDC_START + 3)
+#define V4L2_CID_MPEG_MSM_VIDC_BASE 0x00992000
+#define V4L2_CID_MPEG_VIDC_VIDEO_DPB_COLOR_FORMAT (V4L2_CID_MPEG_MSM_VIDC_BASE + 44)
+#define V4L2_CID_MPEG_VIDC_VIDEO_STREAM_OUTPUT_MODE (V4L2_CID_MPEG_MSM_VIDC_BASE + 22)
+#define V4L2_QCOM_CMD_FLUSH_CAPTURE (1 << 1)
+#define V4L2_QCOM_CMD_FLUSH (4)
+
+#define VIDEO_DEVICE "/dev/video32"
+#define OUTPUT_BUFFER_COUNT 	8
+#define CAPTURE_BUFFER_COUNT 	8
+#define FPS 									20
+
+
+class MsmVidc {
+public:
+  MsmVidc() = default;
+  ~MsmVidc();
+
+  bool init(const char* dev, size_t width, size_t height, uint64_t codec);
+  VisionBuf* decodeFrame(AVPacket* pkt, VisionBuf* buf);
+
+  AVFormatContext* avctx = nullptr;
+  int fd = 0;
+
+private:
+  bool initialized = false;
+  bool reconfigure_pending = false;
+  bool frame_ready = false;
+
+  VisionBuf* current_output_buf = nullptr;
+  VisionBuf out_buf;                          // Single input buffer
+  VisionBuf cap_bufs[CAPTURE_BUFFER_COUNT];   // Capture (output) buffers
+
+  size_t w = 1928, h = 1208;
+  size_t cap_height = 0, cap_width = 0;
+
+  int cap_buf_size = 0;
+  int out_buf_size = 0;
+
+  size_t cap_plane_off[CAPTURE_BUFFER_COUNT] = {0};
+  size_t cap_plane_stride[CAPTURE_BUFFER_COUNT] = {0};
+  bool cap_buf_flag[CAPTURE_BUFFER_COUNT] = {false};
+
+  size_t out_buf_off[OUTPUT_BUFFER_COUNT] = {0};
+  void* out_buf_addr[OUTPUT_BUFFER_COUNT] = {0};
+  bool out_buf_flag[OUTPUT_BUFFER_COUNT] = {false};
+  const int out_buf_cnt = OUTPUT_BUFFER_COUNT;
+
+  const int subscriptions[2] = {
+    V4L2_EVENT_MSM_VIDC_FLUSH_DONE,
+    V4L2_EVENT_MSM_VIDC_PORT_SETTINGS_CHANGED_INSUFFICIENT
+  };
+
+  enum { EV_VIDEO, EV_COUNT };
+  struct pollfd pfd[EV_COUNT] = {0};
+  int ev[EV_COUNT] = {-1};
+  int nfds = 0;
+
+  VisionBuf* processEvents();
+  bool setupOutput();
+  bool subscribeEvents();
+  bool setPlaneFormat(v4l2_buf_type type, uint32_t fourcc);
+  bool setFPS(uint32_t fps);
+  bool restartCapture();
+  bool queueCaptureBuffer(int i);
+  bool queueOutputBuffer(int i, size_t size);
+  bool setDBP();
+  bool setupPolling();
+  bool sendPacket(int buf_index, AVPacket* pkt);
+  int getBufferUnlocked();
+  VisionBuf* handleCapture();
+  bool handleOutput();
+  bool handleEvent();
+};
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index a8e5cd9d43..d8d59e41a4 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -2,6 +2,8 @@
 
 #include <capnp/dynamic.h>
 #include <csignal>
+#include <iomanip>
+#include <sstream>
 #include "cereal/services.h"
 #include "common/params.h"
 #include "tools/replay/util.h"
@@ -19,8 +21,16 @@ Replay::Replay(const std::string &route, std::vector<std::string> allow, std::ve
     : sm_(sm), flags_(flags), seg_mgr_(std::make_unique<SegmentManager>(route, flags, data_dir, auto_source)) {
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
+  if (flags_ & REPLAY_FLAG_BENCHMARK) {
+    benchmark_stats_.process_start_ts = nanos_since_boot();
+    seg_mgr_->setBenchmarkCallback([this](int seg_num, const std::string& event) {
+      benchmark_stats_.timeline.emplace_back(nanos_since_boot(),
+          "segment " + std::to_string(seg_num) + " " + event);
+    });
+  }
+
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
-    block.insert(block.end(), {"uiDebug", "userFlag"});
+    block.insert(block.end(), {"bookmarkButton", "uiDebug", "userBookmark"});
   }
   setupServices(allow, block);
   setupSegmentManager(!allow.empty() || !block.empty());
@@ -31,6 +41,8 @@ void Replay::setupServices(const std::vector<std::string> &allow, const std::vec
   sockets_.resize(event_schema.getUnionFields().size(), nullptr);
 
   std::vector<const char *> active_services;
+  active_services.reserve(services.size());
+
   for (const auto &[name, _] : services) {
     bool is_blocked = std::find(block.begin(), block.end(), name) != block.end();
     bool is_allowed = allow.empty() || std::find(allow.begin(), allow.end(), name) != allow.end();
@@ -40,7 +52,9 @@ void Replay::setupServices(const std::vector<std::string> &allow, const std::vec
       active_services.push_back(name.c_str());
     }
   }
-  rInfo("active services: %s", join(active_services, ", ").c_str());
+
+  std::string services_str = join(active_services, ", ");
+  rInfo("active services: %s", services_str.c_str());
   if (!sm_) {
     pm_ = std::make_unique<PubMaster>(active_services);
   }
@@ -59,7 +73,6 @@ void Replay::setupSegmentManager(bool has_filters) {
 }
 
 Replay::~Replay() {
-  seg_mgr_.reset();
   if (stream_thread_.joinable()) {
     rInfo("shutdown: in progress...");
     interruptStream([this]() {
@@ -70,12 +83,18 @@ Replay::~Replay() {
     rInfo("shutdown: done");
   }
   camera_server_.reset();
+  seg_mgr_.reset();
 }
 
 bool Replay::load() {
   rInfo("loading route %s", seg_mgr_->route_.name().c_str());
+
   if (!seg_mgr_->load()) return false;
 
+  if (hasFlag(REPLAY_FLAG_BENCHMARK)) {
+    benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "route metadata loaded");
+  }
+
   min_seconds_ = seg_mgr_->route_.segments().begin()->first * 60;
   max_seconds_ = (seg_mgr_->route_.segments().rbegin()->first + 1) * 60;
   return true;
@@ -253,8 +272,13 @@ void Replay::streamThread() {
   stream_thread_id = pthread_self();
   std::unique_lock lk(stream_lock_);
 
+  int last_processed_segment = -1;
+  uint64_t segment_start_time = 0;
+  bool streaming_started = false;
+
   while (true) {
     stream_cv_.wait(lk, [this]() { return exit_ || (events_ready_ && !interrupt_requested_); });
+
     if (exit_) break;
 
     event_data_ = seg_mgr_->getEventData();
@@ -266,14 +290,19 @@ void Replay::streamThread() {
       continue;
     }
 
-    auto it = publishEvents(first, events.cend());
+    if (!streaming_started && hasFlag(REPLAY_FLAG_BENCHMARK)) {
+      benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "streaming started");
+      streaming_started = true;
+    }
+
+    auto it = publishEvents(first, events.cend(), last_processed_segment, segment_start_time);
 
     // Ensure frames are sent before unlocking to prevent race conditions
     if (camera_server_) {
       camera_server_->waitForSent();
     }
 
-    if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP)) {
+    if (it == events.cend() && !hasFlag(REPLAY_FLAG_NO_LOOP) && !hasFlag(REPLAY_FLAG_BENCHMARK)) {
       int last_segment = seg_mgr_->route_.segments().rbegin()->first;
       if (event_data_->isSegmentLoaded(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
@@ -281,12 +310,28 @@ void Replay::streamThread() {
         seekTo(minSeconds(), false);
         stream_lock_.lock();
       }
+    } else if (it == events.cend() && hasFlag(REPLAY_FLAG_BENCHMARK)) {
+      // Exit benchmark mode after first segment completes
+      exit_ = true;
+      break;
     }
   }
+
+  if (hasFlag(REPLAY_FLAG_BENCHMARK)) {
+    benchmark_stats_.timeline.emplace_back(nanos_since_boot(), "benchmark done");
+
+    {
+      std::unique_lock lock(benchmark_lock_);
+      benchmark_done_ = true;
+    }
+    benchmark_cv_.notify_one();
+  }
 }
 
 std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::const_iterator first,
-                                                         std::vector<Event>::const_iterator last) {
+                                                         std::vector<Event>::const_iterator last,
+                                                         int &last_processed_segment,
+                                                         uint64_t &segment_start_time) {
   uint64_t evt_start_ts = cur_mono_time_;
   uint64_t loop_start_ts = nanos_since_boot();
   double prev_replay_speed = speed_;
@@ -300,6 +345,23 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       seg_mgr_->setCurrentSegment(segment);
     }
 
+    // Track segment completion for benchmark timeline
+    if (hasFlag(REPLAY_FLAG_BENCHMARK) && segment != last_processed_segment) {
+      if (last_processed_segment >= 0 && segment_start_time > 0) {
+        uint64_t processing_time_ns = nanos_since_boot() - segment_start_time;
+        double processing_time_ms = processing_time_ns / 1e6;
+        double realtime_factor = 60.0 / (processing_time_ns / 1e9);  // 60s per segment
+
+        std::ostringstream oss;
+        oss << "segment " << last_processed_segment << " done publishing ("
+            << std::fixed << std::setprecision(0) << processing_time_ms << " ms, "
+            << std::fixed << std::setprecision(0) << realtime_factor << "x realtime)";
+        benchmark_stats_.timeline.emplace_back(nanos_since_boot(), oss.str());
+      }
+      segment_start_time = nanos_since_boot();
+      last_processed_segment = segment;
+    }
+
     cur_mono_time_ = evt.mono_time;
     cur_which_ = evt.which;
 
@@ -316,7 +378,8 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       evt_start_ts = evt.mono_time;
       loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
-    } else if (time_diff > 0) {
+    } else if (time_diff > 0 && !hasFlag(REPLAY_FLAG_BENCHMARK)) {
+      // Skip sleep in benchmark mode for maximum throughput
       precise_nano_sleep(time_diff, interrupt_requested_);
     }
 
@@ -334,3 +397,12 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
 
   return first;
 }
+
+void Replay::waitForFinished() {
+  if (!hasFlag(REPLAY_FLAG_BENCHMARK)) {
+    return;
+  }
+
+  std::unique_lock lock(benchmark_lock_);
+  benchmark_cv_.wait(lock, [this]() { return benchmark_done_; });
+}
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 5e868d2427..3e2bc7c00e 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -12,7 +12,7 @@
 #include "tools/replay/seg_mgr.h"
 #include "tools/replay/timeline.h"
 
-#define DEMO_ROUTE "a2a0ccea32023010|2023-07-27--13-01-19"
+#define DEMO_ROUTE "5beb9b58bd12b691/0000010a--a51155e496"
 
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
@@ -24,6 +24,12 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
   REPLAY_FLAG_NO_VIPC = 0x0400,
   REPLAY_FLAG_ALL_SERVICES = 0x0800,
+  REPLAY_FLAG_BENCHMARK = 0x1000,
+};
+
+struct BenchmarkStats {
+  uint64_t process_start_ts = 0;
+  std::vector<std::pair<uint64_t, std::string>> timeline;
 };
 
 class Replay {
@@ -57,6 +63,8 @@ public:
   inline const std::optional<Timeline::Entry> findAlertAtTime(double sec) const { return timeline_.findAlertAtTime(sec); }
   const std::shared_ptr<SegmentManager::EventData> getEventData() const { return seg_mgr_->getEventData(); }
   void installEventFilter(std::function<bool(const Event *)> filter) { event_filter_ = filter; }
+  void waitForFinished();
+  const BenchmarkStats &getBenchmarkStats() const { return benchmark_stats_; }
 
   // Event callback functions
   std::function<void()> onSegmentsMerged = nullptr;
@@ -72,7 +80,9 @@ private:
   void handleSegmentMerge();
   void interruptStream(const std::function<bool()>& update_fn);
   std::vector<Event>::const_iterator publishEvents(std::vector<Event>::const_iterator first,
-                                                   std::vector<Event>::const_iterator last);
+                                                   std::vector<Event>::const_iterator last,
+                                                   int &last_processed_segment,
+                                                   uint64_t &segment_start_time);
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
   void checkSeekProgress();
@@ -107,4 +117,9 @@ private:
   std::function<bool(const Event *)> event_filter_ = nullptr;
 
   std::shared_ptr<SegmentManager::EventData> event_data_ = std::make_shared<SegmentManager::EventData>();
+
+  BenchmarkStats benchmark_stats_;
+  std::condition_variable benchmark_cv_;
+  std::mutex benchmark_lock_;
+  bool benchmark_done_ = false;
 };
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index ba00828267..e7b8ed6bba 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -6,7 +6,7 @@
 
 #include "third_party/json11/json11.hpp"
 #include "system/hardware/hw.h"
-#include "tools/replay/api.h"
+#include "tools/replay/py_downloader.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
@@ -103,43 +103,44 @@ bool Route::loadFromAutoSource() {
   return !segments_.empty();
 }
 
-bool Route::loadFromServer(int retries) {
-  const std::string url = CommaApi2::BASE_URL + "/v1/route/" + route_.str + "/files";
-  for (int i = 1; i <= retries; ++i) {
-    long response_code = 0;
-    std::string result = CommaApi2::httpGet(url, &response_code);
-    if (response_code == 200) {
-      return loadFromJson(result);
-    }
-
-    if (response_code == 401 || response_code == 403) {
-      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
-      err_ = RouteLoadError::Unauthorized;
-      break;
-    }
-    if (response_code == 404) {
-      rWarning("The specified route could not be found on the server.");
-      err_ = RouteLoadError::FileNotFound;
-      break;
-    }
-
+bool Route::loadFromServer() {
+  std::string result = PyDownloader::getRouteFiles(route_.str);
+  if (result.empty()) {
     err_ = RouteLoadError::NetworkError;
-    rWarning("Retrying %d/%d", i, retries);
-    util::sleep_for(3000);
-  }
-
-  return false;
-}
-
-bool Route::loadFromJson(const std::string &json) {
-  const static std::regex rx(R"(\/(\d+)\/)");
-  std::string err;
-  auto jsonData = json11::Json::parse(json, err);
-  if (!err.empty()) {
-    rWarning("JSON parsing error: %s", err.c_str());
+    rWarning("Failed to fetch route files from server");
     return false;
   }
-  for (const auto &value : jsonData.object_items()) {
+
+  // Check for error field in JSON response
+  std::string parse_err;
+  auto json = json11::Json::parse(result, parse_err);
+  if (!parse_err.empty()) {
+    err_ = RouteLoadError::NetworkError;
+    rWarning("Failed to parse route files response");
+    return false;
+  }
+
+  if (json.is_object() && json["error"].is_string()) {
+    const std::string &error = json["error"].string_value();
+    if (error == "unauthorized") {
+      rWarning(">> Unauthorized. Authenticate with tools/lib/auth.py <<");
+      err_ = RouteLoadError::Unauthorized;
+    } else if (error == "not_found") {
+      rWarning("The specified route could not be found on the server.");
+      err_ = RouteLoadError::FileNotFound;
+    } else {
+      rWarning("API error: %s", error.c_str());
+      err_ = RouteLoadError::NetworkError;
+    }
+    return false;
+  }
+
+  return loadFromJson(json);
+}
+
+bool Route::loadFromJson(const json11::Json &json) {
+  const static std::regex rx(R"(\/(\d+)\/)");
+  for (const auto &value : json.object_items()) {
     const auto &urlArray = value.second.array_items();
     for (const auto &url : urlArray) {
       std::string url_str = url.string_value();
@@ -225,10 +226,10 @@ void Segment::loadFile(int id, const std::string file) {
   bool success = false;
   if (id < MAX_CAMERAS) {
     frames[id] = std::make_unique<FrameReader>();
-    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
+    success = frames[id]->load((CameraType)id, file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache);
   } else {
     log = std::make_unique<LogReader>(filters_);
-    success = log->load(file, &abort_, local_cache, 0, 3);
+    success = log->load(file, &abort_, local_cache);
   }
 
   if (!success) {
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 0375252a19..119a81152e 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -8,6 +8,7 @@
 #include <thread>
 #include <vector>
 
+#include "third_party/json11/json11.hpp"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
@@ -55,8 +56,8 @@ protected:
   bool loadSegments();
   bool loadFromAutoSource();
   bool loadFromLocal();
-  bool loadFromServer(int retries = 3);
-  bool loadFromJson(const std::string &json);
+  bool loadFromServer();
+  bool loadFromJson(const json11::Json &json);
   void addFileToSegment(int seg_num, const std::string &file);
   RouteIdentifier route_ = {};
   std::string data_dir_;
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
deleted file mode 100755
index 25169b72ae..0000000000
--- a/tools/replay/rp_visualization.py
+++ /dev/null
@@ -1,60 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-import numpy as np
-import rerun as rr
-import cereal.messaging as messaging
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
-                                         get_blank_lid_overlay,
-                                         update_radar_points, plot_lead,
-                                         plot_model)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-UP.lidar_zoom = 6
-
-def visualize(addr):
-  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-    new_data = vipc_client.recv()
-    if new_data is None or not new_data.data.any():
-      continue
-
-    sm.update(0)
-    lid_overlay = get_blank_lid_overlay(UP)
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], lid_overlay)
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], lid_overlay)
-    liveTracksTime = sm.logMonoTime['liveTracks']
-    if sm.updated['liveTracks']:
-      update_radar_points(sm['liveTracks'], lid_overlay)
-    rr.set_time_nanos("TIMELINE", liveTracksTime)
-    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-  if args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.reset_context()
-  rr.init("RadarPoints", spawn= True)
-  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
-  visualize(args.ip_address)
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index ee034fb083..0778cacbc1 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -91,7 +91,8 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm
   auto &merged_events = merged_event_data->events;
   merged_events.reserve(total_event_count);
 
-  rDebug("merging segments: %s", join(segments_to_merge, ", ").c_str());
+  std::string segments_str = join(segments_to_merge, ", ");
+  rDebug("merging segments: %s", segments_str.c_str());
   for (int n : segments_to_merge) {
     const auto &events = segments_.at(n)->log->events;
     if (events.empty()) continue;
@@ -117,9 +118,15 @@ void SegmentManager::loadSegmentsInRange(SegmentMap::iterator begin, SegmentMap:
     for (auto it = first; it != last; ++it) {
       auto &segment_ptr = it->second;
       if (!segment_ptr) {
+        if (onBenchmarkEvent_) {
+          onBenchmarkEvent_(it->first, "loading");
+        }
         segment_ptr = std::make_shared<Segment>(
             it->first, route_.at(it->first), flags_, filters_,
             [this](int seg_num, bool success) {
+              if (onBenchmarkEvent_) {
+                onBenchmarkEvent_(seg_num, success ? "loaded" : "load failed");
+              }
               std::unique_lock lock(mutex_);
               needs_update_ = true;
               cv_.notify_one();
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
index 640169749e..54e156fb60 100644
--- a/tools/replay/seg_mgr.h
+++ b/tools/replay/seg_mgr.h
@@ -27,6 +27,7 @@ public:
   bool load();
   void setCurrentSegment(int seg_num);
   void setCallback(const std::function<void()> &callback) { onSegmentMergedCallback_ = callback; }
+  void setBenchmarkCallback(const std::function<void(int, const std::string&)> &callback) { onBenchmarkEvent_ = callback; }
   void setFilters(const std::vector<bool> &filters) { filters_ = filters; }
   const std::shared_ptr<EventData> getEventData() const { return std::atomic_load(&event_data_); }
   bool hasSegment(int n) const { return segments_.find(n) != segments_.end(); }
@@ -52,5 +53,6 @@ private:
   SegmentMap segments_;
   std::shared_ptr<EventData> event_data_;
   std::function<void()> onSegmentMergedCallback_ = nullptr;
+  std::function<void(int, const std::string&)> onBenchmarkEvent_ = nullptr;
   std::set<int> merged_segments_;
 };
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index aed3de59a8..45fcc98191 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -1,5 +1,6 @@
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
+#include "tools/replay/filereader.h"
 #include "tools/replay/replay.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
diff --git a/tools/replay/timeline.cc b/tools/replay/timeline.cc
index a4c2ffb700..08dca5c89e 100644
--- a/tools/replay/timeline.cc
+++ b/tools/replay/timeline.cc
@@ -26,7 +26,7 @@ std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const {
         return entry.end_time;
       }
     } else if (entry.start_time > cur_ts) {
-      if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) ||
+      if ((flag == FindFlag::nextUserBookmark && entry.type == TimelineType::UserBookmark) ||
           (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) ||
           (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) ||
           (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) {
@@ -55,7 +55,7 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
     if (should_exit_) break;
 
     auto log = std::make_shared<LogReader>();
-    if (!log->load(segment.second.qlog, &should_exit_, local_cache, 0, 3) || log->events.empty()) {
+    if (!log->load(segment.second.qlog, &should_exit_, local_cache) || log->events.empty()) {
       continue;  // Skip if log loading fails or no events
     }
 
@@ -66,8 +66,8 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
         auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
         updateEngagementStatus(cs, current_engaged_idx, seconds);
         updateAlertStatus(cs, current_alert_idx, seconds);
-      } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag});
+      } else if (e.which == cereal::Event::Which::USER_BOOKMARK) {
+        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserBookmark});
       }
     }
 
diff --git a/tools/replay/timeline.h b/tools/replay/timeline.h
index 74add9e5cc..9688b6b95e 100644
--- a/tools/replay/timeline.h
+++ b/tools/replay/timeline.h
@@ -7,8 +7,8 @@
 
 #include "tools/replay/route.h"
 
-enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
-enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical };
+enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark };
+enum class FindFlag { nextEngagement, nextDisEngagement, nextUserBookmark, nextInfo, nextWarning, nextCritical };
 
 class Timeline {
 public:
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 6e40579902..8707f2be99 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -5,57 +5,88 @@ import sys
 
 import cv2
 import numpy as np
-import pygame
+import pyray as rl
 
 import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.replay.lib.ui_helpers import (UP,
-                                         BLACK, GREEN,
-                                         YELLOW, Calibration,
-                                         get_blank_lid_overlay, init_plots,
-                                         maybe_update_radar_points, plot_lead,
-                                         plot_model,
-                                         pygame_modules_have_loaded)
+from openpilot.tools.replay.lib.ui_helpers import (
+  UP,
+  BLACK,
+  GREEN,
+  YELLOW,
+  Calibration,
+  get_blank_lid_overlay,
+  init_plots,
+  maybe_update_radar_points,
+  plot_lead,
+  plot_model,
+)
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
 os.environ['BASEDIR'] = BASEDIR
 
 ANGLE_SCALE = 5.0
 
+
 def ui_thread(addr):
   cv2.setNumThreads(1)
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
 
-  disp_info = pygame.display.Info()
-  max_height = disp_info.current_h
+  # Get monitor info before creating window
+  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
+  rl.init_window(1, 1, "")
+  max_height = rl.get_monitor_height(0)
+  rl.close_window()
 
   hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960+300 else hor_mode
+  hor_mode = True if max_height < 960 + 300 else hor_mode
 
   if hor_mode:
-    size = (640+384+640, 960)
+    size = (640 + 384 + 640, 960)
     write_x = 5
     write_y = 680
   else:
-    size = (640+384, 960+300)
+    size = (640 + 384, 960 + 300)
     write_x = 645
     write_y = 970
 
-  pygame.display.set_caption("openpilot debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
+  rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR)
+  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
+  rl.init_window(size[0], size[1], "openpilot debug UI")
+  rl.set_target_fps(60)
 
-  alert1_font = pygame.font.SysFont("arial", 30)
-  alert2_font = pygame.font.SysFont("arial", 20)
-  info_font = pygame.font.SysFont("arial", 15)
+  # Load font
+  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
+  font = rl.load_font_ex(font_path, 32, None, 0)
 
-  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
-  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
+  # Create textures for camera and top-down view
+  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
+  camera_texture = rl.load_texture_from_image(camera_image)
+  rl.unload_image(camera_image)
 
-  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'selfdriveState', 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
+  # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
+  # pygame treats first axis as width, so texture is 384 wide x 960 tall
+  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
+  top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
+  top_down_texture = rl.load_texture_from_image(top_down_image)
+  rl.unload_image(top_down_image)
+
+  sm = messaging.SubMaster(
+    [
+      'carState',
+      'longitudinalPlan',
+      'carControl',
+      'radarState',
+      'liveCalibration',
+      'controlsState',
+      'selfdriveState',
+      'liveTracks',
+      'modelV2',
+      'liveParameters',
+      'roadCameraState',
+    ],
+    addr=addr,
+  )
 
   img = np.zeros((480, 640, 3), dtype='uint8')
   imgff = None
@@ -65,74 +96,81 @@ def ui_thread(addr):
   lid_overlay_blank = get_blank_lid_overlay(UP)
 
   # plots
-  name_to_arr_idx = { "gas": 0,
-                      "computer_gas": 1,
-                      "user_brake": 2,
-                      "computer_brake": 3,
-                      "v_ego": 4,
-                      "v_pid": 5,
-                      "angle_steers_des": 6,
-                      "angle_steers": 7,
-                      "angle_steers_k": 8,
-                      "steer_torque": 9,
-                      "v_override": 10,
-                      "v_cruise": 11,
-                      "a_ego": 12,
-                      "a_target": 13}
+  name_to_arr_idx = {
+    "gas": 0,
+    "computer_gas": 1,
+    "user_brake": 2,
+    "computer_brake": 3,
+    "v_ego": 4,
+    "v_pid": 5,
+    "angle_steers_des": 6,
+    "angle_steers": 7,
+    "angle_steers_k": 8,
+    "steer_torque": 9,
+    "v_override": 10,
+    "v_cruise": 11,
+    "a_ego": 12,
+    "a_target": 13,
+  }
 
   plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
 
   plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
-                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-                ["v_ego", "v_override", "v_pid", "v_cruise"],
-                ["a_ego", "a_target"]]
-  plot_colors = [["b", "b", "g", "r", "y"],
-                 ["b", "g", "y", "r"],
-                 ["b", "g", "r", "y"],
-                 ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-"]]
+  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
+  plot_names = [
+    ["gas", "computer_gas", "user_brake", "computer_brake"],
+    ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
+    ["v_ego", "v_override", "v_pid", "v_cruise"],
+    ["a_ego", "a_target"],
+  ]
+  plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"], ["b", "g", "r", "y"], ["b", "r"]]
+  plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-"]]
 
   draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
 
+  # Palette for converting lid_overlay grayscale indices to RGBA colors
+  palette = np.zeros((256, 4), dtype=np.uint8)
+  palette[:, 3] = 255  # alpha
+  palette[1] = [255, 0, 0, 255]  # RED
+  palette[2] = [0, 255, 0, 255]  # GREEN
+  palette[3] = [0, 0, 255, 255]  # BLUE
+  palette[4] = [255, 255, 0, 255]  # YELLOW
+  palette[110] = [110, 110, 110, 255]  # car_color (gray)
+  palette[255] = [255, 255, 255, 255]  # WHITE
+
   vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    for event in pygame.event.get():
-      if event.type == pygame.QUIT:
-        pygame.quit()
-        sys.exit()
-
-    screen.fill((64, 64, 64))
-    lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_surface, lid_overlay
-
+  while not rl.window_should_close():
     # ***** frame *****
     if not vipc_client.is_connected():
-      vipc_client.connect(True)
+      vipc_client.connect(False)
+
+    rl.begin_drawing()
+    rl.clear_background(rl.Color(64, 64, 64, 255))
 
     yuv_img_raw = vipc_client.recv()
     if yuv_img_raw is None or not yuv_img_raw.data.any():
+      rl.draw_text_ex(font, "waiting for frames", rl.Vector2(200, 200), 30, 0, rl.WHITE)
+      rl.end_drawing()
       continue
 
+    lid_overlay = lid_overlay_blank.copy()
+    top_down = top_down_texture, lid_overlay
+
     sm.update(0)
 
     camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
 
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
+    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
+    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
+    nv12_size = h * 3 // 2 * stride
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
+    num_px = w * h
+    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
 
     qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.
-    calib_scale = camera.fcam.width / 640.
-    zoom_matrix = np.asarray([
-        [bb_scale, 0., 0.],
-        [0., bb_scale, 0.],
-        [0., 0., 1.]])
+    bb_scale = (528 if qcam else camera.fcam.width) / 640.0
+    calib_scale = camera.fcam.width / 640.0
+    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
     cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
 
     intrinsic_matrix = camera.fcam.intrinsics
@@ -149,13 +187,13 @@ def ui_thread(addr):
     plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
+    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
     # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
     plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
     # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
@@ -177,56 +215,63 @@ def ui_thread(addr):
       calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
 
     # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
+    # Update camera texture from numpy array
+    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
+    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
+    rl.draw_texture(camera_texture, 0, 0, rl.WHITE)
 
     # display alerts
-    alert_line1 = alert1_font.render(sm['selfdriveState'].alertText1, True, (255, 0, 0))
-    alert_line2 = alert2_font.render(sm['selfdriveState'].alertText2, True, (255, 0, 0))
-    screen.blit(alert_line1, (180, 150))
-    screen.blit(alert_line2, (180, 190))
+    rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
+    rl.draw_text_ex(font, sm['selfdriveState'].alertText2, rl.Vector2(180, 190), 20, 0, rl.RED)
 
+    # draw plots (texture is reused internally)
+    plot_texture = draw_plots(plot_arr)
     if hor_mode:
-      screen.blit(draw_plots(plot_arr), (640+384, 0))
+      rl.draw_texture(plot_texture, 640 + 384, 0, rl.WHITE)
     else:
-      screen.blit(draw_plots(plot_arr), (0, 600))
+      rl.draw_texture(plot_texture, 0, 600, rl.WHITE)
 
-    pygame.surfarray.blit_array(*top_down)
-    screen.blit(top_down[0], (640, 0))
+    # Convert lid_overlay to RGBA and update top_down texture
+    # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer
+    lid_rgba = palette[lid_overlay.T]
+    rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data))
+    rl.draw_texture(top_down_texture, 640, 0, rl.WHITE)
 
     SPACING = 25
-
     lines = [
-      info_font.render("ENABLED", True, GREEN if sm['selfdriveState'].enabled else BLACK),
-      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
-      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
-      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
+      ("ENABLED", GREEN if sm['selfdriveState'].enabled else BLACK),
+      ("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", YELLOW),
+      ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), YELLOW),
+      ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), YELLOW),
       None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
-      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
+      ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", YELLOW),
+      ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", YELLOW),
+      ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", YELLOW),
+      ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), YELLOW),
     ]
 
     for i, line in enumerate(lines):
       if line is not None:
-        screen.blit(line, (write_x, write_y + i * SPACING))
+        color = rl.Color(line[1][0], line[1][1], line[1][2], 255)
+        rl.draw_text_ex(font, line[0], rl.Vector2(write_x, write_y + i * SPACING), 20, 0, color)
+
+    rl.end_drawing()
+
+  rl.unload_texture(camera_texture)
+  rl.unload_texture(top_down_texture)
+  rl.unload_font(font)
+  rl.close_window()
 
-    # this takes time...vsync or something
-    pygame.display.flip()
 
 def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser = argparse.ArgumentParser(description="Show replay data in a UI.", formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1", help="The ip address on which to receive zmq messages.")
 
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None, help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
   return parser
 
+
 if __name__ == "__main__":
   args = get_arg_parser().parse_args(sys.argv[1:])
 
diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py
deleted file mode 100755
index adc0b19e9b..0000000000
--- a/tools/replay/unlog_ci_segment.py
+++ /dev/null
@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import bisect
-import select
-import sys
-import termios
-import time
-import tty
-from collections import defaultdict
-
-import cereal.messaging as messaging
-from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.openpilotci import get_url
-
-IGNORE = ['initData', 'sentinel']
-
-
-def input_ready():
-  return select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], [])
-
-
-def replay(route, segment, loop):
-  route = route.replace('|', '/')
-
-  lr = LogReader(get_url(route, segment, "rlog.bz2"))
-  fr = FrameReader(get_url(route, segment, "fcamera.hevc"), readahead=True)
-
-  # Build mapping from frameId to segmentId from roadEncodeIdx, type == fullHEVC
-  msgs = [m for m in lr if m.which() not in IGNORE]
-  msgs = sorted(msgs, key=lambda m: m.logMonoTime)
-  times = [m.logMonoTime for m in msgs]
-  frame_idx = {m.roadEncodeIdx.frameId: m.roadEncodeIdx.segmentId for m in msgs if m.which() == 'roadEncodeIdx' and m.roadEncodeIdx.type == 'fullHEVC'}
-
-  socks = {}
-  lag = 0.0
-  i = 0
-  max_i = len(msgs) - 2
-
-  while True:
-    msg = msgs[i].as_builder()
-    next_msg = msgs[i + 1]
-
-    start_time = time.time()
-    w = msg.which()
-
-    if w == 'roadCameraState':
-      try:
-        img = fr.get(frame_idx[msg.roadCameraState.frameId], pix_fmt="rgb24")
-        img = img[0][:, :, ::-1]  # Convert RGB to BGR, which is what the camera outputs
-        msg.roadCameraState.image = img.flatten().tobytes()
-      except (KeyError, ValueError):
-        pass
-
-    if w not in socks:
-      socks[w] = messaging.pub_sock(w)
-
-    try:
-      if socks[w]:
-        socks[w].send(msg.to_bytes())
-    except messaging.messaging_pyx.MultiplePublishersError:
-      socks[w] = None
-
-    lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
-    lag -= time.time() - start_time
-
-    dt = max(lag, 0.0)
-    lag -= dt
-    time.sleep(dt)
-
-    if lag < -1.0 and i % 1000 == 0:
-      print(f"{-lag:.2f} s behind")
-
-    if input_ready():
-      key = sys.stdin.read(1)
-
-      # Handle pause
-      if key == " ":
-        while True:
-          if input_ready() and sys.stdin.read(1) == " ":
-            break
-          time.sleep(0.01)
-
-      # Handle seek
-      dt = defaultdict(int, s=10, S=-10)[key]
-      new_time = msgs[i].logMonoTime + dt * 1e9
-      i = bisect.bisect_left(times, new_time)
-
-    i = (i + 1) % max_i if loop else min(i + 1, max_i)
-
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("--loop", action='store_true')
-  parser.add_argument("route")
-  parser.add_argument("segment")
-  args = parser.parse_args()
-
-  orig_settings = termios.tcgetattr(sys.stdin)
-  tty.setcbreak(sys.stdin)
-
-  try:
-    replay(args.route, args.segment, args.loop)
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-  except Exception:
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-    raise
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index 94cea961ff..7294de8282 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -1,20 +1,13 @@
 #include "tools/replay/util.h"
 
 #include <bzlib.h>
-#include <curl/curl.h>
 #include <openssl/sha.h>
 
 #include <cassert>
-#include <algorithm>
-#include <cmath>
 #include <cstdarg>
 #include <cstring>
-#include <fstream>
 #include <iostream>
-#include <map>
 #include <mutex>
-#include <numeric>
-#include <utility>
 #include <zstd.h>
 
 #include "common/timing.h"
@@ -51,91 +44,6 @@ void logMessage(ReplyMsgType type, const char *fmt, ...) {
   free(msg_buf);
 }
 
-namespace {
-
-struct CURLGlobalInitializer {
-  CURLGlobalInitializer() { curl_global_init(CURL_GLOBAL_DEFAULT); }
-  ~CURLGlobalInitializer() { curl_global_cleanup(); }
-};
-
-static CURLGlobalInitializer curl_initializer;
-
-template <class T>
-struct MultiPartWriter {
-  T *buf;
-  size_t *total_written;
-  size_t offset;
-  size_t end;
-
-  size_t write(char *data, size_t size, size_t count) {
-    size_t bytes = size * count;
-    if ((offset + bytes) > end) return 0;
-
-    if constexpr (std::is_same<T, std::string>::value) {
-      memcpy(buf->data() + offset, data, bytes);
-    } else if constexpr (std::is_same<T, std::ofstream>::value) {
-      buf->seekp(offset);
-      buf->write(data, bytes);
-    }
-
-    offset += bytes;
-    *total_written += bytes;
-    return bytes;
-  }
-};
-
-template <class T>
-size_t write_cb(char *data, size_t size, size_t count, void *userp) {
-  auto w = (MultiPartWriter<T> *)userp;
-  return w->write(data, size, count);
-}
-
-size_t dumy_write_cb(char *data, size_t size, size_t count, void *userp) { return size * count; }
-
-struct DownloadStats {
-  void installDownloadProgressHandler(DownloadProgressHandler handler) {
-    std::lock_guard lk(lock);
-    download_progress_handler = handler;
-  }
-
-  void add(const std::string &url, uint64_t total_bytes) {
-    std::lock_guard lk(lock);
-    items[url] = {0, total_bytes};
-  }
-
-  void remove(const std::string &url) {
-    std::lock_guard lk(lock);
-    items.erase(url);
-  }
-
-  void update(const std::string &url, uint64_t downloaded, bool success = true) {
-    std::lock_guard lk(lock);
-    items[url].first = downloaded;
-
-    auto stat = std::accumulate(items.begin(), items.end(), std::pair<int, int>{}, [=](auto &a, auto &b){
-      return std::pair{a.first + b.second.first, a.second + b.second.second};
-    });
-    double tm = millis_since_boot();
-    if (download_progress_handler && ((tm - prev_tm) > 500 || !success || stat.first >= stat.second)) {
-      download_progress_handler(stat.first, stat.second, success);
-      prev_tm = tm;
-    }
-  }
-
-  std::mutex lock;
-  std::map<std::string, std::pair<uint64_t, uint64_t>> items;
-  double prev_tm = 0;
-  DownloadProgressHandler download_progress_handler = nullptr;
-};
-
-static DownloadStats download_stats;
-
-} // namespace
-
-void installDownloadProgressHandler(DownloadProgressHandler handler) {
-  download_stats.installDownloadProgressHandler(handler);
-}
-
 std::string formattedDataSize(size_t size) {
   if (size < 1024) {
     return std::to_string(size) + " B";
@@ -146,138 +54,11 @@ std::string formattedDataSize(size_t size) {
   }
 }
 
-size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort) {
-  CURL *curl = curl_easy_init();
-  if (!curl) return -1;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, dumy_write_cb);
-  curl_easy_setopt(curl, CURLOPT_HEADER, 1);
-  curl_easy_setopt(curl, CURLOPT_NOBODY, 1);
-
-  CURLM *cm = curl_multi_init();
-  curl_multi_add_handle(cm, curl);
-  int still_running = 1;
-  while (still_running > 0 && !(abort && *abort)) {
-    CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (mc != CURLM_OK) break;
-    if (still_running > 0) {
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    }
-  }
-
-  double content_length = -1;
-  curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-  curl_multi_remove_handle(cm, curl);
-  curl_easy_cleanup(curl);
-  curl_multi_cleanup(cm);
-  return content_length > 0 ? (size_t)content_length : 0;
-}
-
 std::string getUrlWithoutQuery(const std::string &url) {
   size_t idx = url.find("?");
   return (idx == std::string::npos ? url : url.substr(0, idx));
 }
 
-template <class T>
-bool httpDownload(const std::string &url, T &buf, size_t chunk_size, size_t content_length, std::atomic<bool> *abort) {
-  download_stats.add(url, content_length);
-
-  int parts = 1;
-  if (chunk_size > 0 && content_length > 10 * 1024 * 1024) {
-    parts = std::nearbyint(content_length / (float)chunk_size);
-    parts = std::clamp(parts, 1, 5);
-  }
-
-  CURLM *cm = curl_multi_init();
-  size_t written = 0;
-  std::map<CURL *, MultiPartWriter<T>> writers;
-  const int part_size = content_length / parts;
-  for (int i = 0; i < parts; ++i) {
-    CURL *eh = curl_easy_init();
-    writers[eh] = {
-        .buf = &buf,
-        .total_written = &written,
-        .offset = (size_t)(i * part_size),
-        .end = i == parts - 1 ? content_length : (i + 1) * part_size,
-    };
-    curl_easy_setopt(eh, CURLOPT_WRITEFUNCTION, write_cb<T>);
-    curl_easy_setopt(eh, CURLOPT_WRITEDATA, (void *)(&writers[eh]));
-    curl_easy_setopt(eh, CURLOPT_URL, url.c_str());
-    curl_easy_setopt(eh, CURLOPT_RANGE, util::string_format("%d-%d", writers[eh].offset, writers[eh].end - 1).c_str());
-    curl_easy_setopt(eh, CURLOPT_HTTPGET, 1);
-    curl_easy_setopt(eh, CURLOPT_NOSIGNAL, 1);
-    curl_easy_setopt(eh, CURLOPT_FOLLOWLOCATION, 1);
-
-    curl_multi_add_handle(cm, eh);
-  }
-
-  int still_running = 1;
-  size_t prev_written = 0;
-  while (still_running > 0 && !(abort && *abort)) {
-    CURLMcode mc = curl_multi_perform(cm, &still_running);
-    if (mc != CURLM_OK) {
-      break;
-    }
-    if (still_running > 0) {
-      curl_multi_wait(cm, nullptr, 0, 1000, nullptr);
-    }
-
-    if (((written - prev_written) / (double)content_length) >= 0.01) {
-      download_stats.update(url, written);
-      prev_written = written;
-    }
-  }
-
-  CURLMsg *msg;
-  int msgs_left = -1;
-  int complete = 0;
-  while ((msg = curl_multi_info_read(cm, &msgs_left)) && !(abort && *abort)) {
-    if (msg->msg == CURLMSG_DONE) {
-      if (msg->data.result == CURLE_OK) {
-        long res_status = 0;
-        curl_easy_getinfo(msg->easy_handle, CURLINFO_RESPONSE_CODE, &res_status);
-        if (res_status == 206) {
-          complete++;
-        } else {
-          rWarning("Download failed: http error code: %d", res_status);
-        }
-      } else {
-        rWarning("Download failed: connection failure: %d",  msg->data.result);
-      }
-    }
-  }
-
-  bool success = complete == parts;
-  download_stats.update(url, written, success);
-  download_stats.remove(url);
-
-  for (const auto &[e, w] : writers) {
-    curl_multi_remove_handle(cm, e);
-    curl_easy_cleanup(e);
-  }
-  curl_multi_cleanup(cm);
-
-  return success;
-}
-
-std::string httpGet(const std::string &url, size_t chunk_size, std::atomic<bool> *abort) {
-  size_t size = getRemoteFileSize(url, abort);
-  if (size == 0) return {};
-
-  std::string result(size, '\0');
-  return httpDownload(url, result, chunk_size, size, abort) ? result : "";
-}
-
-bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size, std::atomic<bool> *abort) {
-  size_t size = getRemoteFileSize(url, abort);
-  if (size == 0) return false;
-
-  std::ofstream of(file, std::ios::binary | std::ios::out);
-  of.seekp(size - 1).write("\0", 1);
-  return httpDownload(url, of, chunk_size, size, abort);
-}
-
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort) {
   return decompressBZ2((std::byte *)in.data(), in.size(), abort);
 }
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 1f61951d21..ee92190337 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -53,12 +53,6 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
 std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
-size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
-std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
-
-typedef std::function<void(uint64_t cur, uint64_t total, bool success)> DownloadProgressHandler;
-void installDownloadProgressHandler(DownloadProgressHandler);
-bool httpDownload(const std::string &url, const std::string &file, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
 std::string formattedDataSize(size_t size);
 std::string extractFileName(const std::string& file);
 std::vector<std::string> split(std::string_view source, char delimiter);
diff --git a/tools/rerun/README.md b/tools/rerun/README.md
deleted file mode 100644
index 11a8d33ee1..0000000000
--- a/tools/rerun/README.md
+++ /dev/null
@@ -1,37 +0,0 @@
-# Rerun
-Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs.
-
-[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer.
-
-## Usage
-```
-usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name]
-
-A helper to run rerun on openpilot routes
-
-positional arguments:
-  route_or_segment_name
-                        The route or segment name to plot (default: None)
-
-options:
-  -h, --help            show this help message and exit
-  --demo                Use the demo route instead of providing one (default: False)
-  --qcam                Show low-res road camera (default: False)
-  --fcam                Show driving camera (default: False)
-  --ecam                Show wide camera (default: False)
-  --dcam                Show driver monitoring camera (default: False)
-```
-
-Examples using route name to observe accelerometer and qcamera:
-
-`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
-
-Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
-
-`./run.py --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
-
-## Cautions:
-- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
-
-## Demo
-`./run.py --qcam --demo`
diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py
deleted file mode 100644
index 8366a3c1cf..0000000000
--- a/tools/rerun/camera_reader.py
+++ /dev/null
@@ -1,93 +0,0 @@
-import tqdm
-import subprocess
-import multiprocessing
-from enum import StrEnum
-from functools import partial
-from collections import namedtuple
-
-from openpilot.tools.lib.framereader import ffprobe
-
-CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
-
-class CameraType(StrEnum):
-  qcam = "qcamera"
-  fcam = "fcamera"
-  ecam = "ecamera"
-  dcam = "dcamera"
-
-
-def probe_packet_info(camera_path):
-  args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
-  dat = subprocess.check_output(args)
-  dat = dat.decode().split()
-  return dat
-
-
-class _FrameReader:
-  def __init__(self, camera_path, segment, h, w, start_time):
-    self.camera_path = camera_path
-    self.segment = segment
-    self.h = h
-    self.w = w
-    self.start_time = start_time
-
-    self.ts = self._get_ts()
-
-  def _read_stream_nv12(self):
-    frame_sz = self.w * self.h * 3 // 2
-    proc = subprocess.Popen(
-             ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
-             stdin=subprocess.PIPE,
-             stdout=subprocess.PIPE,
-             stderr=subprocess.DEVNULL
-           )
-    try:
-      while True:
-        dat = proc.stdout.read(frame_sz)
-        if len(dat) == 0:
-          break
-        yield dat
-    finally:
-      proc.kill()
-
-  def _get_ts(self):
-    dat = probe_packet_info(self.camera_path)
-    try:
-      ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
-    except ValueError:
-      # pts_times aren't available. Infer timestamps from duration_times
-      ret = [d for d in dat if d.startswith("duration_time")]
-      ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
-    return ret
-
-  def __iter__(self):
-    for i, frame in enumerate(self._read_stream_nv12()):
-      yield self.ts[i], frame
-
-
-class CameraReader:
-  def __init__(self, camera_paths, start_time, seg_idxs):
-    self.seg_idxs = seg_idxs
-    self.camera_paths = camera_paths
-    self.start_time = start_time
-
-    probe = ffprobe(camera_paths[0])["streams"][0]
-    self.h = probe["height"]
-    self.w = probe["width"]
-
-    self.__frs = {}
-
-  def _get_fr(self, i):
-    if i not in self.__frs:
-      self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
-    return self.__frs[i]
-
-  def _run_on_segment(self, func, i):
-    return func(self._get_fr(i))
-
-  def run_across_segments(self, num_processes, func, desc=None):
-    with multiprocessing.Pool(num_processes) as pool:
-      num_segs = len(self.seg_idxs)
-      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
-        continue
-
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
deleted file mode 100755
index 6ce8a37937..0000000000
--- a/tools/rerun/run.py
+++ /dev/null
@@ -1,180 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import argparse
-import multiprocessing
-import rerun as rr
-import rerun.blueprint as rrb
-from functools import partial
-from collections import defaultdict
-
-from cereal.services import SERVICE_LIST
-from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route, SegmentRange
-
-
-NUM_CPUS = multiprocessing.cpu_count()
-DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
-RR_TIMELINE_NAME = "Timeline"
-RR_WIN = "openpilot logs"
-
-
-"""
-Relevant upstream Rerun issues:
-- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
-"""
-
-class Rerunner:
-  def __init__(self, route, segment_range, camera_config):
-    self.lr = LogReader(route_or_segment_name)
-
-    # hevc files don't have start_time. We get it from qcamera.ts
-    start_time = 0
-    dat = probe_packet_info(route.qcamera_paths()[0])
-    for d in dat:
-      if d.startswith("pts_time="):
-        start_time = float(d.split('=')[1])
-        break
-
-    qcam, fcam, ecam, dcam = camera_config
-    self.camera_readers = {}
-    if qcam:
-      self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs)
-    if fcam:
-      self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs)
-    if ecam:
-      self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs)
-    if dcam:
-      self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
-
-  def _create_blueprint(self):
-    blueprint = None
-    service_views = []
-
-    for topic in sorted(SERVICE_LIST.keys()):
-      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
-      service_views.append(View(name=topic, origin=f"/{topic}/", visible=False))
-      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
-
-    center_view = [rrb.Vertical(*service_views, name="streams")]
-    if len(self.camera_readers):
-      center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras"))
-
-    blueprint = rrb.Blueprint(
-      rrb.Horizontal(
-        *center_view
-      ),
-      rrb.SelectionPanel(expanded=False),
-      rrb.TimePanel(expanded=False),
-    )
-    return blueprint
-
-  @staticmethod
-  def _parse_msg(msg, parent_key=''):
-    stack = [(msg, parent_key)]
-    while stack:
-      current_msg, current_parent_key = stack.pop()
-      if isinstance(current_msg, list):
-        for index, item in enumerate(current_msg):
-          new_key = f"{current_parent_key}/{index}"
-          if isinstance(item, (int, float)):
-            yield new_key, item
-          elif isinstance(item, dict):
-            stack.append((item, new_key))
-      elif isinstance(current_msg, dict):
-        for key, value in current_msg.items():
-          new_key = f"{current_parent_key}/{key}"
-          if isinstance(value, (int, float)):
-            yield new_key, value
-          elif isinstance(value, dict):
-            stack.append((value, new_key))
-          elif isinstance(value, list):
-            for index, item in enumerate(value):
-              if isinstance(item, (int, float)):
-                yield f"{new_key}/{index}", item
-      else:
-        pass  # Not a plottable value
-
-  @staticmethod
-  @rr.shutdown_at_exit
-  def _process_log_msgs(blueprint, lr):
-    rr.init(RR_WIN)
-    rr.connect()
-    rr.send_blueprint(blueprint)
-
-    log_msgs = defaultdict(lambda: defaultdict(list))
-    for msg in lr:
-      msg_type = msg.which()
-
-      if msg_type == "thumbnail":
-        continue
-
-      for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
-        log_msgs[entity_path]["times"].append(msg.logMonoTime)
-        log_msgs[entity_path]["data"].append(dat)
-
-    for entity_path, log_msg in log_msgs.items():
-      rr.send_columns(
-        entity_path,
-        times=[rr.TimeNanosColumn(RR_TIMELINE_NAME, log_msg["times"])],
-        components=[rr.components.ScalarBatch(log_msg["data"])]
-      )
-
-    return []
-
-  @staticmethod
-  @rr.shutdown_at_exit
-  def _process_cam_readers(blueprint, cam_type, h, w, fr):
-    rr.init(RR_WIN)
-    rr.connect()
-    rr.send_blueprint(blueprint)
-
-    for ts, frame in fr:
-      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
-      rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
-
-  def load_data(self):
-    rr.init(RR_WIN, spawn=True)
-
-    startup_blueprint = self._create_blueprint()
-    self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages")
-    for cam_type, cr in self.camera_readers.items():
-      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type)
-
-    rr.send_blueprint(self._create_blueprint())
-
-
-if __name__ == '__main__':
-  parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
-                                  formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--qcam", action="store_true", help="Show low-res road camera")
-  parser.add_argument("--fcam", action="store_true", help="Show driving camera")
-  parser.add_argument("--ecam", action="store_true", help="Show wide camera")
-  parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
-  args = parser.parse_args()
-
-  if not args.demo and not args.route_or_segment_name:
-    parser.print_help()
-    sys.exit()
-
-  camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-
-  sr = SegmentRange(route_or_segment_name)
-  r = Route(sr.route_name)
-
-  hevc_requested = any(camera_config[1:])
-  if len(sr.seg_idxs) > 1 and hevc_requested:
-    print("You're requesting more than 1 segment with hevc videos, " + \
-          "please be aware that might take a lot of memory " + \
-          "since rerun isn't yet well supported for high resolution video logging")
-    response = input("Do you wish to continue? (Y/n): ")
-    if response.strip().lower() != "y":
-      sys.exit()
-
-  rerunner = Rerunner(r, sr, camera_config)
-  rerunner.load_data()
-
diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh
index 43c8e07de6..4527a0296d 100755
--- a/tools/scripts/adb_ssh.sh
+++ b/tools/scripts/adb_ssh.sh
@@ -1,7 +1,38 @@
 #!/usr/bin/env bash
-set -e
+set -euo pipefail
 
-# this is a little nicer than "adb shell" since
-# "adb shell" doesn't do full terminal emulation
+# Forward all openpilot service ports
+while IFS=' ' read -r name port; do
+  adb forward "tcp:${port}" "tcp:${port}" > /dev/null
+done < <(python3 - <<'PY'
+from cereal.services import SERVICE_LIST
+
+FNV_PRIME = 0x100000001b3
+FNV_OFFSET_BASIS = 0xcbf29ce484222325
+START_PORT = 8023
+MAX_PORT = 65535
+PORT_RANGE = MAX_PORT - START_PORT
+MASK = 0xffffffffffffffff
+
+def fnv1a(endpoint: str) -> int:
+  h = FNV_OFFSET_BASIS
+  for b in endpoint.encode():
+    h ^= b
+    h = (h * FNV_PRIME) & MASK
+  return h
+
+ports = set()
+for name in SERVICE_LIST.keys():
+  port = START_PORT + fnv1a(name) % PORT_RANGE
+  ports.add((name, port))
+
+for name, port in sorted(ports):
+  print(f"{name} {port}")
+PY
+)
+
+# Forward SSH port first for interactive shell access.
 adb forward tcp:2222 tcp:22
-ssh comma@localhost -p 2222
+
+# SSH!
+ssh comma@localhost -p 2222 "$@"
diff --git a/tools/scripts/extract_audio.py b/tools/scripts/extract_audio.py
new file mode 100755
index 0000000000..2a6ad9f9e3
--- /dev/null
+++ b/tools/scripts/extract_audio.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+import os
+import sys
+import wave
+import argparse
+import numpy as np
+
+from openpilot.tools.lib.logreader import LogReader, ReadMode
+
+
+def extract_audio(route_or_segment_name, output_file=None, play=False):
+  lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
+  audio_messages = list(lr.filter("rawAudioData"))
+  if not audio_messages:
+    print("No rawAudioData messages found in logs")
+    return
+  sample_rate = audio_messages[0].sampleRate
+
+  audio_chunks = []
+  total_frames = 0
+  for msg in audio_messages:
+    audio_array = np.frombuffer(msg.data, dtype=np.int16)
+    audio_chunks.append(audio_array)
+    total_frames += len(audio_array)
+  full_audio = np.concatenate(audio_chunks)
+
+  print(f"Found {total_frames} frames from {len(audio_messages)} audio messages at {sample_rate} Hz")
+
+  if output_file:
+    if write_wav_file(output_file, full_audio, sample_rate):
+      print(f"Audio written to {output_file}")
+    else:
+      print("Audio extraction canceled.")
+  if play:
+    play_audio(full_audio, sample_rate)
+
+
+def write_wav_file(filename, audio_data, sample_rate):
+  if os.path.exists(filename):
+    if input(f"File '{filename}' exists. Overwrite? (y/N): ").lower() not in ['y', 'yes']:
+      return False
+
+  with wave.open(filename, 'wb') as wav_file:
+    wav_file.setnchannels(1)  # Mono
+    wav_file.setsampwidth(2)  # 16-bit
+    wav_file.setframerate(sample_rate)
+    wav_file.writeframes(audio_data.tobytes())
+  return True
+
+
+def play_audio(audio_data, sample_rate):
+  try:
+    import sounddevice as sd
+
+    print("Playing audio... Press Ctrl+C to stop")
+    sd.play(audio_data, sample_rate)
+    sd.wait()
+  except KeyboardInterrupt:
+    print("\nPlayback stopped")
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Extract audio data from openpilot logs")
+  parser.add_argument("-o", "--output", help="Output WAV file path")
+  parser.add_argument("--play", action="store_true", help="Play audio with sounddevice")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+  args = parser.parse_args()
+
+  output_file = args.output
+  if not args.output and not args.play:
+    output_file = "extracted_audio.wav"
+
+  extract_audio(args.route_or_segment_name.strip(), output_file, args.play)
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index 521f1597ec..77bf48f946 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -37,7 +37,7 @@ fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
   raise Exception("frame {frame} not found, got {fr.frame_count} frames")
 
-im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
+im = Image.fromarray(fr.get(frame))
 fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
 im.save(fn)
 print(f"saved {fn}")
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 699765eee1..45dc0aa977 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -18,6 +18,6 @@ if __name__ == "__main__":
     params.put_bool("SshEnabled", True)
     params.put("GithubSshKeys", keys.text)
     params.put("GithubUsername", username)
-    print("Setup ssh keys successfully")
+    print("Set up ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/scripts/ssh.py b/tools/scripts/ssh.py
new file mode 100755
index 0000000000..e454afb691
--- /dev/null
+++ b/tools/scripts/ssh.py
@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+import os
+import sys
+import argparse
+import re
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A helper for connecting to devices over the comma prime SSH proxy.\
+      Adding your SSH key to your SSH config is recommended for more convenient use; see https://docs.comma.ai/how-to/connect-to-comma/.")
+  parser.add_argument("device", help="device name or dongle id")
+  parser.add_argument("--host", help="ssh jump server host", default="ssh.comma.ai")
+  parser.add_argument("--port", help="ssh jump server port", default=22, type=int)
+  parser.add_argument("--key", help="ssh key", default=os.path.join(BASEDIR, "system/hardware/tici/id_rsa"))
+  parser.add_argument("--debug", help="enable debug output", action="store_true")
+  args = parser.parse_args()
+
+  r = CommaApi(get_token()).get("v1/me/devices")
+  devices = {x['dongle_id']: x['alias'] for x in r}
+
+  if not re.match("[0-9a-zA-Z]{16}", args.device):
+    user_input = args.device.replace(" ", "").lower()
+    matches = { k: v for k, v in devices.items() if isinstance(v, str) and user_input in v.replace(" ", "").lower() }
+    if len(matches) == 1:
+      dongle_id = list(matches.keys())[0]
+    else:
+      print(f"failed to look up dongle id for \"{args.device}\"", file=sys.stderr)
+      if len(matches) > 1:
+        print("found multiple matches:", file=sys.stderr)
+        for k, v in matches.items():
+          print(f"  \"{v}\" ({k})", file=sys.stderr)
+      exit(1)
+  else:
+    dongle_id = args.device
+
+  name = dongle_id
+  if dongle_id in devices:
+    name = f"{devices[dongle_id]} ({dongle_id})"
+  print(f"connecting to {name} through {args.host}:{args.port} ...")
+
+  command = [
+    "ssh",
+    "-i", args.key,
+    "-o", f"ProxyCommand=ssh -i {args.key} -W %h:%p -p %p %h@{args.host}",
+    "-p", str(args.port),
+  ]
+  if args.debug:
+    command += ["-v"]
+  command += [
+    f"comma@comma-{dongle_id}",
+  ]
+  if args.debug:
+    print(" ".join([f"'{c}'" if " " in c else c for c in command]))
+  os.execvp(command[0], command)
diff --git a/tools/setup.sh b/tools/setup.sh
index e0a9a4f6a6..fd7efcee90 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -1,6 +1,5 @@
 #!/usr/bin/env bash
-
-set -e
+set -euo pipefail
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
diff --git a/tools/setup_dependencies.sh b/tools/setup_dependencies.sh
new file mode 100755
index 0000000000..0b785bf4a2
--- /dev/null
+++ b/tools/setup_dependencies.sh
@@ -0,0 +1,151 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ROOT="$(cd "$DIR/../" && pwd)"
+
+function retry() {
+  local attempts=$1
+  shift
+  for i in $(seq 1 "$attempts"); do
+    if "$@"; then
+      return 0
+    fi
+    if [ "$i" -lt "$attempts" ]; then
+      echo "  Attempt $i/$attempts failed, retrying in 5s..."
+      sleep 5
+    fi
+  done
+  return 1
+}
+
+function install_ubuntu_deps() {
+  SUDO=""
+
+  if [[ ! $(id -u) -eq 0 ]]; then
+    if [[ -z $(which sudo) ]]; then
+      echo "Please install sudo or run as root"
+      exit 1
+    fi
+    SUDO="sudo"
+  fi
+
+  # Detect OS using /etc/os-release file
+  if [ -f "/etc/os-release" ]; then
+    source /etc/os-release
+    case "$VERSION_CODENAME" in
+      "jammy" | "kinetic" | "noble")
+        ;;
+      *)
+        echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
+        read -p "Would you like to attempt installation anyway? " -n 1 -r
+        echo ""
+        if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+          exit 1
+        fi
+        ;;
+    esac
+  else
+    echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
+    exit 1
+  fi
+
+  $SUDO apt-get update
+
+  # normal stuff, mostly for the bare docker image
+  $SUDO apt-get install -y --no-install-recommends \
+    ca-certificates \
+    build-essential \
+    curl \
+    libcurl4-openssl-dev \
+    locales \
+    git \
+    xvfb
+
+  if [[ -d "/etc/udev/rules.d/" ]]; then
+    # Setup jungle udev rules
+    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcf", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddef", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+
+EOF
+
+    # Setup panda udev rules
+    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="3801", ATTRS{idProduct}=="ddee", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+EOF
+
+    # Setup adb udev rules
+    $SUDO tee /etc/udev/rules.d/50-comma-adb.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="1234", ENV{adb_user}="yes"
+EOF
+
+    $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
+  fi
+}
+
+function install_python_deps() {
+  # Increase the pip timeout to handle TimeoutError
+  export PIP_DEFAULT_TIMEOUT=200
+
+  cd "$ROOT"
+
+  if ! command -v "uv" > /dev/null 2>&1; then
+    echo "installing uv..."
+    # TODO: outer retry can be removed once https://github.com/axodotdev/cargo-dist/pull/2311 is merged
+    retry 3 sh -c 'curl --retry 5 --retry-delay 5 --retry-all-errors -LsSf https://astral.sh/uv/install.sh | UV_GITHUB_TOKEN="${GITHUB_TOKEN:-}" sh'
+    UV_BIN="$HOME/.local/bin"
+    PATH="$UV_BIN:$PATH"
+  fi
+
+  echo "updating uv..."
+  # ok to fail, can also fail due to installing with brew
+  uv self update || true
+
+  echo "installing python packages..."
+  uv sync --frozen --all-extras
+  source .venv/bin/activate
+}
+
+function install_macos_deps() {
+  if ! command -v brew > /dev/null 2>&1; then
+    echo "homebrew not found, skipping macOS system dependency install"
+    return 0
+  fi
+
+  if ! command -v cmake > /dev/null 2>&1; then
+    brew install cmake
+  fi
+}
+
+# --- Main ---
+
+if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+  install_ubuntu_deps
+  echo "[ ] installed system dependencies t=$SECONDS"
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+  install_macos_deps
+  if [[ $SHELL == "/bin/zsh" ]]; then
+    RC_FILE="$HOME/.zshrc"
+  elif [[ $SHELL == "/bin/bash" ]]; then
+    RC_FILE="$HOME/.bash_profile"
+  fi
+fi
+
+if [ -f "$ROOT/pyproject.toml" ]; then
+  install_python_deps
+  echo "[ ] installed python dependencies t=$SECONDS"
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]] && [[ -n "${RC_FILE:-}" ]]; then
+  echo
+  echo "----   OPENPILOT SETUP DONE   ----"
+  echo "Open a new shell or configure your active shell env by running:"
+  echo "source $RC_FILE"
+fi
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index fa5ac731bd..ea3c4cb8f1 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA_CIVIC_2022"
 
-export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
+export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged,manage_athenad,manage_sunnylinkd"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
index be4e1a610c..7634b8524d 100644
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@@ -1,14 +1,39 @@
 import numpy as np
-import os
-import pyopencl as cl
-import pyopencl.array as cl_array
 
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal import messaging
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.tools.sim.lib.common import W, H
 
+
+def rgb_to_nv12(rgb):
+  """Convert RGB image to NV12 (YUV420) format using BT.601 coefficients."""
+  h, w = rgb.shape[:2]
+  r = rgb[:, :, 0].astype(np.int32)
+  g = rgb[:, :, 1].astype(np.int32)
+  b = rgb[:, :, 2].astype(np.int32)
+
+  # Y plane - BT.601 coefficients (matches original OpenCL kernel)
+  y = (((b * 13 + g * 65 + r * 33) + 64) >> 7) + 16
+  y = np.clip(y, 0, 255).astype(np.uint8)
+
+  # Subsample RGB for UV (2x2 box filter)
+  r_sub = (r[0::2, 0::2] + r[0::2, 1::2] + r[1::2, 0::2] + r[1::2, 1::2] + 2) >> 2
+  g_sub = (g[0::2, 0::2] + g[0::2, 1::2] + g[1::2, 0::2] + g[1::2, 1::2] + 2) >> 2
+  b_sub = (b[0::2, 0::2] + b[0::2, 1::2] + b[1::2, 0::2] + b[1::2, 1::2] + 2) >> 2
+
+  # U and V planes
+  u = np.clip((b_sub * 56 - g_sub * 37 - r_sub * 19 + 0x8080) >> 8, 0, 255).astype(np.uint8)
+  v = np.clip((r_sub * 56 - g_sub * 47 - b_sub * 9 + 0x8080) >> 8, 0, 255).astype(np.uint8)
+
+  # Interleave UV for NV12 format
+  uv = np.empty((h // 2, w), dtype=np.uint8)
+  uv[:, 0::2] = u
+  uv[:, 1::2] = v
+
+  return np.concatenate([y.ravel(), uv.ravel()]).tobytes()
+
+
 class Camerad:
   """Simulates the camerad daemon"""
   def __init__(self, dual_camera):
@@ -24,18 +49,6 @@ class Camerad:
 
     self.vipc_server.start_listener()
 
-    # set up for pyopencl rgb to yuv conversion
-    self.ctx = cl.create_some_context()
-    self.queue = cl.CommandQueue(self.ctx)
-    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "
-
-    kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl")
-    with open(kernel_fn) as f:
-      prg = cl.Program(self.ctx, f.read()).build(cl_arg)
-      self.krnl = prg.rgb_to_nv12
-    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
-    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4
-
   def cam_send_yuv_road(self, yuv):
     self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
     self.frame_road_id += 1
@@ -44,16 +57,11 @@ class Camerad:
     self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
     self.frame_wide_id += 1
 
-  # Returns: yuv bytes
   def rgb_to_yuv(self, rgb):
+    """Convert RGB to NV12 YUV format."""
     assert rgb.shape == (H, W, 3), f"{rgb.shape}"
     assert rgb.dtype == np.uint8
-
-    rgb_cl = cl_array.to_device(self.queue, rgb)
-    yuv_cl = cl_array.empty_like(rgb_cl)
-    self.krnl(self.queue, (self.Wdiv4, self.Hdiv4), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
-    return yuv.data.tobytes()
+    return rgb_to_nv12(rgb)
 
   def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
     eof = int(frame_id * 0.05 * 1e9)
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index ad0f4de5d0..68ff3050db 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -11,7 +11,7 @@ from openpilot.tools.sim.lib.common import SimulatorState
 
 class SimulatedCar:
   """Simulates a honda civic 2022 (panda state + can messages) to OpenPilot"""
-  packer = CANPacker("honda_civic_ex_2022_can_generated")
+  packer = CANPacker("honda_bosch_radarless_generated")
 
   def __init__(self):
     self.pm = messaging.PubMaster(['can', 'pandaStates'])
@@ -23,7 +23,7 @@ class SimulatedCar:
 
   @staticmethod
   def get_car_can_parser():
-    dbc_f = 'honda_civic_ex_2022_can_generated'
+    dbc_f = 'honda_bosch_radarless_generated'
     checks = []
     return CANParser(dbc_f, checks, 0)
 
@@ -46,7 +46,7 @@ class SimulatedCar:
 
     msg.append(self.packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": simulator_state.cruise_button}))
 
-    msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+    msg.append(self.packer.make_can_msg("GEARBOX_AUTO", 0, {"GEAR_SHIFTER": 4}))
     msg.append(self.packer.make_can_msg("GAS_PEDAL_2", 0, {}))
     msg.append(self.packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
     msg.append(self.packer.make_can_msg("STEER_STATUS", 0, {"STEER_TORQUE_SENSOR": simulator_state.user_torque}))
@@ -56,7 +56,6 @@ class SimulatedCar:
     msg.append(self.packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
     msg.append(self.packer.make_can_msg("EPB_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("DOORS_STATUS", 0, {}))
-    msg.append(self.packer.make_can_msg("CRUISE_PARAMS", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE", 0, {}))
     msg.append(self.packer.make_can_msg("CRUISE_FAULT_STATUS", 0, {}))
     msg.append(self.packer.make_can_msg("SCM_FEEDBACK", 0,
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index e78f984736..a8374a00cd 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -53,7 +53,7 @@ class SimulatedSensors:
     for _ in range(10):
       dat = messaging.new_message('gpsLocationExternal', valid=True)
       dat.gpsLocationExternal = {
-        "unixTimestampMillis": int(time.time() * 1000),
+        "unixTimestampMillis": int(time.time() * 1000),  # noqa: TID251
         "flags": 1,  # valid fix
         "horizontalAccuracy": 1.0,
         "verticalAccuracy": 1.0,
@@ -109,7 +109,7 @@ class SimulatedSensors:
       self.camerad.cam_send_yuv_wide_road(yuv)
 
   def update(self, simulator_state: 'SimulatorState', world: 'World'):
-    now = time.time()
+    now = time.monotonic()
     self.send_imu_message(simulator_state)
     self.send_gps_message(simulator_state)
 
diff --git a/tools/sim/rgb_to_nv12.cl b/tools/sim/rgb_to_nv12.cl
deleted file mode 100644
index 54816d5d7d..0000000000
--- a/tools/sim/rgb_to_nv12.cl
+++ /dev/null
@@ -1,119 +0,0 @@
-#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
-#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
-#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
-#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
-
-inline void convert_2_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1) {
-  uchar2 yy = (uchar2)(
-    RGB_TO_Y(rgbs1.s2, rgbs1.s1, rgbs1.s0),
-    RGB_TO_Y(rgbs1.s5, rgbs1.s4, rgbs1.s3)
-  );
-#ifdef CL_DEBUG
-  if(yi >= RGB_SIZE)
-    printf("Y vector2 overflow, %d > %d\n", yi, RGB_SIZE);
-#endif
-  vstore2(yy, 0, out_yuv + yi);
-}
-
-inline void convert_4_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1, const uchar8 rgbs3) {
-  const uchar4 yy = (uchar4)(
-    RGB_TO_Y(rgbs1.s2, rgbs1.s1, rgbs1.s0),
-    RGB_TO_Y(rgbs1.s5, rgbs1.s4, rgbs1.s3),
-    RGB_TO_Y(rgbs3.s0, rgbs1.s7, rgbs1.s6),
-    RGB_TO_Y(rgbs3.s3, rgbs3.s2, rgbs3.s1)
-  );
-#ifdef CL_DEBUG
-  if(yi > RGB_SIZE - 4)
-    printf("Y vector4 overflow, %d > %d\n", yi, RGB_SIZE - 4);
-#endif
-  vstore4(yy, 0, out_yuv + yi);
-}
-
-inline void convert_uv(__global uchar * out_yuv, int uvi,
-                    const uchar8 rgbs1, const uchar8 rgbs2) {
-  // U & V: average of 2x2 pixels square
-  const short ab = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3);
-  const short ag = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4);
-  const short ar = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5);
-#ifdef CL_DEBUG
-  if(uvi >= RGB_SIZE  + RGB_SIZE / 2)
-    printf("UV overflow, %d >= %d\n", uvi, RGB_SIZE  + RGB_SIZE / 2);
-#endif
-  out_yuv[uvi] = RGB_TO_U(ar, ag, ab);
-  out_yuv[uvi+1] = RGB_TO_V(ar, ag, ab);
-}
-
-inline void convert_2_uvs(__global uchar * out_yuv, int uvi,
-                    const uchar8 rgbs1, const uchar8 rgbs2, const uchar8 rgbs3, const uchar8 rgbs4) {
-  // U & V: average of 2x2 pixels square
-  const short ab1 = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3);
-  const short ag1 = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4);
-  const short ar1 = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5);
-  const short ab2 = AVERAGE(rgbs1.s6, rgbs3.s1, rgbs2.s6, rgbs4.s1);
-  const short ag2 = AVERAGE(rgbs1.s7, rgbs3.s2, rgbs2.s7, rgbs4.s2);
-  const short ar2 = AVERAGE(rgbs3.s0, rgbs3.s3, rgbs4.s0, rgbs4.s3);
-  uchar4 uv = (uchar4)(
-    RGB_TO_U(ar1, ag1, ab1),
-    RGB_TO_V(ar1, ag1, ab1),
-    RGB_TO_U(ar2, ag2, ab2),
-    RGB_TO_V(ar2, ag2, ab2)
-  );
-#ifdef CL_DEBUG1
-  if(uvi > RGB_SIZE  + RGB_SIZE / 2 - 4)
-    printf("UV2 overflow, %d >= %d\n", uvi, RGB_SIZE  + RGB_SIZE / 2 - 2);
-#endif
-  vstore4(uv, 0, out_yuv + uvi);
-}
-
-__kernel void rgb_to_nv12(__global uchar const * const rgb,
-                    __global uchar * out_yuv)
-{
-  const int dx = get_global_id(0);
-  const int dy = get_global_id(1);
-  const int col = mul24(dx, 4); // Current column in rgb image
-  const int row = mul24(dy, 4); // Current row in rgb image
-  const int bgri_start = mad24(row, RGB_STRIDE, mul24(col, 3)); // Start offset of rgb data being converted
-  const int yi_start = mad24(row,  WIDTH, col); // Start offset in the target yuv buffer
-  int uvi = mad24(row / 2, WIDTH, RGB_SIZE + col);
-  int num_col = min(WIDTH - col, 4);
-  int num_row = min(HEIGHT - row, 4);
-  if(num_row == 4) {
-    const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start);
-    const uchar8 rgbs0_1 = vload8(0, rgb + bgri_start + 8);
-    const uchar8 rgbs1_0 = vload8(0, rgb + bgri_start + RGB_STRIDE);
-    const uchar8 rgbs1_1 = vload8(0, rgb + bgri_start + RGB_STRIDE + 8);
-    const uchar8 rgbs2_0 = vload8(0, rgb + bgri_start + RGB_STRIDE * 2);
-    const uchar8 rgbs2_1 = vload8(0, rgb + bgri_start + RGB_STRIDE * 2 + 8);
-    const uchar8 rgbs3_0 = vload8(0, rgb + bgri_start + RGB_STRIDE * 3);
-    const uchar8 rgbs3_1 = vload8(0, rgb + bgri_start + RGB_STRIDE * 3 + 8);
-    if(num_col == 4) {
-      convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0, rgbs2_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0, rgbs3_1);
-      convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1);
-      convert_2_uvs(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1);
-    } else if(num_col == 2) {
-      convert_2_ys(out_yuv, yi_start, rgbs0_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0);
-      convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0);
-      convert_uv(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0);
-    }
-  } else {
-    const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start);
-    const uchar8 rgbs0_1 = vload8(0, rgb + bgri_start + 8);
-    const uchar8 rgbs1_0 = vload8(0, rgb + bgri_start + RGB_STRIDE);
-    const uchar8 rgbs1_1 = vload8(0, rgb + bgri_start + RGB_STRIDE + 8);
-    if(num_col == 4) {
-      convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1);
-      convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1);
-      convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1);
-    } else if(num_col == 2) {
-      convert_2_ys(out_yuv, yi_start, rgbs0_0);
-      convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0);
-      convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0);
-    }
-  }
-}
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 04ce5d584f..9be640d736 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -8,7 +8,6 @@ from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridg
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
 @pytest.mark.slow
-@pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
   def setup_create_bridge(self, test_duration):
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
deleted file mode 100755
index be4cfb68fa..0000000000
--- a/tools/ubuntu_setup.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-# NOTE: this is used in a docker build, so do not run any scripts here.
-
-"$DIR"/install_ubuntu_dependencies.sh
-"$DIR"/install_python_dependencies.sh
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index f4b46d1f66..6abbc47935 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,22 +1,18 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
 - GPU (recommended)
-- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
-- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
-- [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer
-That's it!
+- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60)
+- [Car harness](https://comma.ai/shop/products/comma-car-harness)
+- [panda](https://comma.ai/shop/panda)
+- USB-A to USB-A cable to connect panda to your computer
 
 ## Setup openpilot
 - Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver
-```
-sudo apt install pocl-opencl-icd
-```
 
 ## Connect the hardware
-- Connect the road facing camera first, then the driver facing camera
+- Connect the camera first
 - Connect your computer to panda
 
 ## GO
@@ -24,12 +20,12 @@ sudo apt install pocl-opencl-icd
 USE_WEBCAM=1 system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams.
+- Adjust and secure the webcam
 - Finish calibration and engage!
 
 ## Specify Cameras
 
-Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
+Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
 ```
-USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
+USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
 ```
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index 8358846f3a..7926766c6f 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,4 +1,5 @@
 import av
+import cv2 as cv
 
 class Camera:
   def __init__(self, cam_type_state, stream_type, camera_id):
@@ -10,11 +11,16 @@ class Camera:
     self.stream_type = stream_type
     self.cur_frame_id = 0
 
-    self.container = av.open(camera_id)
-    assert self.container.streams.video, f"Can't open video stream for camera {camera_id}"
-    self.video_stream = self.container.streams.video[0]
-    self.W = self.video_stream.codec_context.width
-    self.H = self.video_stream.codec_context.height
+    print(f"Opening {cam_type_state} at {camera_id}")
+
+    self.cap = cv.VideoCapture(camera_id)
+
+    self.cap.set(cv.CAP_PROP_FRAME_WIDTH, 1280.0)
+    self.cap.set(cv.CAP_PROP_FRAME_HEIGHT, 720.0)
+    self.cap.set(cv.CAP_PROP_FPS, 25.0)
+
+    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
+    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
 
   @classmethod
   def bgr2nv12(self, bgr):
@@ -22,8 +28,12 @@ class Camera:
     return frame.reformat(format='nv12').to_ndarray()
 
   def read_frames(self):
-    for frame in self.container.decode(self.video_stream):
-      img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
-      yuv = Camera.bgr2nv12(img)
+    while True:
+      ret, frame = self.cap.read()
+      if not ret:
+        break
+      # Rotate the frame 180 degrees (flip both axes)
+      frame = cv.flip(frame, -1)
+      yuv = Camera.bgr2nv12(frame)
       yield yuv.data.tobytes()
-    self.container.close()
+    self.cap.release()
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index a0916ed5ee..f1e70d948a 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import threading
 import os
+import platform
 from collections import namedtuple
 
 from msgq.visionipc import VisionIpcServer, VisionStreamType
@@ -9,14 +10,19 @@ from cereal import messaging
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
+ROAD_CAM = os.getenv("ROAD_CAM", "0")
 WIDE_CAM = os.getenv("WIDE_CAM")
+DRIVER_CAM = os.getenv("DRIVER_CAM")
+
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
+
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
 ]
 if WIDE_CAM:
   CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
+if DRIVER_CAM:
+  CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
 
 class Camerad:
   def __init__(self):
@@ -25,8 +31,7 @@ class Camerad:
 
     self.cameras = []
     for c in CAMERAS:
-      cam_device = f"/dev/video{c.cam_id}"
-      print(f"opening {c.msg_name} at {cam_device}")
+      cam_device = f"/dev/video{c.cam_id}" if platform.system() != "Darwin" else c.cam_id
       cam = Camera(c.msg_name, c.stream_type, cam_device)
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)
diff --git a/uv.lock b/uv.lock
index fbeda4d552..743521fb2f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,14 +1,6 @@
 version = 1
-revision = 2
-requires-python = ">=3.11, <3.13"
-resolution-markers = [
-    "python_full_version >= '3.12' and sys_platform == 'darwin'",
-    "python_full_version >= '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version >= '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-    "python_full_version < '3.12' and sys_platform == 'darwin'",
-    "python_full_version < '3.12' and platform_machine == 'aarch64' and sys_platform == 'linux'",
-    "(python_full_version < '3.12' and platform_machine != 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.12' and sys_platform != 'darwin' and sys_platform != 'linux')",
-]
+revision = 3
+requires-python = ">=3.12.3, <3.13"
 
 [[package]]
 name = "aiohappyeyeballs"
@@ -21,7 +13,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.11.18"
+version = "3.13.3"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -32,286 +24,189 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/50/42/32cf8e7704ceb4481406eb87161349abb46a57fee3f008ba9cb610968646/aiohttp-3.13.3.tar.gz", hash = "sha256:a949eee43d3782f2daae4f4a2819b2cb9b0c5d3b7f7a927067cc84dafdbb9f88", size = 7844556, upload-time = "2026-01-03T17:33:05.204Z" }
 wheels = [
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+    { name = "git-lfs" },
     { name = "inputs" },
+    { name = "jeepney" },
     { name = "json-rpc" },
+    { name = "libjpeg" },
     { name = "libusb1" },
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+    { name = "ncurses" },
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-    { name = "onnx" },
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-    { name = "pyopenssl" },
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+    { name = "qrcode" },
+    { name = "raylib" },
     { name = "requests" },
     { name = "scons" },
     { name = "sentry-sdk" },
     { name = "setproctitle" },
     { name = "setuptools" },
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     { name = "sympy" },
     { name = "tqdm" },
     { name = "websocket-client" },
     { name = "xattr" },
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